diff --git a/Massage/MassageControl/MassageRobot_nova5.py b/Massage/MassageControl/MassageRobot_nova5.py
index b95eab0..46ddd72 100644
--- a/Massage/MassageControl/MassageRobot_nova5.py
+++ b/Massage/MassageControl/MassageRobot_nova5.py
@@ -111,6 +111,11 @@ class MassageRobot:
self.sensor_fail_count = 0
# 机械臂初始化,适配中间层
self.arm.init()
+
+
+ # ---
+ self.last_time = -1
+ self.cur_time = -1
# 预测步骤
def kalman_predict(self,x, P, Q):
@@ -165,70 +170,8 @@ class MassageRobot:
self.arm_state.external_wrench_tcp = self.x_tcp
self.arm_state.last_external_wrench_tcp = self.arm_state.external_wrench_tcp
return 0
-
- # def arm_measure_loop(self):
- # self.logger.log_info("机械臂测量线程启动")
- # while (not self.arm.is_exit) and (not self.exit_event.is_set()):
- # try:
- # if not self.is_waitting:
- # self.arm_state.arm_position,self.arm_state.arm_orientation = self.arm.get_arm_position()
- # code = self.update_wrench()
- # self.logger.log_blue(f"measure position: {self.arm_state.arm_position}")
- # self.logger.log_blue(f"measure orientation: {self.arm_state.arm_orientation}")
- # self.logger.log_blue(f"measure update wrench:{self.arm_state.external_wrench_tcp}")
- # if code == -1:
- # self.sensor_fail_count += 1
- # self.logger.log_error(f"传感器线程数据读取失败-{self.sensor_fail_count}")
- # if self.sensor_fail_count > 10:
- # self.logger.log_error("传感器线程数据读取失败超过10次,程序终止")
- # self.stop()
- # break
- # else:
- # self.sensor_fail_count = 0
- # except Exception as e:
- # self.logger.log_error(f"机械臂测量线程报错:{e}")
- # self.exit_event.set() # 控制退出while
- # self.sensor_rate.precise_sleep() # 控制频率
-
- # def arm_command_loop(self):
- # self.logger.log_info("机械臂控制线程启动")
- # self.arm.filter_matirx = np.zeros((8,7)) # 滑动窗口
- # while (not self.arm.is_exit) and (not self.exit_event.is_set()):
- # try:
- # if not self.is_waitting:
- # process_start_time = time.time()
- # self.controller_manager.step(self.control_rate.to_sec())
- # status, joints_processed = self.arm.process_command(self.arm_state.arm_position_command,
- # self.arm_state.arm_orientation_command)
- # self.logger.log_blue(f"处理后的关节角度: {joints_processed}")
- # run_time = time.time() - process_start_time
- # sleep_duration = self.control_rate.to_sec() - run_time
- # delta_command = np.linalg.norm(self.arm_state.arm_position_command - self.arm_state.arm_position * 1000)
- # self.logger.log_blue(f"期望位置：{self.arm_state.desired_position}")
- # self.logger.log_blue(f"现在的位置：{self.arm_state.arm_position}")
- # self.logger.log_blue(f"指令位置：{self.arm_state.arm_position_command}")
- # self.logger.log_blue(f"位置变化量: {delta_command}")
- # if delta_command > 20: # 20 mm
- # self.logger.log_error("机械臂位置变化过大，可能是数据异常")
- # break
- # if sleep_duration > 0:
- # libc.usleep(int(sleep_duration * 1e6))
- # if status == 0:
- # # self.logger.log_blue("不进行伺服运动，只计算")
- # self.logger.log_info("进行伺服运动")
- # code = self.arm.ServoJoint(joints_processed,t=0.008,aheadtime=20,gain=200)
- # else:
- # self.logger.log_error("滑动窗口数据处理失败")
- # self.exit_event.set()
- # if code == -1:
- # self.logger.log_error("机械臂急停")
- # # self.stop() # 底层已经做了急停处理
- # break
- # except Exception as e:
- # self.logger.log_error(f"机械臂控制失败:{e}")
- # self.exit_event.set()
- ####################### TEST ##########################3
+ # ####################### 位姿伺服 ##########################
def arm_measure_loop(self):
self.logger.log_info("机械臂测量线程启动")
@@ -237,9 +180,6 @@ class MassageRobot:
if not self.is_waitting:
self.arm_state.arm_position,self.arm_state.arm_orientation = self.arm.get_arm_position()
code = self.update_wrench()
- # self.logger.log_blue(f"measure position: {self.arm_state.arm_position}")
- # self.logger.log_blue(f"measure orientation: {self.arm_state.arm_orientation}")
- # self.logger.log_blue(f"measure update wrench:{self.arm_state.external_wrench_tcp}")
if code == -1:
self.sensor_fail_count += 1
self.logger.log_error(f"传感器线程数据读取失败-{self.sensor_fail_count}")
@@ -256,54 +196,51 @@ class MassageRobot:
def arm_command_loop(self):
self.logger.log_info("机械臂控制线程启动")
- # self.arm.filter_matirx = np.zeros((8,7)) # 滑动窗口 ## 暂时禁用滑动窗口
while (not self.arm.is_exit) and (not self.exit_event.is_set()):
try:
if not self.is_waitting:
process_start_time = time.time()
- self.controller_manager.step(self.control_rate.to_sec())
- # self.logger.log_blue(f"目标位姿: {self.arm_state.arm_position_command},{self.arm_state.arm_orientation_command}")
+
+ control_cycle = self.control_rate.to_sec()
+ self.controller_manager.step(control_cycle)
+ command_pose = np.concatenate([
+ self.arm_state.arm_position_command * 1000, # 转毫米
+ self.arm_state.arm_orientation_command
+ ])
+ ## 输入滤波
+ status, pose_processed = self.arm.process_command(
+ command_pose[:3],
+ command_pose[3:]
+ )
+ # print(f"pose_processed:{pose_processed}")
+
+ tcp_command = (
+ f"ServoP({pose_processed[0]:.3f},{pose_processed[1]:.3f},"
+ f"{pose_processed[2]:.3f},{pose_processed[3]:.3f},"
+ f"{pose_processed[4]:.3f},{pose_processed[5]:.3f},"
+ "t=0.02, aheadtime=20, gain=200)"
+ ).encode()
+
run_time = time.time() - process_start_time
sleep_duration = self.control_rate.to_sec() - run_time
- delta_command = np.linalg.norm(self.arm_state.arm_position_command - self.arm_state.arm_position)
- # self.logger.log_blue(f"期望位置：{self.arm_state.desired_position}")
- # self.logger.log_blue(f"现在的位置：{self.arm_state.arm_position}")
- # self.logger.log_blue(f"指令位置：{self.arm_state.arm_position_command}")
- # self.logger.log_blue(f"位置变化量: {delta_command}")
- if delta_command > 0.1: # m
- self.logger.log_error("机械臂位置变化过大，可能是数据异常")
- break
+ b2 =time.time()
if sleep_duration > 0:
- libc.usleep(int(sleep_duration * 1e6))
- # self.logger.log_blue("不进行伺服运动，只计算")
- # self.logger.log_blue(f"输入位置:{self.arm_state.arm_position_command}")
- # self.logger.log_blue(f"输入姿态:{self.arm_state.arm_orientation_command}")
- command_pos_in_mm = self.arm_state.arm_position_command * 1000
- command_ori_in_degree = R.from_quat(self.arm_state.arm_orientation_command).as_euler('xyz',degrees=True)
- combined = np.concatenate([command_pos_in_mm, command_ori_in_degree]) # 合并成一个数组
- # self.logger.log_blue(f"合并后的位姿: {combined.tolist()}")
- # self.logger.log_info("进行伺服运动")
- # 数据记录
- # self.logger.log_info("desired_pos",self.arm_state.desired_position)
- # self.logger.log_info("desired_ori",self.arm_state.desired_orientation)
- # self.logger.log_info("command_pos",self.arm_state.arm_position_command)
- # self.logger.log_info("command_ori",self.arm_state.arm_orientation_command)
- code = self.arm.ServoPose(combined)
- # else:
- # self.logger.log_error("滑动窗口数据处理失败")
- # self.exit_event.set()
-
- if code == -1:
- self.logger.log_error("机械臂急停")
- # self.stop() # 底层已经做了急停处理
- break
+ time.sleep(sleep_duration)
+ print(f"real sleep:{time.time()-b2}")
+ self.arm.dashboard.socket_dobot.sendall(tcp_command)
+ if self.arm.feedbackData.robotMode == 10: # 10 当前工程暂停
+ print("机械臂为暂停状态")
+ res = self.arm.dashboard.Continue()
+ code = self.arm.parseResultId(res)[0]
+ if code == 0:
+ print("机械臂继续已暂停的运动指令")
+
except Exception as e:
self.logger.log_error(f"机械臂控制失败:{e}")
self.exit_event.set()
-
-
-
-
+ # print(f"循环周期时间: {time.time()-process_start_time:.4f} 秒",run_time,sleep_duration)
+
+ ####################### 位姿伺服 ##########################
def start(self):
if self.exit_event.is_set():
diff --git a/Massage/MassageControl/algorithms/__pycache__/admittance_controller.cpython-39.pyc b/Massage/MassageControl/algorithms/__pycache__/admittance_controller.cpython-39.pyc
index 95fb21c..0d9540d 100644
Binary files a/Massage/MassageControl/algorithms/__pycache__/admittance_controller.cpython-39.pyc and b/Massage/MassageControl/algorithms/__pycache__/admittance_controller.cpython-39.pyc differ
diff --git a/Massage/MassageControl/algorithms/admittance_controller.py b/Massage/MassageControl/algorithms/admittance_controller.py
index 66e1866..6034c33 100644
--- a/Massage/MassageControl/algorithms/admittance_controller.py
+++ b/Massage/MassageControl/algorithms/admittance_controller.py
@@ -79,12 +79,10 @@ class AdmittanceController(BaseController):
self.clip_command(delta_pose,"pose")
# testlsy
- # delta_ori_mat = R.from_rotvec(delta_pose[3:]).as_matrix()
+ delta_ori_mat = R.from_rotvec(delta_pose[3:]).as_matrix()
-
- random_array = np.random.rand(3) # 生成长度为 3 的数组
-
- delta_ori_mat = R.from_rotvec(random_array/10000).as_matrix()
+ # random_array = np.random.rand(3) # 生成长度为 3 的数组
+ # delta_ori_mat = R.from_rotvec(random_array/100000).as_matrix()
arm_ori_mat = delta_ori_mat @ R.from_quat(self.state.arm_orientation).as_matrix()
arm_ori_mat = R.from_quat(self.state.arm_orientation).as_matrix() @ delta_ori_mat
@@ -94,19 +92,19 @@ class AdmittanceController(BaseController):
self.state.arm_position_command = self.state.arm_position + delta_pose[:3]
- if time.time() - self.laset_print_time > 2:
+ # if time.time() - self.laset_print_time > 2:
# print("-------------admittance_1-------------------------------")
# print("arm_position:",self.state.arm_position)
# print("desired_position:",self.state.desired_position)
- print(f'wrench_err: {wrench_err} ||| external_wrench_tcp: {self.state.external_wrench_tcp} ||| desired_wrench: {self.state.desired_wrench}')
