#### File KI_PR.task ####

<EliTask name="Kl_PR" installationName="Kl_PR" robotType="CS612" typeName="机器人主任务">
  <MainTask isTaskAlwaysLoops="true" hasBeforeStart="false" hasInitVariables="false" typeName="机器人主任务">
    <Comment comment="Program generated by RoboDK v6.0.4 for Elite Robots CS612 on 05/06/2026 22:46:18" typeName="注释" />
    <Comment comment="Using nominal kinematics." typeName="注释" />
    <MoveNode movementType="JOINT_MOVEMENT" positionType="JOINT_ANGLES" tcpType="USER_DEFINED_TCP" typeName="MoveJ">
      <frameReference>Basis_KS</frameReference>
      <jointSpeed>
        <valueInSi>1.0471975511965976</valueInSi>
        <siUnit class="cn.elibot.robot.plugin.domain.value.AngularSpeed$Unit">RAD_S</siUnit>
        <xmlElementName>AngularSpeed</xmlElementName>
        <supportType>cn.elibot.robot.plugin.core.domain.value.AngularSpeedImpl</supportType>
      </jointSpeed>
      <jointAcceleration>
        <valueInSi>1.3962634015954636</valueInSi>
        <siUnit class="cn.elibot.robot.plugin.domain.value.AngularAcceleration$Unit">RAD_S2</siUnit>
        <xmlElementName>AngularAcceleration</xmlElementName>
        <supportType>cn.elibot.robot.plugin.core.domain.value.AngularAccelerationImpl</supportType>
      </jointAcceleration>
      <WaypointNode name="路点_1" positionNodeType="FIXED_POSITION" kinematicFlag="-1" customTransitionRadius="false" advancedPositionOptionType="SPEED_AND_ACCELERATION" typeName="路点">
        <transitionRadius>
          <valueInSi>0.0</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
          <xmlElementName>Length</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.LengthImpl</supportType>
        </transitionRadius>
        <internalPosition>
          <jointPositions joints="-1.5707963267948966, -1.585163877197314, -1.3802761856471957, -1.7469524081986842, 1.5707963267948966, -1.5707963267948966" />
          <toolPose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0" />
        </internalPosition>
        <fromPosition>
          <jointPositions joints="NaN, NaN, NaN, NaN, NaN, NaN" />
          <toolPose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0" />
        </fromPosition>
        <jointSpeed>
          <valueInSi>1.0471975511965976</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.AngularSpeed$Unit">RAD_S</siUnit>
          <xmlElementName>AngularSpeed</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.AngularSpeedImpl</supportType>
        </jointSpeed>
        <jointAcceleration>
          <valueInSi>1.3962634015954636</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.AngularAcceleration$Unit">RAD_S2</siUnit>
          <xmlElementName>AngularAcceleration</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.AngularAccelerationImpl</supportType>
        </jointAcceleration>
        <cartesianSpeed>
          <valueInSi>0.25</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Speed$Unit">M_S</siUnit>
          <xmlElementName>Speed</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.SpeedImpl</supportType>
        </cartesianSpeed>
        <cartesianAcceleration>
          <valueInSi>1.2</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Acceleration$Unit">M_S2</siUnit>
          <xmlElementName>Acceleration</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.AccelerationImpl</supportType>
        </cartesianAcceleration>
        <nextMotionTime>
          <valueInSi>0.0</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Time$Unit">S</siUnit>
          <xmlElementName>Time</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.TimeImpl</supportType>
        </nextMotionTime>
        <Pose key="baseToFrame">
          <Position key="posePosition">
            <Length key="X" value="0.0" unit="M" />
            <Length key="Y" value="0.0" unit="M" />
            <Length key="Z" value="0.0" unit="M" />
          </Position>
          <Rotation key="poseRotation">
            <Angle key="RX" value="0.0" unit="RAD" />
            <Angle key="RY" value="0.0" unit="RAD" />
            <Angle key="RZ" value="0.0" unit="RAD" />
          </Rotation>
        </Pose>
      </WaypointNode>
      <tcpToolNameReference>Tool_1</tcpToolNameReference>
    </MoveNode>
    <MoveNode movementType="JOINT_MOVEMENT" positionType="JOINT_ANGLES" tcpType="USER_DEFINED_TCP" typeName="MoveJ">
      <frameReference>Basis_KS</frameReference>
      <jointSpeed>
        <valueInSi>1.0471975511965976</valueInSi>
        <siUnit class="cn.elibot.robot.plugin.domain.value.AngularSpeed$Unit">RAD_S</siUnit>
        <xmlElementName>AngularSpeed</xmlElementName>
        <supportType>cn.elibot.robot.plugin.core.domain.value.AngularSpeedImpl</supportType>
      </jointSpeed>
      <jointAcceleration>
        <valueInSi>1.3962634015954636</valueInSi>
        <siUnit class="cn.elibot.robot.plugin.domain.value.AngularAcceleration$Unit">RAD_S2</siUnit>
        <xmlElementName>AngularAcceleration</xmlElementName>
        <supportType>cn.elibot.robot.plugin.core.domain.value.AngularAccelerationImpl</supportType>
      </jointAcceleration>
      <WaypointNode name="路点_2" positionNodeType="FIXED_POSITION" kinematicFlag="-1" customTransitionRadius="false" advancedPositionOptionType="SPEED_AND_ACCELERATION" typeName="路点">
        <transitionRadius>
          <valueInSi>0.0</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
          <xmlElementName>Length</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.LengthImpl</supportType>
        </transitionRadius>
        <internalPosition>
          <jointPositions joints="-1.3430256234218807, -1.5479936001175907, -1.4172754204602234, -1.7471269411238837, 1.5707963267948966, -1.3430256234218807" />
          <toolPose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0" />
        </internalPosition>
        <fromPosition>
          <jointPositions joints="NaN, NaN, NaN, NaN, NaN, NaN" />
          <toolPose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0" />
        </fromPosition>
        <jointSpeed>
          <valueInSi>1.0471975511965976</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.AngularSpeed$Unit">RAD_S</siUnit>
          <xmlElementName>AngularSpeed</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.AngularSpeedImpl</supportType>
        </jointSpeed>
        <jointAcceleration>
          <valueInSi>1.3962634015954636</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.AngularAcceleration$Unit">RAD_S2</siUnit>
          <xmlElementName>AngularAcceleration</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.AngularAccelerationImpl</supportType>
        </jointAcceleration>
        <cartesianSpeed>
          <valueInSi>0.25</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Speed$Unit">M_S</siUnit>
          <xmlElementName>Speed</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.SpeedImpl</supportType>
        </cartesianSpeed>
        <cartesianAcceleration>
          <valueInSi>1.2</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Acceleration$Unit">M_S2</siUnit>
          <xmlElementName>Acceleration</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.AccelerationImpl</supportType>
        </cartesianAcceleration>
        <nextMotionTime>
          <valueInSi>0.0</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Time$Unit">S</siUnit>
          <xmlElementName>Time</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.TimeImpl</supportType>
        </nextMotionTime>
        <Pose key="baseToFrame">
          <Position key="posePosition">
            <Length key="X" value="0.0" unit="M" />
            <Length key="Y" value="0.0" unit="M" />
            <Length key="Z" value="0.0" unit="M" />
          </Position>
          <Rotation key="poseRotation">
            <Angle key="RX" value="0.0" unit="RAD" />
            <Angle key="RY" value="0.0" unit="RAD" />
            <Angle key="RZ" value="0.0" unit="RAD" />
          </Rotation>
        </Pose>
      </WaypointNode>
      <tcpToolNameReference>Tool_1</tcpToolNameReference>
    </MoveNode>
    <MoveNode movementType="JOINT_MOVEMENT" positionType="JOINT_ANGLES" tcpType="USER_DEFINED_TCP" typeName="MoveJ">
      <frameReference>Basis_KS</frameReference>
      <jointSpeed>
        <valueInSi>1.0471975511965976</valueInSi>
        <siUnit class="cn.elibot.robot.plugin.domain.value.AngularSpeed$Unit">RAD_S</siUnit>
        <xmlElementName>AngularSpeed</xmlElementName>
        <supportType>cn.elibot.robot.plugin.core.domain.value.AngularSpeedImpl</supportType>