- print("self.state.arm_desired_acc:",self.state.arm_desired_acc)
+ # print(f'wrench_err: {wrench_err} ||| external_wrench_tcp: {self.state.external_wrench_tcp} ||| desired_wrench: {self.state.desired_wrench}')
+ # print("self.state.arm_desired_acc:",self.state.arm_desired_acc)
# print("arm_orientation",R.from_quat(self.state.arm_orientation).as_euler('xyz',degrees=True))
# print("desired_orientation",R.from_quat(self.state.desired_orientation).as_euler('xyz',degrees=True))
# print("arm_position_command",self.state.arm_position_command)
# print("arm_orientation_command",R.from_quat(self.state.arm_orientation_command).as_euler('xyz',degrees=True))
- print("delta_pose:",delta_pose)
+ # print("delta_pose:",delta_pose)
# print("delta_ori_mat",delta_ori_mat)
- self.laset_print_time = time.time()
+ # self.laset_print_time = time.time()
diff --git a/Massage/MassageControl/config/admittance.yaml b/Massage/MassageControl/config/admittance.yaml
index 30c027f..f627f9f 100644
--- a/Massage/MassageControl/config/admittance.yaml
+++ b/Massage/MassageControl/config/admittance.yaml
@@ -1,66 +1,20 @@
name: admittance
-# mass_tran: [5,5,5]
-# mass_rot: [5,5,5]
-# stiff_tran: [500,500,500]
-# stiff_rot: [500,500,500]
-# desired_xi: 0.7
-# damp_tran: [-125,-125,-125]
-# damp_rot: [-125,-125,-125]
-# pos_scale_factor: 1
-# rot_scale_factor: 1
-
-# name: admittance
-# mass_tran: [1,1,1]
-# mass_rot: [0.5,0.5,0.5]
-# stiff_tran: [800,800,800]
-# stiff_rot: [100,100,100]
-# desired_xi: 1.1
-# damp_tran: [-2,-2,-2]
-# damp_rot: [-10,-10,-10]
-# pos_scale_factor: 1
-# rot_scale_factor: 1
-
-# mass_tran: [4,4,4]
-# mass_rot: [0.4,0.4,0.4]
-# stiff_tran: [500,500,500]
-# stiff_rot: [6,6,6]
-# desired_xi: 1.1
-# damp_tran: [-1,-1,-1]
-# damp_rot: [-1,-1,-1]
-# pos_scale_factor: 1
-# rot_scale_factor: 12
-
-# mass_tran: [1.3,0.4,2.4]
-# mass_rot: [0.08,0.02,0.01]
-# stiff_tran: [200,200,200]
-# stiff_rot: [200,200,200]
-# desired_xi: 1.1
-# damp_tran: [-1,-1,-1]
-# damp_rot: [-1,-1,-1]
-# pos_scale_factor: 1
-# rot_scale_factor: 1
-
desired_xi: 1
pos_scale_factor: 1
rot_scale_factor: 1
-
-# mass_tran: [2.0, 2.0, 2.0]
-# mass_rot: [0.2, 0.2, 0.2]
+# A
+mass_tran: [3.0, 3.0, 3.0]
+mass_rot: [0.11, 0.11, 0.11]
+# P
# stiff_tran: [300, 300, 300]
-# stiff_rot: [3, 3, 3]
-# damp_tran: [30, 30, 30]
-# damp_rot: [1.0, 1.0, 1.0]
-
-
-
-mass_tran: [9.0, 9.0, 9.0]
-mass_rot: [0.8, 0.8, 0.8]
-stiff_tran: [0, 0, 0]
-stiff_rot: [7, 7, 7]
+# stiff_rot: [7, 7, 7]
+stiff_tran: [270, 270, 270]
+stiff_rot: [11, 11, 11]
# stiff_tran: [100, 100, 100]
# stiff_rot: [1, 1, 1]
-damp_tran: [100, 100, 100]
-damp_rot: [1, 1, 1]
+# D
+damp_tran: [30, 30, 30]
+damp_rot: [1.1, 1.1, 1.1]
# damp_tran: [40, 40, 40]
# damp_rot: [3, 3, 3]
diff --git a/Massage/MassageControl/config/robot_config.yaml b/Massage/MassageControl/config/robot_config.yaml
index 5ce451e..7f78d12 100644
--- a/Massage/MassageControl/config/robot_config.yaml
+++ b/Massage/MassageControl/config/robot_config.yaml
@@ -8,6 +8,6 @@ controller: ['Massage/MassageControl/config/admittance.yaml',
# massage heads diretory
massage_head_dir: 'Massage/MassageControl/config/massage_head'
-control_rate: 100
-sensor_rate: 100
-command_rate: 100
\ No newline at end of file
+control_rate: 55
+sensor_rate: 55
+command_rate: 55
\ No newline at end of file
diff --git a/Massage/MassageControl/hardware/__pycache__/dobot_api.cpython-38.pyc b/Massage/MassageControl/hardware/__pycache__/dobot_api.cpython-38.pyc
new file mode 100644
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diff --git a/Massage/MassageControl/hardware/__pycache__/dobot_api.cpython-39.pyc b/Massage/MassageControl/hardware/__pycache__/dobot_api.cpython-39.pyc
index 847b949..d51dd00 100644
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diff --git a/Massage/MassageControl/hardware/__pycache__/dobot_nova5.cpython-38.pyc b/Massage/MassageControl/hardware/__pycache__/dobot_nova5.cpython-38.pyc
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index b631f7c..1e114cc 100644
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diff --git a/Massage/MassageControl/hardware/__pycache__/force_sensor.cpython-39.pyc b/Massage/MassageControl/hardware/__pycache__/force_sensor.cpython-39.pyc
index 23534e5..945dc93 100644
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diff --git a/Massage/MassageControl/hardware/app.log b/Massage/MassageControl/hardware/app.log
new file mode 100644
index 0000000..28110db
--- /dev/null
+++ b/Massage/MassageControl/hardware/app.log
@@ -0,0 +1,13265 @@
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diff --git a/Massage/MassageControl/hardware/dobot_nova5.py b/Massage/MassageControl/hardware/dobot_nova5.py
index c08bf87..4a9df00 100644
--- a/Massage/MassageControl/hardware/dobot_nova5.py
+++ b/Massage/MassageControl/hardware/dobot_nova5.py
@@ -258,9 +258,10 @@ class dobot_nova5:
def ServoPose(self,poses_list):
poses_list = list(map(float, poses_list))
- tcp_command = f"ServoP({poses_list[0]},{poses_list[1]},{poses_list[2]},{poses_list[3]},{poses_list[4]},{poses_list[5]}, t=0.01, aheadtime=20, gain=200)"
- res = self.dashboard.sendRecvMsg(tcp_command) # 通过反馈状态来进行异常处理，故这里只需要发，不需要收
- print("ServoP msg:",res)
+ tcp_command = f"ServoP({poses_list[0]},{poses_list[1]},{poses_list[2]},{poses_list[3]},{poses_list[4]},{poses_list[5]}, t=0.01, aheadtime=20, gain=300)"
+ # res = self.dashboard.sendRecvMsg(tcp_command) # 通过反馈状态来进行异常处理，故这里只需要发，不需要收
+ self.dashboard.send_data(tcp_command)
+ # print("ServoP msg:",res)
if self.feedbackData.robotMode == 9 or self.feedbackData.robotMode == 11:
self.dashboard.Stop()
self.dashboard.EmergencyStop(mode=1)
@@ -490,7 +491,8 @@ class dobot_nova5:
self.last_input_command = None
self.tcp_offset = None
self.init_J = [0,30,-120,0,90,0]
- self.filter_matirx = np.zeros((8,7))
+ self.filter_matirx = np.zeros((1,7)) # 位姿伺服用
+ self.filter_matrix = np.zeros((1,6)) # 角度伺服用
sleep(1)
self.is_standby = False
code = self.RunPoint_P_inJoint(self.init_J)
@@ -512,26 +514,64 @@ class dobot_nova5:
quat_rot = R.from_euler('xyz', [rx, ry, rz], degrees=True).as_quat()
return pos,quat_rot
- def process_command(self,arm_position_command, arm_orientation_command):
- rot_euler = R.from_quat(arm_orientation_command).as_euler('xyz',degrees=True)
- rot_euler = np.clip(rot_euler,-180,180)
- arm_position_command *= 1000
- pose_command = np.concatenate([arm_position_command, rot_euler])
- print("pose_command",pose_command)
+ def __circular_mean(self,angles):
+ # 将角度转换为复数单位圆上的点，再计算均值
+ # 为处理周期性问题
+ angles_rad = np.deg2rad(angles)
+ x = np.mean(np.cos(angles_rad))
+ y = np.mean(np.sin(angles_rad))
+ return np.rad2deg(np.arctan2(y, x))
+
+ def process_command_angle(self,arm_joint_command):
if (not self.is_exit) and (not self.is_standby):
- cur = self.getAngel() # 参考关节角度
- target = self.getInverseKin(pose_command,-1,-1,1,"{" + ",".join(map(str, cur)) + "}")
- # print("target",target)
- self.joint_current = cur
- self.joint_target = target
- ress = np.array(target)
- ress = np.append(ress,[1])
- self.filter_matirx = np.append(self.filter_matirx,[ress],axis=0)
- self.filter_matirx = np.delete(self.filter_matirx,0,axis=0)
- sum_joint = np.sum(self.filter_matirx,axis=0)
- sum_joint[:6] = sum_joint[:6]/sum_joint[6]
- result = sum_joint[:6]
+ current_joint = np.asarray(arm_joint_command) # degree
+ # FIFO
+ self.filter_matrix = np.append(self.filter_matrix,[current_joint],axis=0)
+ if len(self.filter_matrix)<7:
+ return 0,current_joint
+ self.filter_matrix = np.delete(self.filter_matrix,0,axis = 0)
+ avg_joint = np.array([self.__circular_mean(self.filter_matrix[:, i]) for i in range(len(current_joint))])
+ return 0,avg_joint
+ return -1,None
+
+ def process_command(self, arm_position_command, arm_orientation_command):
+ if (not self.is_exit) and (not self.is_standby):
+ # 构造当前位姿（位置 + 四元数）
+ current_pose = np.concatenate([
+ arm_position_command, # [x, y, z]
+ arm_orientation_command # [qx, qy, qz, qw]
+ ])
+
+ # 更新滑动窗口（FIFO）
+ self.filter_matirx = np.append(self.filter_matirx, [current_pose], axis=0)
+
+ # 如果窗口未填满，直接返回当前值（不滤波）
+ if len(self.filter_matirx) < 7:
+ rot_euler = R.from_quat(arm_orientation_command).as_euler('xyz', degrees=True)
+ result = np.concatenate([arm_position_command, rot_euler])
+ return 0, result
+
+ # 窗口已填满，删除最旧数据
+ self.filter_matirx = np.delete(self.filter_matirx, 0, axis=0)
+
+ # --- 位置分量：滑动平均（仅对有效数据）---
+ avg_position = np.mean(self.filter_matirx[:, :3], axis=0)
+
+ # --- 四元数分量：加权平均（处理符号歧义）---
+ quats = self.filter_matirx[:, 3:7]
+ for i in range(1, len(quats)):
+ if np.dot(quats[0], quats[i]) < 0:
+ quats[i] = -quats[i] # 确保所有四元数在同一半球
+ avg_quat = np.mean(quats, axis=0)
+ avg_quat = avg_quat / np.linalg.norm(avg_quat) # 归一化
+
+ # 转换回欧拉角
+ rot_euler = R.from_quat(avg_quat).as_euler('xyz', degrees=True)
+
+ # 合并结果 [x, y, z, roll, pitch, yaw]
+ result = np.concatenate([avg_position, rot_euler])