      </jointSpeed>
      <jointAcceleration>
        <valueInSi>1.3962634015954636</valueInSi>
        <siUnit class="cn.elibot.robot.plugin.domain.value.AngularAcceleration$Unit">RAD_S2</siUnit>
        <xmlElementName>AngularAcceleration</xmlElementName>
        <supportType>cn.elibot.robot.plugin.core.domain.value.AngularAccelerationImpl</supportType>
      </jointAcceleration>
      <WaypointNode name="路点_3" positionNodeType="FIXED_POSITION" kinematicFlag="-1" customTransitionRadius="false" advancedPositionOptionType="SPEED_AND_ACCELERATION" typeName="路点">
        <transitionRadius>
          <valueInSi>0.0</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
          <xmlElementName>Length</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.LengthImpl</supportType>
        </transitionRadius>
        <internalPosition>
          <jointPositions joints="-1.3630951644905633, -1.657731176836734, -1.3036893927404323, -1.7509666654782712, 1.5707963267948966, -1.3630951644905633" />
          <toolPose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0" />
        </internalPosition>
        <fromPosition>
          <jointPositions joints="NaN, NaN, NaN, NaN, NaN, NaN" />
          <toolPose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0" />
        </fromPosition>
        <jointSpeed>
          <valueInSi>1.0471975511965976</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.AngularSpeed$Unit">RAD_S</siUnit>
          <xmlElementName>AngularSpeed</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.AngularSpeedImpl</supportType>
        </jointSpeed>
        <jointAcceleration>
          <valueInSi>1.3962634015954636</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.AngularAcceleration$Unit">RAD_S2</siUnit>
          <xmlElementName>AngularAcceleration</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.AngularAccelerationImpl</supportType>
        </jointAcceleration>
        <cartesianSpeed>
          <valueInSi>0.25</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Speed$Unit">M_S</siUnit>
          <xmlElementName>Speed</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.SpeedImpl</supportType>
        </cartesianSpeed>
        <cartesianAcceleration>
          <valueInSi>1.2</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Acceleration$Unit">M_S2</siUnit>
          <xmlElementName>Acceleration</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.AccelerationImpl</supportType>
        </cartesianAcceleration>
        <nextMotionTime>
          <valueInSi>0.0</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Time$Unit">S</siUnit>
          <xmlElementName>Time</xmlElementName>
          <supportType>cn.elibot.robot.plugin.core.domain.value.TimeImpl</supportType>
        </nextMotionTime>
        <Pose key="baseToFrame">
          <Position key="posePosition">
            <Length key="X" value="0.0" unit="M" />
            <Length key="Y" value="0.0" unit="M" />
            <Length key="Z" value="0.0" unit="M" />
          </Position>
          <Rotation key="poseRotation">
            <Angle key="RX" value="0.0" unit="RAD" />
            <Angle key="RY" value="0.0" unit="RAD" />
            <Angle key="RZ" value="0.0" unit="RAD" />
          </Rotation>
        </Pose>
      </WaypointNode>
      <tcpToolNameReference>Tool_1</tcpToolNameReference>
    </MoveNode>
  </MainTask>
</EliTask>


#### File KI_PR.configuration ####

<ConfigurationSettings robotType="6212" savedTime="2026-06-05 22:46:26">
  <ToolsManager Active="e3e70682-c209-4cac-a29f-6fbed82c07cd">
    <TcpTool name="TCP" uuid="e3e70682-c209-4cac-a29f-6fbed82c07cd">
      <ToolShape value="0, 0, 0, 0.0, 0.0, 0.0" />
    </TcpTool>
    <TcpTool name="Tool_1" uuid="f728b4fa-4248-4e3a-8a5d-2f346baa9455">
      <ToolShape value="0, 0, 0, 0.0, 0.0, -1.5707963267948966" />
    </TcpTool>
  </ToolsManager>
  <FramesManager>
    <Frame name="Basis_KS" isValid="true" isVariable="true" uuid="eb1167b3-67a9-4378-bc65-c1e582e2e662">
      <Transform value="-177.5, -689, 697.7, 3.141592653589793, 0.0, 0.0" />
    </Frame>
  </FramesManager>
  <IOConfig>
  </IOConfig>
  <StartupConfigsManager>
    <config needAutoLoad="false" triggerValueToRunTask="false" triggerValueToInit="false" />