return 0, result
+
return -1, None
@@ -542,8 +582,8 @@ if __name__ == "__main__":
posJ = [0,30,-120,0,90,0]
dobot.RunPoint_P_inJoint(posJ)
sleep(1)
- # dobot.setEndEffector(i=9,tool_i="{0.0,0.0,154.071,0.0,0.0,0.0}")
- # dobot.chooseEndEffector(i=9)
+ dobot.setEndEffector(i=9,tool_i="{0.0,0.0,154.071,0.0,0.0,0.0}")
+ dobot.chooseEndEffector(i=9)
# print(dobot.getPose())
# print(dobot.get_arm_position())
# pos,rot_quat = dobot.get_arm_position()
@@ -560,9 +600,17 @@ if __name__ == "__main__":
sleep(0.008)
dobot.Get_feedInfo_pose()
sleep(0.5)
+
+ cur = dobot.Get_feedInfo_angle() # 参考关节角度
+ short_cur = [f"{x:.3f}" for x in cur]
+
+ target = dobot.getInverseKin([250.000045,-134.999537,344.115807,-179.999982,-0.000408,-90.000642],-1,-1,1,"{" + ",".join(map(str, short_cur)) + "}")
+ print(target)
# for i in range(400):
# posJ[2] += 0.04
# dobot.ServoJoint(posJ,t=0.008,aheadtime=20,gain=200)
# sleep(0.007)
+
+ # dobot.start_drag()
dobot.disableRobot()
\ No newline at end of file
diff --git a/Massage/MassageControl/hardware/force_sensor.py b/Massage/MassageControl/hardware/force_sensor.py
index eec8a25..9e9ecdb 100644
--- a/Massage/MassageControl/hardware/force_sensor.py
+++ b/Massage/MassageControl/hardware/force_sensor.py
@@ -13,7 +13,7 @@ sys.path.append(os.path.abspath(os.path.join(os.getcwd(), "Massage/MassageContro
class XjcSensor:
- def __init__(self, port="/dev/ttyUSB0", baudrate=115200, rate=250):
+ def __init__(self, port="/dev/ttyUSB0", baudrate=115200, rate=100):
self.port = port
self.baudrate = baudrate
self.rate = rate
diff --git a/Massage/MassageControl/hardware/force_sensor_tcp.py b/Massage/MassageControl/hardware/force_sensor_tcp.py
new file mode 100644
index 0000000..e1df33a
--- /dev/null
+++ b/Massage/MassageControl/hardware/force_sensor_tcp.py
@@ -0,0 +1,572 @@
+import time
+import socket
+import struct
+import numpy as np
+import atexit
+import threading
+from typing import Optional, Tuple
+from matplotlib import pyplot as plt
+import csv
+from datetime import datetime
+
+class XjcSensor:
+ def __init__(self, host: str, port: int, rate: int = 250):
+ """
+ 初始化 TCP 连接的力传感器
+ :param host: 设备 IP 地址（如 "192.168.1.100"）
+ :param port: 设备端口（如 502）
+ :param rate: 数据采样率（100/250/500Hz）
+ """
+ self.host = host
+ self.port = port
+ self.rate = rate
+ self.slave_address = 0x01 # 默认从机地址
+ self.sock = None # TCP socket 对象
+ self.crc16_table = self.generate_crc16_table()
+ # 后台读取相关的属性
+ self._background_thread = None
+ self._stop_background = False
+ self._last_reading = None
+ self._reading_lock = threading.Lock()
+ # 建立 TCP 连接
+ self.connect()
+
+ # 注册退出时的清理函数
+ atexit.register(self.disconnect)
+
+ def __new__(cls, *args, **kwargs):
+ """单例模式"""
+ if not hasattr(cls, 'instance'):
+ cls.instance = super(XjcSensor, cls).__new__(cls)
+ return cls.instance
+
+ def connect(self):
+ """建立 TCP 连接"""
+ try:
+ self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ self.sock.settimeout(1.0) # 设置超时时间
+ self.sock.connect((self.host, self.port))
+ print(f"Connected to {self.host}:{self.port}")
+ except Exception as e:
+ print(f"TCP connection failed: {e}")
+ raise
+
+ def send_and_receive(self, data: bytes, expected_response_len: int) -> Optional[bytes]:
+ """
+ 发送数据并接收响应
+ :param data: 要发送的字节数据
+ :param expected_response_len: 预期响应的长度
+ :return: 收到的字节数据（失败返回 None）
+ """
+ try:
+ self.sock.sendall(data)
+ response = self.sock.recv(expected_response_len)
+ return response
+ except socket.timeout:
+ print("Timeout while waiting for response")
+ return None
+ except Exception as e:
+ print(f"TCP communication error: {e}")
+ return None
+
+ def set_zero(self) -> int:
+ """传感器置零（TCP 版本）"""
+ if self.slave_address == 0x01:
+ zero_cmd = bytes.fromhex('01 10 46 1C 00 02 04 00 00 00 00 E8 95')
+ elif self.slave_address == 0x09:
+ zero_cmd = bytes.fromhex('09 10 46 1C 00 02 04 00 00 00 00 C2 F5')
+
+ response = self.send_and_receive(zero_cmd, 8)
+ if not response:
+ print("set zero fail")
+ return -1
+
+ # CRC 校验（假设协议要求）
+ hi_check, lo_check = self.crc16(response[:-2])
+ if (response[0] != self.slave_address or
+ response[1] != 0x10 or
+ response[-2] != lo_check or
+ response[-1] != hi_check):
+ print("Set zero failed: CRC check error")
+ return -1
+
+ print("Set zero success!")
+ return 0
+
+ def read_data_f32(self) -> np.ndarray:
+ """
+ TCP版本 - 读取六维力传感器数据 (float32格式)
+ 返回:
+ np.ndarray(6,) - 六维力数据 [Fx,Fy,Fz,Mx,My,Mz]
+ 读取失败返回 -1
+ """
+ # 构造读取命令
+
+ if self.slave_address == 0x01:
+ command = bytes.fromhex('01 04 00 00 00 0C F0 0F')
+ elif self.slave_address == 0x09:
+ command = bytes.fromhex('09 04 00 54 00 0C B0 97')
+
+ try:
+ # 清空接收缓冲区
+ self._clear_tcp_buffer()
+
+ # 接收完整响应
+ response = self.send_and_receive(command, 29)
+
+ # CRC校验
+ Hi_check, Lo_check = self.crc16(response[:-2])
+ if (response[0] != self.slave_address or
+ response[1] != 0x04 or
+ response[2] != 24 or # 数据长度字节
+ response[-2] != Lo_check or
+ response[-1] != Hi_check):
+ print(f"Protocol error! Received: {response.hex(' ')}")
+ print(f"Expected slave:{self.slave_address}, "
+ f"func:0x04, len:24, "
+ f"CRC:{Lo_check:02X}{Hi_check:02X}")
+ return -1
+
+ # 解析6个float32数据 (大端序)
+ sensor_data = struct.unpack('>ffffff', response[3:27])
+ return np.array(sensor_data)
+
+ except socket.timeout:
+ print("Timeout while waiting for sensor response")
+ return -1
+ except ConnectionError as e:
+ print(f"TCP connection error: {e}")
+ return -1
+ except Exception as e:
+ print(f"Unexpected error in read_data_f32: {str(e)}")
+ return -1
+
+ def _clear_tcp_buffer(self):
+ """清空TCP接收缓冲区"""
+ self.sock.settimeout(0.1) # 短暂超时，避免阻塞
+ try:
+ while True:
+ data = self.sock.recv(1024)
+ if not data: # 连接关闭或无数据
+ break
+ print(f"Cleared TCP buffer: {data.hex(' ')}") # 调试输出
+ except socket.timeout:
+ pass # 预期内的超时，表示缓冲区已空
+ finally:
+ self.sock.settimeout(2.0) # 恢复默认超时
+
+ def enable_active_transmission(self) -> int:
+ """启用主动传输模式（TCP 版本）"""
+ if self.rate == 100:
+ cmd = bytes.fromhex('01 10 01 9A 00 01 02 00 00 AB 6A') if self.slave_address == 0x01 else \
+ bytes.fromhex('09 10 01 9A 00 01 02 00 00 CC AA')
+ elif self.rate == 250:
+ cmd = bytes.fromhex('01 10 01 9A 00 01 02 00 01 6A AA') if self.slave_address == 0x01 else \
+ bytes.fromhex('09 10 01 9A 00 01 02 00 01 0D 6A')
+ elif self.rate == 500:
+ cmd = bytes.fromhex('01 10 01 9A 00 01 02 00 02 2A AB') if self.slave_address == 0x01 else \
+ bytes.fromhex('09 10 01 9A 00 01 02 00 02 4D 6B')
+ else:
+ print("Unsupported rate")
+ return -1
+
+ response = self.send_and_receive(cmd, 8)
+ if response and response[1] == 0x10: # 检查响应功能码
+ print(f"Active transmission enabled at {self.rate}Hz")
+ return 0
+ else:
+ print("Failed to enable active transmission")
+ return -1
+
+ def disconnect(self):
+ """关闭 TCP 连接"""
+ if self.sock:
+ try:
+ self.sock.close()
+ print("TCP connection closed")
+ except Exception as e:
+ print(f"Error while closing socket: {e}")
+ self.sock = None
+ def start_background_reading(self):
+ """
+ 启动后台读取任务，每秒读取一次传感器数据
+ """
+ if self._background_thread is not None and self._background_thread.is_alive():
+ print("Background reading is already running")
+ return False
+
+ self._stop_background = False
+ self._background_thread = threading.Thread(target=self._background_reading_task)
+ self._background_thread.daemon = True # 设置为守护线程
+ self._background_thread.start()
+ return True
+
+ def stop_background_reading(self):
+ """
+ 停止后台读取任务
+ """
+ if self._background_thread is None or not self._background_thread.is_alive():
+ print("No background reading is running")
+ return False
+
+ self._stop_background = True
+ self._background_thread.join(timeout=2.0) # 等待线程结束，最多等待2秒
+ self._background_thread = None
+ return True
+
+ def _background_reading_task(self):
+ """
+ 后台读取任务的实现
+ """
+ while not self._stop_background:
+ try:
+ data = self.read_data_f32()
+ if isinstance(data, np.ndarray):
+ with self._reading_lock:
+ self._last_reading = data
+ else:
+ self.connect()
+ except Exception as e:
+ print(f"Error in background reading: {e}")
+ time.sleep(1.0) # 每秒读取一次
+
+ def get_last_reading(self):
+ """
+ 获取最近一次的读数
+ """
+ with self._reading_lock:
+ return self._last_reading
+
+ # ------------------------- 以下方法保持不变 -------------------------
+ @staticmethod
+ def generate_crc16_table():
+ """CRC16 表生成（与原代码相同）"""
+ table = []
+ polynomial = 0xA001
+ for i in range(256):
+ crc = i
+ for _ in range(8):
+ if crc & 0x0001:
+ crc = (crc >> 1) ^ polynomial
+ else:
+ crc >>= 1
+ table.append(crc)
+ return table
+
+ def crc16(self, data: bytes):
+ """CRC16 计算（与原代码相同）"""
+ crc = 0xFFFF
+ for byte in data:
+ crc = (crc >> 8) ^ self.crc16_table[(crc ^ byte) & 0xFF]
+ return (crc >> 8) & 0xFF, crc & 0xFF
+
+ def __del__(self):
+ """析构时自动断开连接"""
+ self.disconnect()
+
+ def disable_active_transmission(self) -> int:
+ """
+ 禁用传感器的主动传输模式（TCP 版本）
+ Returns:
+ 0 表示成功，-1 表示失败
+ """
+ try:
+ # 构造禁用命令（原代码中的 FF x11 字节流）
+ disable_cmd = bytes.fromhex('FF FF FF FF FF FF FF FF FF FF FF')
+ print("Disabling active transmission mode...")
+
+ # 检查 TCP 连接是否有效
+ if not self.sock:
+ raise ConnectionError("TCP connection is not established")
+
+ # 发送禁用命令
+ self.sock.sendall(disable_cmd)
+ print("Active transmission disabled successfully")
+ return 0
+
+ except ConnectionError as e:
+ print(f"Connection error: {e}")
+ return -1
+ except socket.timeout:
+ print("Timeout while sending disable command")
+ return -1
+ except Exception as e:
+ print(f"Unexpected error: {e}")
+ return -1
+
+ def read(self):
+ """
+ TCP Version - Read the sensor's data in passive mode.
+ Returns:
+ np.ndarray(6,) - Six-axis force/torque data [Fx, Fy, Fz, Mx, My, Mz]
+ None if reading fails
+ """
+ try:
+ # Clear any existing data in the TCP buffer first
+ # self._clear_tcp_buffer()
+
+ # Search for frame header (0x20 0x4E)
+ header_found = False
+ start_time = time.time()
+ timeout = 1.0 # 1 second timeout
+
+ while not header_found and (time.time() - start_time < timeout):
+ # Read one byte at a time looking for header
+ byte1 = self.sock.recv(1)
+ if not byte1:
+ continue # No data available yet
+
+ if byte1 == b'\x20':
+ byte2 = self.sock.recv(1)
+ if byte2 == b'\x4E':
+ header_found = True
+
+ if not header_found:
+ print("Frame header not found within timeout period")
+ return None
+
+ # Now read the remaining 14 bytes of the frame
+ response = bytearray([0x20, 0x4E]) # Start with the header we found
+ remaining_bytes = 14
+ bytes_received = 0
+ start_time = time.time()
+
+ while bytes_received < remaining_bytes and (time.time() - start_time < timeout):
+ chunk = self.sock.recv(remaining_bytes - bytes_received)
+ if chunk:
+ response.extend(chunk)
+ bytes_received += len(chunk)
+
+ if bytes_received < remaining_bytes:
+ print(f"Incomplete frame received. Got {len(response)} bytes, expected 16")
+ return None
+
+ # Verify CRC checksum
+ Hi_check, Lo_check = self.crc16(response[:-2])
+ if response[-1] != Hi_check or response[-2] != Lo_check:
+ print("CRC check failed!")
+ print(f"Received CRC: {response[-2]:02X}{response[-1]:02X}")
+ print(f"Calculated CRC: {Lo_check:02X}{Hi_check:02X}")
+ return None
+
+ # Parse the sensor data
+ sensor_data = self.parse_data_passive(response)
+ return sensor_data
+
+ except socket.timeout:
+ print("Timeout while waiting for sensor data")
+ return None
+ except ConnectionError as e:
+ print(f"TCP connection error: {e}")
+ return None
+ except Exception as e:
+ print(f"Unexpected error in TCP read(): {str(e)}")
+ return None
+
+ def parse_data_passive(self, buffer):
+ values = [
+ int.from_bytes(buffer[i:i+2], byteorder='little', signed=True)
+ for i in range(2, 14, 2)
+ ]
+ Fx, Fy, Fz = np.array(values[:3]) / 10.0
+ Mx, My, Mz = np.array(values[3:]) / 1000.0
+ return np.array([Fx, Fy, Fz, Mx, My, Mz])
+
+
+# 外部
+def test_sensor_frequency(sensor, mode='active', duration=5.0):
+ """
+ 测试传感器在不同模式下的实际数据获取频率
+
+ 参数:
+ sensor: XjcSensor实例
+ mode: 'active'(主动模式) 或 'polling'(查询模式)
+ duration: 测试持续时间(秒)
+
+ 返回:
+ dict: 包含测试结果的字典
+ """
+ # 准备测试环境
+ if mode == 'active':
+ print("\n=== 测试主动传输模式 ===")
+ sensor.enable_active_transmission()
+ read_func = sensor.read
+ else:
+ print("\n=== 测试查询模式 ===")
+ sensor.disable_active_transmission() # 确保不在主动模式
+ time.sleep(0.5)
+ sensor.disable_active_transmission() # 确保不在主动模式
+ time.sleep(0.5)
+ sensor.disable_active_transmission() # 确保不在主动模式
+ time.sleep(0.5)
+ read_func = sensor.read_data_f32
+
+ # 初始化测试变量
+ timestamps = []
+ data_count = 0
+ start_time = time.perf_counter()
+ end_time = start_time + duration
+
+ print(f"开始测试，持续时间 {duration} 秒...")
+
+ # 主测试循环
+ while time.perf_counter() < end_time:
+ data = read_func()
+ print(data)
+ if data is not None:
+ timestamps.append(time.perf_counter())
+ data_count += 1
+ # print(timestamps)
+ # 计算统计结果
+ if data_count < 2:
+ print("警告: 采集到的数据点不足")
+ return None
+
+ intervals = np.diff(timestamps)
+ save_intervals_to_csv(timestamps)
+ avg_interval = np.mean(intervals)
+ min_interval = np.min(intervals)
+ max_interval = np.max(intervals)
+ std_interval = np.std(intervals)
+ avg_freq = 1.0 / avg_interval
+
+ # 打印结果
+ print("\n测试结果:")
+ print(f"总数据点数: {data_count}")
+ print(f"平均频率: {avg_freq:.2f} Hz")
+ print(f"最小间隔: {min_interval*1000:.3f} ms")
+ print(f"最大间隔: {max_interval*1000:.3f} ms")
+ print(f"间隔标准差: {std_interval*1000:.3f} ms")
+
+ # 返回结果字典
+ return {
+ 'mode': mode,
+ 'duration': duration,
+ 'data_count': data_count,
+ 'avg_freq': avg_freq,
+ 'min_interval': min_interval,
+ 'max_interval': max_interval,
+ 'std_interval': std_interval,
+ 'timestamps': timestamps,
+ 'intervals': intervals
+ }
+
+def plot_test_results(active_results, polling_results):
+ """绘制两种模式的测试结果对比图"""
+ plt.figure(figsize=(12, 8))
+
+ # 间隔时间分布图
+ plt.subplot(2, 1, 1)
+ plt.hist(active_results['intervals']*1000, bins=50, alpha=0.7, label='主动模式')
+ plt.hist(polling_results['intervals']*1000, bins=50, alpha=0.7, label='查询模式')
+ plt.xlabel('间隔时间 (ms)')
+ plt.ylabel('出现次数')
+ plt.title('数据间隔时间分布')
+ plt.legend()
+ plt.grid(True)
+
+ # 间隔时间序列图
+ plt.subplot(2, 1, 2)
+ plt.plot(np.arange(len(active_results['intervals'])),
+ active_results['intervals']*1000, 'b.', label='主动模式')
+ plt.plot(np.arange(len(polling_results['intervals'])),
+ polling_results['intervals']*1000, 'r.', label='查询模式')
+ plt.xlabel('数据点序号')
+ plt.ylabel('间隔时间 (ms)')
+ plt.title('数据间隔时间序列')
+ plt.legend()
+ plt.grid(True)
+
+ plt.tight_layout()
+ plt.show()
+
+def compare_modes(sensor, duration=5.0):
+ """比较两种工作模式的性能"""
+ # 测试主动模式
+ active_results = test_sensor_frequency(sensor, 'active', duration)
+ time.sleep(1) # 模式切换间隔
+
+ # 测试查询模式
+ polling_results = test_sensor_frequency(sensor, 'polling', duration)
+ time.sleep(1)
+
+ # 打印对比报告
+ print("\n=== 模式对比报告 ===")
+ print(f"{'指标':<15} {'主动模式':>15} {'查询模式':>15}")
+ print(f"{'平均频率(Hz)':<15} {active_results['avg_freq']:>15.2f} {polling_results['avg_freq']:>15.2f}")
+ print(f"{'最小间隔(ms)':<15} {active_results['min_interval']*1000:>15.3f} {polling_results['min_interval']*1000:>15.3f}")
+ print(f"{'最大间隔(ms)':<15} {active_results['max_interval']*1000:>15.3f} {polling_results['max_interval']*1000:>15.3f}")
+ print(f"{'间隔标准差(ms)':<15} {active_results['std_interval']*1000:>15.3f} {polling_results['std_interval']*1000:>15.3f}")
+
+ # 绘制对比图表
+ plot_test_results(active_results, polling_results)
+
+ return active_results, polling_results
+
+def save_intervals_to_csv(timestamps, filename="sensor_intervals.csv"):
+ """
+ Save timestamp intervals to CSV file with metadata
+
+ Args:
+ timestamps: List of timestamp values (from time.perf_counter())
+ filename: Output CSV filename
+ """
+ if len(timestamps) < 2:
+ print("Not enough timestamps to calculate intervals")
+ return
+
+ # Calculate intervals in milliseconds
+ intervals_ms = np.diff(timestamps) * 1000
+
+ # Prepare data rows
+ rows = []
+ for i, interval in enumerate(intervals_ms):
+ rows.append({
+ "reading_number": i+1,
+ "interval_ms": f"{interval:.4f}",
+ "timestamp": timestamps[i],
+ "expected_interval_ms": (1000/250) if i==0 else "", # For 250Hz
+ "deviation_ms": f"{interval - (1000/250):.4f}" if i>0 else ""
+ })
+
+ # CSV header
+ fieldnames = ["reading_number", "interval_ms", "timestamp",
+ "expected_interval_ms", "deviation_ms"]
+
+ # Write to file
+ with open(filename, 'w', newline='') as csvfile:
+ writer = csv.DictWriter(csvfile, fieldnames=fieldnames)
+ writer.writeheader()
+ writer.writerows(rows)
+
+ print(f"Saved {len(intervals_ms)} intervals to {filename}")
+
+if __name__ == "__main__":
+ # 替换为你的传感器 IP 和端口
+ sensor = XjcSensor("192.168.5.1", 60000)
+
+ # 示例操作
+
+ sensor.disable_active_transmission()
+ time.sleep(0.5)
+ sensor.disable_active_transmission()
+ time.sleep(0.5)
+ sensor.disable_active_transmission()
+ time.sleep(0.5)
+ sensor.set_zero()
+
+ # sensor.set_zero()
+ # sensor.disable_active_transmission()
+
+ # while True:
+ # data = sensor.read_data_f32()
+ # if data is not None:
+ # print(f"Force data: {data}")
+ # sensor.enable_active_transmission()
+ # while True:
+ # sensor_data = sensor.read()
+ # if sensor_data is None:
+ # print('failed to get force sensor data!')