  </StartupConfigsManager>
</ConfigurationSettings>


#### File KI_PR_from_CS612.task ####

<EliTask name="Kl_PR" installationName="Kl_PR" robotType="CS612" toolType="1" createdVersion="" lastSavedVersion="2.13.3.0" robotSN="12242316210067" savedTime="2012-01-01 03:12:27" typeName="Robot Main Task">
  <InitVariables typeName="Init Variables Value"/>
  <MainTask isTaskAlwaysLoops="true" hasBeforeStart="false" hasInitVariables="true" typeName="Robot Main Task">
    <Comment comment="Program generated by RoboDK v6.0.4 for Elite Robots CS612 on 05/06/2026 22:46:18" typeName="Comment"/>
    <Comment comment="Using nominal kinematics." typeName="Comment"/>
    <MoveNode movementType="JOINT_MOVEMENT" positionType="JOINT_ANGLES" tcpType="USER_DEFINED_TCP" describe="" typeName="MoveJ">
      <frameReference>Basis_KS</frameReference>
      <tcpToolNameReference>Tool_1</tcpToolNameReference>
      <jointSpeed value="1.0471975511965976" unit="RAD_S">
        <valueInSi>1.0471975511965976</valueInSi>
        <siUnit class="cn.elibot.robot.plugin.domain.value.AngularSpeed$Unit">RAD_S</siUnit>
      </jointSpeed>
      <jointAcceleration value="1.3962634015954636" unit="RAD_S2">
        <valueInSi>1.3962634015954636</valueInSi>
        <siUnit class="cn.elibot.robot.plugin.domain.value.AngularAcceleration$Unit">RAD_S2</siUnit>
      </jointAcceleration>
      <WaypointNode name="路点_1" positionNodeType="FIXED_POSITION" kinematicFlag="-1" customTransitionRadius="false" advancedPositionOptionType="SPEED_AND_ACCELERATION" typeName="Waypoint">
        <transitionRadius value="0.0" unit="M">
          <valueInSi>0.0</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
        </transitionRadius>
        <internalPosition>
          <jointPositions joints="-1.5704312140123253, -1.5777424849992854, -1.5736406004467778, -1.5750408467774368, 1.5734424016704123, -1.5713363420337563"/>
          <toolPose X="-176.94588773055457" Y="-694.3649399170032" Z="682.7077359636942" RX="-3.1275590833116924" RY="-0.002653392746942164" RZ="8.679403357820315E-4"/>
          <flangePose X="-176.94588773055457" Y="-694.3649399170032" Z="682.7077359636942" RX="-3.1389389995415993" RY="0.01403352087326034" RZ="-1.5698911474845758"/>
        </internalPosition>
        <fromPosition>
          <jointPositions joints="NaN, NaN, NaN, NaN, NaN, NaN"/>
          <toolPose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0"/>
          <flangePose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0"/>
        </fromPosition>
        <jointSpeed value="1.0471975511965976" unit="RAD_S">
          <valueInSi>1.0471975511965976</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.AngularSpeed$Unit">RAD_S</siUnit>
        </jointSpeed>
        <jointAcceleration value="1.3962634015954636" unit="RAD_S2">
          <valueInSi>1.3962634015954636</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.AngularAcceleration$Unit">RAD_S2</siUnit>
        </jointAcceleration>
        <cartesianSpeed value="0.25" unit="M_S">
          <valueInSi>0.25</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Speed$Unit">M_S</siUnit>
        </cartesianSpeed>
        <cartesianAcceleration value="1.2" unit="M_S2">
          <valueInSi>1.2</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Acceleration$Unit">M_S2</siUnit>
        </cartesianAcceleration>
        <nextMotionTime value="0.0" unit="S">
          <valueInSi>0.0</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Time$Unit">S</siUnit>
        </nextMotionTime>
        <Pose key="baseToFrame">
          <Position key="posePosition">
            <Length key="X" value="-0.1775" unit="M">
              <valueInSi>-0.1775</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
            </Length>
            <Length key="Y" value="-0.689" unit="M">
              <valueInSi>-0.689</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
            </Length>
            <Length key="Z" value="0.6977000000000001" unit="M">
              <valueInSi>0.6977000000000001</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
            </Length>
          </Position>
          <Rotation key="poseRotation">
            <Angle key="RX" value="3.141592653589793" unit="RAD">