+ # print(sensor_data)
+ test_sensor_frequency(sensor)
+ # compare_modes(sensor)
\ No newline at end of file
diff --git a/Massage/MassageControl/hardware/servoj_8ms.py b/Massage/MassageControl/hardware/servoj_8ms.py
index a82df86..a94985e 100644
--- a/Massage/MassageControl/hardware/servoj_8ms.py
+++ b/Massage/MassageControl/hardware/servoj_8ms.py
@@ -29,14 +29,14 @@ def ServoP(client, pt_floats):
client.send(tcp_command)
def ServoJ(client, J1_angle):
- tcp_command = "servoj(0,%f,%f,0,0,0,t=0.008,aheadtime=20, gain=200)" % (J1_angle,J1_angle/2)
+ tcp_command = "servop(249,%f,%f,179,0,-90,t=0.008,aheadtime=20, gain=200)" % (J1_angle-134,497+J1_angle/2)
tcp_command = tcp_command.encode()
client.sendall(tcp_command)
# buf = client.recv(200).decode() # 接收反馈信息的长度
# print(buf)
def servoj_2(client, J1_angle):
- tcp_command = "servoj(%f,0,0,0,0,0,t=2,aheadtime=50, gain=500)" % (J1_angle)
+ tcp_command = "servop(249,-135,497,179,0,-90,t=2,aheadtime=50, gain=500)"
tcp_command = tcp_command.encode()
print(tcp_command)
client.send(tcp_command)
@@ -57,17 +57,17 @@ def enableStatus(client):
servoj_2(client, 0)
sleep(3)
J1 = 0
- bias = 0.04
+ bias = 0.2
pl = bias
while stop:
time_home = time.time()
- if J1 > 60 and bias == pl:
+ if J1 > 50 and bias == pl:
bias = -pl
elif J1 < -1 and bias == -pl:
bias = pl
J1 = J1 + bias
ServoJ(client, J1)
- time.sleep(0.007)
+ time.sleep(0.008)
tie = time.time()-time_home
logger.info(f"time: {tie}")
print(tie)
@@ -90,7 +90,7 @@ def worker(): #子线程接受模式
try:
data = client_socket1.recv(1024).decode()
if data:
- print(data)
+ #print(data)
index_str = data[data.find('{') + 1:data.find('}')]
if (index_str == ''):
stop = False
@@ -107,6 +107,7 @@ try:
feed_thread.daemon = True
feed_thread.start()
enableStatus(client_socket1)
+ # servoj_2(client_socket1, 0)
except KeyboardInterrupt:
print("用户中断操作。")
print((time.time()-time_h)/60)
diff --git a/Massage/MassageControl/tools/Rate.py b/Massage/MassageControl/tools/Rate.py
index eeba960..f51c831 100644
--- a/Massage/MassageControl/tools/Rate.py
+++ b/Massage/MassageControl/tools/Rate.py
@@ -5,6 +5,7 @@ class Rate:
def __init__(self, hz):
self.interval = 1.0 / hz
self.last_time = time.monotonic()
+ # self.last_time =time.time()
self.start_time = self.last_time
def sleep(self,print_duration=False):
@@ -47,9 +48,11 @@ class Rate:
return max(0.0, remaining_time)
def cycle_time(self):
- now = time.monotonic()
- cycle_duration = now - self.start_time
- self.start_time = now
+ # now = time.monotonic()
+ now = time.time()
+ # cycle_duration = now - self.start_time
+ cycle_duration = now - self.last_time
+ self.last_time = now
return cycle_duration
def to_sec(self):
diff --git a/Massage/MassageControl/tools/__pycache__/Rate.cpython-39.pyc b/Massage/MassageControl/tools/__pycache__/Rate.cpython-39.pyc
index 4aa7050..8cd96f7 100644
Binary files a/Massage/MassageControl/tools/__pycache__/Rate.cpython-39.pyc and b/Massage/MassageControl/tools/__pycache__/Rate.cpython-39.pyc differ
diff --git a/logs/MassageRobot_nova5_test.log b/logs/MassageRobot_nova5_test.log
index 7b655aa..e634b6b 100644
--- a/logs/MassageRobot_nova5_test.log
+++ b/logs/MassageRobot_nova5_test.log
@@ -1,8723 +1,1264 @@
-2025-05-16 19:14:19,914 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-16 19:14:23,434 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-16 19:15:18,135 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-16 19:15:21,649 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-16 19:15:21,650 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999994 -0.13499988 0.34431362]
-2025-05-16 19:15:21,651 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,652 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000061 -0.13499976 0.34434018]
-2025-05-16 19:15:21,653 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14158972e+00 1.37889700e-12 -1.57079579e+00]
-2025-05-16 19:15:21,655 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000059 -0.13499976 0.34429637]
-2025-05-16 19:15:21,657 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,658 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000061 -0.13499976 0.34434018]
-2025-05-16 19:15:21,662 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14158972e+00 1.37889700e-12 -1.57079579e+00]
-2025-05-16 19:15:21,676 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999788 -0.13499978 0.34428121]
-2025-05-16 19:15:21,677 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,679 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999944 -0.13500012 0.34433871]
-2025-05-16 19:15:21,686 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -2.30038211e-13 -1.57079726e+00]
-2025-05-16 19:15:21,696 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999632 -0.13500012 0.34427031]
-2025-05-16 19:15:21,698 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,701 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.135 0.34433914]
-2025-05-16 19:15:21,707 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079579e+00]
-2025-05-16 19:15:21,716 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999511 -0.13499999 0.34426282]
-2025-05-16 19:15:21,718 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,720 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13499988 0.34433902]
-2025-05-16 19:15:21,731 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212 0. -1.57079579]
-2025-05-16 19:15:21,748 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999279 -0.13500148 0.34425695]
-2025-05-16 19:15:21,752 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,756 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000018 -0.135 0.34433957]
-2025-05-16 19:15:21,759 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159 0. -1.57079633]
-2025-05-16 19:15:21,767 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999249 -0.13500324 0.34425258]
-2025-05-16 19:15:21,781 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,784 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.135 0.34433917]
-2025-05-16 19:15:21,797 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -4.79369237e-07 -1.57079633e+00]
-2025-05-16 19:15:21,807 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999176 -0.13500399 0.34424912]
-2025-05-16 19:15:21,809 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,817 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000011 -0.13500012 0.34433923]
-2025-05-16 19:15:21,820 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079686e+00]
-2025-05-16 19:15:21,826 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999136 -0.13500394 0.34424579]
-2025-05-16 19:15:21,835 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,838 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999977 -0.13500012 0.34433893]
-2025-05-16 19:15:21,840 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -2.29372077e-13 -1.57079726e+00]
-2025-05-16 19:15:21,847 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999226 -0.13500352 0.34424414]
-2025-05-16 19:15:21,856 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,858 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.13500012 0.34433942]
-2025-05-16 19:15:21,862 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132 0. -1.57079686]
-2025-05-16 19:15:21,875 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999359 -0.13500311 0.34424418]
-2025-05-16 19:15:21,885 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,889 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13499988 0.34433881]
-2025-05-16 19:15:21,905 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 4.59410288e-13 -1.57079539e+00]
-2025-05-16 19:15:21,907 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999445 -0.13500392 0.34424192]
-2025-05-16 19:15:21,929 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,939 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.13499989 0.34433917]
-2025-05-16 19:15:21,940 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 9.58738221e-07 -1.57079726e+00]
-2025-05-16 19:15:21,943 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999415 -0.13500421 0.3442416 ]
-2025-05-16 19:15:21,948 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,952 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13499977 0.34433896]
-2025-05-16 19:15:21,955 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 4.79369904e-07 -1.57079486e+00]
-2025-05-16 19:15:21,964 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999465 -0.13500402 0.3442415 ]
-2025-05-16 19:15:21,966 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,968 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.13500012 0.34433902]
-2025-05-16 19:15:21,977 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 2.29816166e-13 -1.57079633e+00]
-2025-05-16 19:15:21,986 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999473 -0.13500511 0.34424027]
-2025-05-16 19:15:21,995 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:21,999 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.135 0.34433917]
-2025-05-16 19:15:22,001 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -2.29372077e-13 -1.57079579e+00]
-2025-05-16 19:15:22,045 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999523 -0.13500678 0.34424005]
-2025-05-16 19:15:22,047 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:22,048 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000023 -0.13500023 0.34433963]
-2025-05-16 19:15:22,049 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -4.79369682e-07 -1.57079633e+00]
-2025-05-16 19:15:22,053 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999467 -0.13500662 0.34423981]
-2025-05-16 19:15:22,054 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:22,056 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000024 -0.135 0.34433942]
-2025-05-16 19:15:22,072 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -4.79369460e-07 -1.57079539e+00]
-2025-05-16 19:15:22,075 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999435 -0.13500639 0.34423951]
-2025-05-16 19:15:22,076 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:22,077 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.13499977 0.34433893]
-2025-05-16 19:15:22,096 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 4.79369460e-07 -1.57079486e+00]
-2025-05-16 19:15:22,100 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999484 -0.13500672 0.34423905]
-2025-05-16 19:15:22,107 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:22,109 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999931 -0.13500035 0.34433899]
-2025-05-16 19:15:22,114 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 -4.79368983e-07 -1.57079686e+00]
-2025-05-16 19:15:22,131 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999563 -0.13500669 0.34423993]
-2025-05-16 19:15:22,133 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999893e+02 -2.74658196e-05 -8.99999466e+01]
-2025-05-16 19:15:22,134 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13499976 0.34433902]
-2025-05-16 19:15:22,136 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212 0. -1.57079539]
-2025-05-16 19:15:22,152 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-16 19:15:22,153 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-16 19:15:22,175 - 测试日志 - ERROR - log.py:106 - 机械臂控制失败:The truth value of an array with more than one element is ambiguous. Use a.any() or a.all()
-2025-05-16 19:16:49,657 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-16 19:16:53,182 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-16 19:16:53,183 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000008 -0.135 0.34431414]
-2025-05-16 19:16:53,205 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,212 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000011 -0.135 0.3443389 ]
-2025-05-16 19:16:53,213 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -4.79369460e-07 -1.57079633e+00]
-2025-05-16 19:16:53,214 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000011 -0.135 0.34429516]
-2025-05-16 19:16:53,215 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,216 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.13500012 0.34433868]
-2025-05-16 19:16:53,217 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 -4.79368983e-07 -1.57079633e+00]
-2025-05-16 19:16:53,244 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999972 -0.13500022 0.34428107]
-2025-05-16 19:16:53,245 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,247 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999968 -0.13500012 0.34433926]
-2025-05-16 19:16:53,248 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -4.79368984e-07 -1.57079633e+00]
-2025-05-16 19:16:53,260 - 测试日志 - INFO - log.py:106 - position command: [ 0.2499997 -0.13500011 0.34427091]
-2025-05-16 19:16:53,261 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,262 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000015 -0.13499988 0.34433862]
-2025-05-16 19:16:53,264 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 -6.89226454e-13 -1.57079633e+00]
-2025-05-16 19:16:53,279 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000017 -0.13499987 0.34426238]
-2025-05-16 19:16:53,281 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,282 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000017 -0.13499988 0.34433905]
-2025-05-16 19:16:53,282 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -4.79369904e-07 -1.57079633e+00]