              <valueInSi>3.141592653589793</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Angle$Unit">rad</siUnit>
            </Angle>
            <Angle key="RY" value="0.0" unit="RAD">
              <valueInSi>0.0</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Angle$Unit">rad</siUnit>
            </Angle>
            <Angle key="RZ" value="0.0" unit="RAD">
              <valueInSi>0.0</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Angle$Unit">rad</siUnit>
            </Angle>
          </Rotation>
        </Pose>
      </WaypointNode>
    </MoveNode>
    <MoveNode movementType="JOINT_MOVEMENT" positionType="JOINT_ANGLES" tcpType="USER_DEFINED_TCP" describe="" typeName="MoveJ">
      <frameReference>Basis_KS</frameReference>
      <tcpToolNameReference>Tool_1</tcpToolNameReference>
      <jointSpeed value="1.0471975511965976" unit="RAD_S">
        <valueInSi>1.0471975511965976</valueInSi>
        <siUnit class="cn.elibot.robot.plugin.domain.value.AngularSpeed$Unit">RAD_S</siUnit>
      </jointSpeed>
      <jointAcceleration value="1.3962634015954636" unit="RAD_S2">
        <valueInSi>1.3962634015954636</valueInSi>
        <siUnit class="cn.elibot.robot.plugin.domain.value.AngularAcceleration$Unit">RAD_S2</siUnit>
      </jointAcceleration>
      <WaypointNode name="路点_2" positionNodeType="FIXED_POSITION" kinematicFlag="-1" customTransitionRadius="false" advancedPositionOptionType="SPEED_AND_ACCELERATION" typeName="Waypoint">
        <transitionRadius value="0.0" unit="M">
          <valueInSi>0.0</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
        </transitionRadius>
        <internalPosition>
          <jointPositions joints="-1.3430256234218807, -1.5479936001175907, -1.4172754204602234, -1.7471269411238837, 1.5707963267948966, -1.3430256234218807"/>
          <toolPose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0"/>
          <flangePose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0"/>
        </internalPosition>
        <fromPosition>
          <jointPositions joints="NaN, NaN, NaN, NaN, NaN, NaN"/>
          <toolPose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0"/>
          <flangePose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0"/>
        </fromPosition>
        <jointSpeed value="1.0471975511965976" unit="RAD_S">
          <valueInSi>1.0471975511965976</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.AngularSpeed$Unit">RAD_S</siUnit>
        </jointSpeed>
        <jointAcceleration value="1.3962634015954636" unit="RAD_S2">
          <valueInSi>1.3962634015954636</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.AngularAcceleration$Unit">RAD_S2</siUnit>
        </jointAcceleration>
        <cartesianSpeed value="0.25" unit="M_S">
          <valueInSi>0.25</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Speed$Unit">M_S</siUnit>
        </cartesianSpeed>
        <cartesianAcceleration value="1.2" unit="M_S2">
          <valueInSi>1.2</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Acceleration$Unit">M_S2</siUnit>
        </cartesianAcceleration>
        <nextMotionTime value="0.0" unit="S">
          <valueInSi>0.0</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Time$Unit">S</siUnit>
        </nextMotionTime>
        <Pose key="baseToFrame">
          <Position key="posePosition">
            <Length key="X" value="0.0" unit="M">
              <valueInSi>0.0</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
            </Length>
            <Length key="Y" value="0.0" unit="M">
              <valueInSi>0.0</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
            </Length>
            <Length key="Z" value="0.0" unit="M">
              <valueInSi>0.0</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
            </Length>
          </Position>
          <Rotation key="poseRotation">
            <Angle key="RX" value="0.0" unit="RAD">
              <valueInSi>0.0</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Angle$Unit">rad</siUnit>
            </Angle>
            <Angle key="RY" value="0.0" unit="RAD">
              <valueInSi>0.0</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Angle$Unit">rad</siUnit>
            </Angle>