-2025-05-16 19:16:53,299 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000017 -0.13499988 0.34425687]
-2025-05-16 19:16:53,300 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,305 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000005 -0.13500023 0.34433908]
-2025-05-16 19:16:53,306 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079779e+00]
-2025-05-16 19:16:53,325 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999992 -0.135 0.34425271]
-2025-05-16 19:16:53,327 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,329 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.135 0.34433948]
-2025-05-16 19:16:53,331 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 9.18820575e-13 -1.57079726e+00]
-2025-05-16 19:16:53,343 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000003 -0.13500139 0.34424948]
-2025-05-16 19:16:53,345 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,346 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999956 -0.13499977 0.34433887]
-2025-05-16 19:16:53,347 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 4.79368984e-07 -1.57079579e+00]
-2025-05-16 19:16:53,362 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999958 -0.13500183 0.34424638]
-2025-05-16 19:16:53,363 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,364 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999979 -0.13499988 0.34433899]
-2025-05-16 19:16:53,365 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -4.79369238e-07 -1.57079579e+00]
-2025-05-16 19:16:53,384 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999982 -0.13500216 0.34424463]
-2025-05-16 19:16:53,387 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,390 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.135 0.34433929]
-2025-05-16 19:16:53,391 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079686e+00]
-2025-05-16 19:16:53,413 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000004 -0.13500247 0.3442437 ]
-2025-05-16 19:16:53,415 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,416 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000011 -0.135 0.34433908]
-2025-05-16 19:16:53,429 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079686]
-2025-05-16 19:16:53,431 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000024 -0.13500207 0.34424242]
-2025-05-16 19:16:53,432 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,433 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000023 -0.135 0.34433911]
-2025-05-16 19:16:53,435 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -4.79369237e-07 -1.57079633e+00]
-2025-05-16 19:16:53,451 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000023 -0.13500183 0.34424148]
-2025-05-16 19:16:53,460 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,462 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999971 -0.135 0.34433868]
-2025-05-16 19:16:53,463 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159079e+00 -4.79370825e-07 -1.57079686e+00]
-2025-05-16 19:16:53,472 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000012 -0.13500158 0.34424113]
-2025-05-16 19:16:53,474 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,494 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999962 -0.13500012 0.34433908]
-2025-05-16 19:16:53,495 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079779e+00]
-2025-05-16 19:16:53,496 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000006 -0.13500168 0.344241 ]
-2025-05-16 19:16:53,498 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,499 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999962 -0.13500012 0.34433908]
-2025-05-16 19:16:53,501 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079779e+00]
-2025-05-16 19:16:53,517 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999992 -0.13500111 0.34424018]
-2025-05-16 19:16:53,519 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,522 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000037 -0.13500035 0.34433997]
-2025-05-16 19:16:53,524 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159026e+00 -1.43810359e-06 -1.57079779e+00]
-2025-05-16 19:16:53,538 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000016 -0.13500091 0.34423952]
-2025-05-16 19:16:53,539 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,541 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999997 -0.13499976 0.34433936]
-2025-05-16 19:16:53,542 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 1.37800882e-12 -1.57079686e+00]
-2025-05-16 19:16:53,558 - 测试日志 - INFO - log.py:106 - position command: [ 0.2500003 -0.13500074 0.34424059]
-2025-05-16 19:16:53,560 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,562 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999988 -0.13500012 0.34433896]
-2025-05-16 19:16:53,563 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -4.79369904e-07 -1.57079726e+00]
-2025-05-16 19:16:53,579 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999988 -0.13500072 0.34423936]
-2025-05-16 19:16:53,581 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,582 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000003 -0.13499988 0.3443396 ]
-2025-05-16 19:16:53,586 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 6.89226454e-13 -1.57079633e+00]
-2025-05-16 19:16:53,597 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000003 -0.13500058 0.34423971]
-2025-05-16 19:16:53,599 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -5.49316392e-05 -8.99999695e+01]
-2025-05-16 19:16:53,601 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999974 -0.13500035 0.34433862]
-2025-05-16 19:16:53,605 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159079e+00 -9.58738919e-07 -1.57079726e+00]
-2025-05-16 19:16:53,618 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-16 19:16:53,620 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-16 19:16:53,643 - 测试日志 - ERROR - log.py:106 - 机械臂控制失败:The truth value of an array with more than one element is ambiguous. Use a.any() or a.all()
-2025-05-16 19:17:27,178 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-16 19:17:30,694 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000006 -0.13500012 0.34431451]
-2025-05-16 19:17:30,695 - 测试日志 - INFO - log.py:106 - orientation command: [-179.99992371 0. -90.00003052]
-2025-05-16 19:17:30,697 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-16 19:17:30,698 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.135 0.34433948]
-2025-05-16 19:17:30,699 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -9.19264664e-13 -1.57079539e+00]
-2025-05-16 19:17:30,705 - 测试日志 - INFO - log.py:106 - position command: [ 0.25 -0.135 0.34429511]
-2025-05-16 19:17:30,709 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 -2.73696515e-05 -8.99999469e+01]
-2025-05-16 19:17:30,712 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999969 -0.13500012 0.34433875]
-2025-05-16 19:17:30,714 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 2.06812345e-12 -1.57079539e+00]
-2025-05-16 19:17:30,723 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999971 -0.13500013 0.34428098]
-2025-05-16 19:17:30,725 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999925e+02 9.92135866e-08 -8.99999472e+01]
-2025-05-16 19:17:30,727 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999974 -0.13499988 0.34433942]
-2025-05-16 19:17:30,730 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -9.19264664e-13 -1.57079486e+00]
-2025-05-16 19:17:30,742 - 测试日志 - INFO - log.py:106 - position command: [ 0.25 -0.13500012 0.34427045]
-2025-05-16 19:17:30,743 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999941e+02 1.00127538e-07 -8.99999703e+01]
-2025-05-16 19:17:30,745 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000017 -0.135 0.34433911]
-2025-05-16 19:17:30,746 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 4.58966198e-13 -1.57079539e+00]
-2025-05-16 19:17:30,765 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999992 -0.13500023 0.34426331]
-2025-05-16 19:17:30,767 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999892e+02 -5.46198249e-05 -8.99999190e+01]
-2025-05-16 19:17:30,769 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000024 -0.13499965 0.34433908]
-2025-05-16 19:17:30,771 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 4.79368984e-07 -1.57079446e+00]
-2025-05-16 19:17:30,797 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999976 -0.13500489 0.34425725]
-2025-05-16 19:17:30,801 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999938e+02 4.41686016e-04 -8.99998668e+01]
-2025-05-16 19:17:30,803 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999976 -0.13499988 0.34433859]
-2025-05-16 19:17:30,809 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 4.79369682e-07 -1.57079579e+00]
-2025-05-16 19:17:30,812 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000026 -0.13500601 0.34425247]
-2025-05-16 19:17:30,815 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999998e+02 6.49917982e-04 -8.99998861e+01]
-2025-05-16 19:17:30,818 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000017 -0.135 0.34433926]
-2025-05-16 19:17:30,826 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 6.89226454e-13 -1.57079486e+00]
-2025-05-16 19:17:30,838 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000017 -0.13500649 0.34424932]
-2025-05-16 19:17:30,849 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999971e+02 7.92084632e-04 -8.99998839e+01]
-2025-05-16 19:17:30,859 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13500012 0.34433948]
-2025-05-16 19:17:30,866 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -9.18820575e-13 -1.57079579e+00]
-2025-05-16 19:17:30,878 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999989 -0.13500582 0.34424637]
-2025-05-16 19:17:30,887 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999941e+02 8.55973477e-04 -8.99999365e+01]
-2025-05-16 19:17:30,892 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000017 -0.135 0.34433908]
-2025-05-16 19:17:30,901 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 -4.79368984e-07 -1.57079446e+00]
-2025-05-16 19:17:30,904 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999997 -0.13500506 0.34424494]
-2025-05-16 19:17:30,906 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999967e+02 8.68196194e-04 -8.99998830e+01]
-2025-05-16 19:17:30,907 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999974 -0.13499988 0.34433926]
-2025-05-16 19:17:30,911 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -1.37889700e-12 -1.57079446e+00]
-2025-05-16 19:17:30,927 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999992 -0.1350043 0.34424347]
-2025-05-16 19:17:30,930 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999936e+02 8.90382550e-04 -8.99998223e+01]
-2025-05-16 19:17:30,935 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000024 -0.13499976 0.34433908]
-2025-05-16 19:17:30,941 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079446]
-2025-05-16 19:17:30,951 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000025 -0.13500336 0.3442423 ]
-2025-05-16 19:17:30,955 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999997e+02 9.27353458e-04 -8.99998480e+01]
-2025-05-16 19:17:30,962 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000005 -0.13500012 0.3443389 ]
-2025-05-16 19:17:30,965 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -4.79368063e-07 -1.57079539e+00]
-2025-05-16 19:17:30,971 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000005 -0.1350031 0.34424133]
-2025-05-16 19:17:30,985 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999942e+02 9.00481952e-04 -8.99998905e+01]
-2025-05-16 19:17:30,989 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000015 -0.135 0.34433878]
-2025-05-16 19:17:30,995 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 -4.79368317e-07 -1.57079539e+00]
-2025-05-16 19:17:31,006 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999995 -0.13500238 0.34424113]
-2025-05-16 19:17:31,008 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999997e+02 9.17363811e-04 -8.99998552e+01]
-2025-05-16 19:17:31,009 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999974 -0.13499988 0.34433908]
-2025-05-16 19:17:31,010 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 -4.79368983e-07 -1.57079393e+00]
-2025-05-16 19:17:31,024 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000002 -0.13500189 0.34424053]
-2025-05-16 19:17:31,027 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999997e+02 8.76269770e-04 -8.99998295e+01]
-2025-05-16 19:17:31,030 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13500012 0.34433896]
-2025-05-16 19:17:31,035 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 -4.79368983e-07 -1.57079539e+00]
-2025-05-16 19:17:31,049 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000024 -0.13500116 0.34424043]
-2025-05-16 19:17:31,057 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999996e+02 9.15230802e-04 -8.99998280e+01]
-2025-05-16 19:17:31,060 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000011 -0.135 0.34433908]
-2025-05-16 19:17:31,064 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079539]
-2025-05-16 19:17:31,067 - 测试日志 - INFO - log.py:106 - position command: [ 0.2500001 -0.13500119 0.34423988]