            <Angle key="RZ" value="0.0" unit="RAD">
              <valueInSi>0.0</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Angle$Unit">rad</siUnit>
            </Angle>
          </Rotation>
        </Pose>
      </WaypointNode>
    </MoveNode>
    <MoveNode movementType="JOINT_MOVEMENT" positionType="JOINT_ANGLES" tcpType="USER_DEFINED_TCP" describe="" typeName="MoveJ">
      <frameReference>Basis_KS</frameReference>
      <tcpToolNameReference>Tool_1</tcpToolNameReference>
      <jointSpeed value="1.0471975511965976" unit="RAD_S">
        <valueInSi>1.0471975511965976</valueInSi>
        <siUnit class="cn.elibot.robot.plugin.domain.value.AngularSpeed$Unit">RAD_S</siUnit>
      </jointSpeed>
      <jointAcceleration value="1.3962634015954636" unit="RAD_S2">
        <valueInSi>1.3962634015954636</valueInSi>
        <siUnit class="cn.elibot.robot.plugin.domain.value.AngularAcceleration$Unit">RAD_S2</siUnit>
      </jointAcceleration>
      <WaypointNode name="路点_3" positionNodeType="FIXED_POSITION" kinematicFlag="-1" customTransitionRadius="false" advancedPositionOptionType="SPEED_AND_ACCELERATION" typeName="Waypoint">
        <transitionRadius value="0.0" unit="M">
          <valueInSi>0.0</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
        </transitionRadius>
        <internalPosition>
          <jointPositions joints="-1.3630951644905633, -1.657731176836734, -1.3036893927404323, -1.7509666654782712, 1.5707963267948966, -1.3630951644905633"/>
          <toolPose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0"/>
          <flangePose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0"/>
        </internalPosition>
        <fromPosition>
          <jointPositions joints="NaN, NaN, NaN, NaN, NaN, NaN"/>
          <toolPose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0"/>
          <flangePose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0"/>
        </fromPosition>
        <jointSpeed value="1.0471975511965976" unit="RAD_S">
          <valueInSi>1.0471975511965976</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.AngularSpeed$Unit">RAD_S</siUnit>
        </jointSpeed>
        <jointAcceleration value="1.3962634015954636" unit="RAD_S2">
          <valueInSi>1.3962634015954636</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.AngularAcceleration$Unit">RAD_S2</siUnit>
        </jointAcceleration>
        <cartesianSpeed value="0.25" unit="M_S">
          <valueInSi>0.25</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Speed$Unit">M_S</siUnit>
        </cartesianSpeed>
        <cartesianAcceleration value="1.2" unit="M_S2">
          <valueInSi>1.2</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Acceleration$Unit">M_S2</siUnit>
        </cartesianAcceleration>
        <nextMotionTime value="0.0" unit="S">
          <valueInSi>0.0</valueInSi>
          <siUnit class="cn.elibot.robot.plugin.domain.value.Time$Unit">S</siUnit>
        </nextMotionTime>
        <Pose key="baseToFrame">
          <Position key="posePosition">
            <Length key="X" value="0.0" unit="M">
              <valueInSi>0.0</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
            </Length>
            <Length key="Y" value="0.0" unit="M">
              <valueInSi>0.0</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
            </Length>
            <Length key="Z" value="0.0" unit="M">
              <valueInSi>0.0</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Length$Unit">M</siUnit>
            </Length>
          </Position>
          <Rotation key="poseRotation">
            <Angle key="RX" value="0.0" unit="RAD">
              <valueInSi>0.0</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Angle$Unit">rad</siUnit>
            </Angle>
            <Angle key="RY" value="0.0" unit="RAD">
              <valueInSi>0.0</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Angle$Unit">rad</siUnit>
            </Angle>
            <Angle key="RZ" value="0.0" unit="RAD">
              <valueInSi>0.0</valueInSi>
              <siUnit class="cn.elibot.robot.plugin.domain.value.Angle$Unit">rad</siUnit>
            </Angle>
          </Rotation>
        </Pose>
      </WaypointNode>
    </MoveNode>
  </MainTask>
</EliTask>