-2025-05-16 19:17:31,069 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999996e+02 8.70474707e-04 -8.99998808e+01]
-2025-05-16 19:17:31,070 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.13500023 0.34433884]
-2025-05-16 19:17:31,072 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -9.58737332e-07 -1.57079486e+00]
-2025-05-16 19:17:31,109 - 测试日志 - INFO - log.py:106 - position command: [ 0.25 -0.13500118 0.34423946]
-2025-05-16 19:17:31,110 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999974e+02 7.98877382e-04 -8.99998498e+01]
-2025-05-16 19:17:31,112 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000035 -0.13499976 0.3443396 ]
-2025-05-16 19:17:31,112 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212 0. -1.57079539]
-2025-05-16 19:17:31,125 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999996 -0.13500052 0.34423956]
-2025-05-16 19:17:31,126 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999965e+02 8.62447199e-04 -8.99998504e+01]
-2025-05-16 19:17:31,127 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.135 0.34433948]
-2025-05-16 19:17:31,128 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -9.19264664e-13 -1.57079539e+00]
-2025-05-16 19:17:31,146 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000002 -0.1350006 0.34423984]
-2025-05-16 19:17:31,154 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999935e+02 8.16720626e-04 -8.99998815e+01]
-2025-05-16 19:17:31,155 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000011 -0.13500012 0.34433923]
-2025-05-16 19:17:31,156 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079633e+00]
-2025-05-16 19:17:31,160 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-16 19:17:31,166 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-16 19:17:31,191 - 测试日志 - ERROR - log.py:106 - 机械臂控制失败:The truth value of an array with more than one element is ambiguous. Use a.any() or a.all()
-2025-05-16 19:18:06,012 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-16 19:18:09,527 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000023 -0.135 0.34431445]
-2025-05-16 19:18:09,528 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-16 19:18:09,529 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 1.31547742e-11 -9.00000305e+01]
-2025-05-16 19:18:09,531 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.13499988 0.34433868]
-2025-05-16 19:18:09,533 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 -6.89448498e-13 -1.57079633e+00]
-2025-05-16 19:18:09,535 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000001 -0.13499988 0.34429496]
-2025-05-16 19:18:09,536 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 -5.33060965e-11 -9.00000001e+01]
-2025-05-16 19:18:09,537 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.13500012 0.34433951]
-2025-05-16 19:18:09,538 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -4.79368761e-07 -1.57079686e+00]
-2025-05-16 19:18:09,554 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999988 -0.135 0.34428074]
-2025-05-16 19:18:09,555 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999925e+02 2.73653824e-05 -9.00000427e+01]
-2025-05-16 19:18:09,556 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.135 0.34433902]
-2025-05-16 19:18:09,558 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -2.29372077e-13 -1.57079686e+00]
-2025-05-16 19:18:09,579 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999954 -0.135 0.34427027]
-2025-05-16 19:18:09,580 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999970e+02 -1.02161350e-07 -8.99999789e+01]
-2025-05-16 19:18:09,581 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999968 -0.13499977 0.34433926]
-2025-05-16 19:18:09,582 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 4.79368983e-07 -1.57079579e+00]
-2025-05-16 19:18:09,598 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999998 -0.13499988 0.34426261]
-2025-05-16 19:18:09,599 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999940e+02 -1.01646953e-07 -8.99999659e+01]
-2025-05-16 19:18:09,600 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13499988 0.34433881]
-2025-05-16 19:18:09,602 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -4.59410288e-13 -1.57079633e+00]
-2025-05-16 19:18:09,620 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999989 -0.13499989 0.34425721]
-2025-05-16 19:18:09,624 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999968e+02 2.72660199e-05 -8.99999489e+01]
-2025-05-16 19:18:09,625 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.135 0.34433893]
-2025-05-16 19:18:09,628 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212 0. -1.57079633]
-2025-05-16 19:18:09,640 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999977 -0.13500001 0.34425255]
-2025-05-16 19:18:09,641 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999968e+02 -1.98010826e-07 -8.99999070e+01]
-2025-05-16 19:18:09,642 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999986 -0.13500024 0.34433902]
-2025-05-16 19:18:09,643 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212 0. -1.57079726]
-2025-05-16 19:18:09,661 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000016 -0.13499989 0.34424941]
-2025-05-16 19:18:09,663 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999968e+02 -1.95282737e-07 -8.99998993e+01]
-2025-05-16 19:18:09,673 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000031 -0.13499976 0.34433942]
-2025-05-16 19:18:09,682 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159 0. -1.57079539]
-2025-05-16 19:18:09,688 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999999 -0.13499989 0.34424696]
-2025-05-16 19:18:09,692 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999968e+02 -1.91949121e-07 -8.99998867e+01]
-2025-05-16 19:18:09,697 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000024 -0.13499976 0.34433923]
-2025-05-16 19:18:09,703 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265 0. -1.57079579]
-2025-05-16 19:18:09,711 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999986 -0.13500001 0.34424478]
-2025-05-16 19:18:09,714 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999940e+02 2.71811172e-05 -8.99999580e+01]
-2025-05-16 19:18:09,719 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.135 0.34433926]
-2025-05-16 19:18:09,723 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 4.79368984e-07 -1.57079686e+00]
-2025-05-16 19:18:09,730 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999969 -0.13500012 0.34424287]
-2025-05-16 19:18:09,731 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999926e+02 2.70880220e-05 -8.99999190e+01]
-2025-05-16 19:18:09,733 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999986 -0.13499988 0.34433948]
-2025-05-16 19:18:09,735 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -6.89448498e-13 -1.57079539e+00]
-2025-05-16 19:18:09,747 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000005 -0.135 0.34424207]
-2025-05-16 19:18:09,750 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999972e+02 -3.74535656e-07 -8.99998702e+01]
-2025-05-16 19:18:09,756 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000064 -0.13499965 0.34433926]
-2025-05-16 19:18:09,762 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 4.79369460e-07 -1.57079579e+00]
-2025-05-16 19:18:09,770 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999991 -0.13499988 0.34424158]
-2025-05-16 19:18:09,773 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999967e+02 -2.77394374e-05 -8.99997971e+01]
-2025-05-16 19:18:09,779 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.13500012 0.34433926]
-2025-05-16 19:18:09,782 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -4.79368984e-07 -1.57079633e+00]
-2025-05-16 19:18:09,790 - 测试日志 - INFO - log.py:106 - position command: [ 0.2500001 -0.13499978 0.34424086]
-2025-05-16 19:18:09,790 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999972e+02 2.71001160e-05 -8.99997982e+01]
-2025-05-16 19:18:09,791 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000003 -0.135 0.3443396 ]
-2025-05-16 19:18:09,791 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -4.79368317e-07 -1.57079633e+00]
-2025-05-16 19:18:09,810 - 测试日志 - INFO - log.py:106 - position command: [ 0.2499998 -0.13500036 0.34424053]
-2025-05-16 19:18:09,810 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999998e+02 -3.59614631e-07 -8.99998910e+01]
-2025-05-16 19:18:09,811 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.13499977 0.34433902]
-2025-05-16 19:18:09,812 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 4.79368762e-07 -1.57079633e+00]
-2025-05-16 19:18:09,830 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000025 -0.13500011 0.34424023]
-2025-05-16 19:18:09,832 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999998e+02 -3.53008237e-07 -8.99998159e+01]
-2025-05-16 19:18:09,833 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999991 -0.13499988 0.34433936]
-2025-05-16 19:18:09,834 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 4.59632332e-13 -1.57079633e+00]
-2025-05-16 19:18:09,849 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000004 -0.13499999 0.34423997]
-2025-05-16 19:18:09,851 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999972e+02 -3.45881467e-07 -8.99997715e+01]
-2025-05-16 19:18:09,853 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13499977 0.34433896]
-2025-05-16 19:18:09,854 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 4.79368539e-07 -1.57079633e+00]
-2025-05-16 19:18:09,872 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999996 -0.13499988 0.34423946]
-2025-05-16 19:18:09,873 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999926e+02 2.70313608e-05 -8.99997327e+01]
-2025-05-16 19:18:09,874 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999954 -0.135 0.34433893]
-2025-05-16 19:18:09,876 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 4.79368983e-07 -1.57079686e+00]
-2025-05-16 19:18:09,891 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999986 -0.13500012 0.34423944]
-2025-05-16 19:18:09,892 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999942e+02 -4.27517514e-07 -8.99998044e+01]
-2025-05-16 19:18:09,893 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000003 -0.135 0.34433878]
-2025-05-16 19:18:09,894 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 4.79369682e-07 -1.57079633e+00]
-2025-05-16 19:18:09,910 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999998 -0.135 0.34423951]
-2025-05-16 19:18:09,911 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999997e+02 -4.19118102e-07 -8.99997096e+01]
-2025-05-16 19:18:09,912 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.135 0.34433914]
-2025-05-16 19:18:09,913 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265 0. -1.57079579]
-2025-05-16 19:18:09,931 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-16 19:18:09,935 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-16 19:19:07,078 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-16 19:19:10,599 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-16 19:19:10,616 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000037 -0.13499882 0.34431442]
-2025-05-16 19:19:10,620 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,622 - 测试日志 - INFO - log.py:106 - position current:[ 0.2500002 -0.13499895 0.34433969]
-2025-05-16 19:19:10,625 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 3.83495466e-06 -1.57079779e+00]
-2025-05-16 19:19:10,627 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999995 -0.13500145 0.34429508]
-2025-05-16 19:19:10,630 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,633 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999995 -0.13499883 0.34433908]
-2025-05-16 19:19:10,635 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 3.83495161e-06 -1.57079633e+00]
-2025-05-16 19:19:10,648 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999998 -0.13500415 0.3442813 ]
-2025-05-16 19:19:10,654 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,657 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000047 -0.13499883 0.34433966]
-2025-05-16 19:19:10,658 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 3.83495238e-06 -1.57079579e+00]
-2025-05-16 19:19:10,668 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000027 -0.13500515 0.3442709 ]
-2025-05-16 19:19:10,669 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,670 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999985 -0.13499907 0.3443392 ]
-2025-05-16 19:19:10,671 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 3.35558308e-06 -1.57079579e+00]
-2025-05-16 19:19:10,692 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000031 -0.13500671 0.3442632 ]
-2025-05-16 19:19:10,695 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,705 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999995 -0.13499895 0.34433908]
-2025-05-16 19:19:10,714 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 3.35558257e-06 -1.57079633e+00]
-2025-05-16 19:19:10,723 - 测试日志 - INFO - log.py:106 - position command: [ 0.2500002 -0.13500773 0.34425717]
-2025-05-16 19:19:10,726 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,738 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999997 -0.13499872 0.34433954]
-2025-05-16 19:19:10,740 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 4.31432219e-06 -1.57079686e+00]
-2025-05-16 19:19:10,742 - 测试日志 - INFO - log.py:106 - position command: [ 0.25 -0.13500758 0.3442529 ]
-2025-05-16 19:19:10,744 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,746 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999985 -0.13499884 0.34433902]
-2025-05-16 19:19:10,749 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 4.31432117e-06 -1.57079633e+00]
-2025-05-16 19:19:10,770 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000015 -0.13500718 0.34424937]
-2025-05-16 19:19:10,773 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,775 - 测试日志 - INFO - log.py:106 - position current:[ 0.2499998 -0.13499872 0.34433893]
-2025-05-16 19:19:10,779 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 3.83495187e-06 -1.57079539e+00]
-2025-05-16 19:19:10,791 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999989 -0.13500615 0.34424622]
-2025-05-16 19:19:10,798 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,805 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000009 -0.13499847 0.34433908]
-2025-05-16 19:19:10,809 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 4.31432066e-06 -1.57079539e+00]
-2025-05-16 19:19:10,818 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000012 -0.13500641 0.34424448]
-2025-05-16 19:19:10,826 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,829 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.13499895 0.34433914]
-2025-05-16 19:19:10,838 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 3.83495187e-06 -1.57079633e+00]
-2025-05-16 19:19:10,840 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000056 -0.13500834 0.34424423]
-2025-05-16 19:19:10,841 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,842 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000031 -0.13499895 0.34433957]
-2025-05-16 19:19:10,843 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 3.35558333e-06 -1.57079579e+00]
-2025-05-16 19:19:10,860 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000009 -0.13500992 0.34424254]
-2025-05-16 19:19:10,861 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,862 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000047 -0.13499884 0.34433984]
-2025-05-16 19:19:10,866 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159079e+00 4.31432168e-06 -1.57079633e+00]
-2025-05-16 19:19:10,882 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000037 -0.13501152 0.34424215]
-2025-05-16 19:19:10,886 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,891 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999995 -0.13499907 0.34433893]
-2025-05-16 19:19:10,904 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 2.87621403e-06 -1.57079539e+00]
-2025-05-16 19:19:10,908 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999999 -0.13501273 0.34424072]
-2025-05-16 19:19:10,912 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,919 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000003 -0.13499965 0.34433926]
-2025-05-16 19:19:10,921 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 4.79369682e-07 -1.57079686e+00]
-2025-05-16 19:19:10,927 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000007 -0.13501444 0.34424062]
-2025-05-16 19:19:10,929 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,932 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.13500011 0.34433914]
-2025-05-16 19:19:10,934 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -9.58737967e-07 -1.57079686e+00]
-2025-05-16 19:19:10,954 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000005 -0.13501585 0.34424017]
-2025-05-16 19:19:10,957 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,958 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000003 -0.13500011 0.34433926]
-2025-05-16 19:19:10,960 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -1.43810651e-06 -1.57079633e+00]
-2025-05-16 19:19:10,972 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000007 -0.13501529 0.34424004]
-2025-05-16 19:19:10,973 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:10,974 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999986 -0.135 0.34433948]
-2025-05-16 19:19:10,976 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -9.58737967e-07 -1.57079539e+00]
-2025-05-16 19:19:10,993 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000007 -0.13501407 0.34424 ]
-2025-05-16 19:19:10,996 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:11,001 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999991 -0.13500011 0.3443392 ]
-2025-05-16 19:19:11,003 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -1.43810701e-06 -1.57079579e+00]
-2025-05-16 19:19:11,012 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999996 -0.13501361 0.34423965]
-2025-05-16 19:19:11,014 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:11,015 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999979 -0.13500023 0.34433932]
-2025-05-16 19:19:11,017 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -1.43810651e-06 -1.57079686e+00]
-2025-05-16 19:19:11,032 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000024 -0.1350142 0.34424001]
-2025-05-16 19:19:11,035 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.92260821e-04 -9.00000000e+01]
-2025-05-16 19:19:11,037 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000008 -0.13500011 0.34433914]
-2025-05-16 19:19:11,039 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -1.43810701e-06 -1.57079539e+00]
-2025-05-16 19:19:11,051 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-16 19:19:11,052 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-16 19:20:30,100 - 测试日志 - ERROR - log.py:106 - 传感器数据读取失败
-2025-05-16 19:20:30,104 - 测试日志 - ERROR - log.py:106 - 传感器线程数据读取失败-1
-2025-05-16 19:21:01,065 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-16 19:21:04,582 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-16 19:21:04,591 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000008 -0.13499988 0.34431448]
-2025-05-16 19:21:04,596 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01]
-2025-05-16 19:21:04,606 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999985 -0.13499988 0.3443392 ]
-2025-05-16 19:21:04,609 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079779]
-2025-05-16 19:21:04,612 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999984 -0.13500011 0.3442952 ]
-2025-05-16 19:21:04,614 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01]
-2025-05-16 19:21:04,616 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.13500012 0.34433893]
-2025-05-16 19:21:04,617 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -4.79370381e-07 -1.57079926e+00]
-2025-05-16 19:21:04,632 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999814 -0.13500175 0.34428118]
-2025-05-16 19:21:04,637 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01]
-2025-05-16 19:21:04,641 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.13499965 0.34433881]
-2025-05-16 19:21:04,644 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 4.79367142e-07 -1.57079726e+00]
-2025-05-16 19:21:04,652 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999718 -0.13500245 0.3442707 ]
-2025-05-16 19:21:04,654 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01]
-2025-05-16 19:21:04,655 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.13500012 0.34433926]
-2025-05-16 19:21:04,657 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 9.19042620e-13 -1.57079872e+00]
-2025-05-16 19:21:04,683 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999703 -0.13500314 0.34426294]
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-2025-05-16 19:21:04,688 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000031 -0.13499965 0.34433957]
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-2025-05-16 19:21:04,704 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999749 -0.13500247 0.34425739]
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-2025-05-16 19:21:04,713 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999948 -0.13500012 0.34433878]
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-2025-05-16 19:21:04,724 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999693 -0.13500269 0.34425217]
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-2025-05-16 19:21:04,732 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000014 -0.13499976 0.34433929]
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-2025-05-16 19:21:04,744 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999788 -0.13500202 0.34424935]
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-2025-05-16 19:21:04,754 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000023 -0.135 0.34433945]
-2025-05-16 19:21:04,762 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 1.14841470e-12 -1.57079872e+00]
-2025-05-16 19:21:04,766 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999829 -0.13500194 0.34424699]
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-2025-05-16 19:21:04,773 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.13500035 0.3443396 ]
-2025-05-16 19:21:04,778 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -4.79366253e-07 -1.57079926e+00]
-2025-05-16 19:21:04,789 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999395 -0.13500123 0.34424531]
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-2025-05-16 19:21:04,801 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000018 -0.13499976 0.34433917]
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-2025-05-16 19:21:04,820 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999421 -0.13500098 0.34424342]
-2025-05-16 19:21:04,823 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01]
-2025-05-16 19:21:04,824 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000018 -0.135 0.34433942]
-2025-05-16 19:21:04,828 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 2.75734990e-12 -1.57079926e+00]
-2025-05-16 19:21:04,840 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999459 -0.13500113 0.34424234]
-2025-05-16 19:21:04,845 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01]
-2025-05-16 19:21:04,847 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.13500012 0.34433932]
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-2025-05-16 19:21:04,858 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999504 -0.13500082 0.34424111]
-2025-05-16 19:21:04,861 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01]
-2025-05-16 19:21:04,865 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.13500012 0.3443396 ]
-2025-05-16 19:21:04,867 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 2.75734990e-12 -1.57079872e+00]
-2025-05-16 19:21:04,880 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999606 -0.13500078 0.34424141]
-2025-05-16 19:21:04,882 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01]
-2025-05-16 19:21:04,885 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.135 0.34433917]
-2025-05-16 19:21:04,888 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 6.89226454e-13 -1.57079779e+00]
-2025-05-16 19:21:04,899 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999681 -0.13500188 0.3442404 ]
-2025-05-16 19:21:04,901 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01]
-2025-05-16 19:21:04,906 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000011 -0.13500012 0.34433923]
-2025-05-16 19:21:04,907 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079872e+00]
-2025-05-16 19:21:04,919 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999748 -0.13500388 0.34424027]
-2025-05-16 19:21:04,922 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01]
-2025-05-16 19:21:04,925 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13499988 0.34433914]
-2025-05-16 19:21:04,929 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 4.79368984e-07 -1.57079926e+00]
-2025-05-16 19:21:04,938 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999797 -0.13500476 0.34424002]
-2025-05-16 19:21:04,938 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01]
-2025-05-16 19:21:04,939 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999973 -0.13499977 0.34433929]
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-2025-05-16 19:21:04,958 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999801 -0.13500444 0.34423989]
-2025-05-16 19:21:04,960 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01]
-2025-05-16 19:21:04,966 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000015 -0.13500012 0.34433899]
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-2025-05-16 19:21:04,982 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999854 -0.13500441 0.34423949]
-2025-05-16 19:21:04,985 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01]
-2025-05-16 19:21:04,989 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.13499988 0.34433942]
-2025-05-16 19:21:04,990 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 4.79370381e-07 -1.57079926e+00]
-2025-05-16 19:21:04,999 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999883 -0.13500397 0.34423939]
-2025-05-16 19:21:05,000 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01]
-2025-05-16 19:21:05,001 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999966 -0.13500012 0.34433914]
-2025-05-16 19:21:05,002 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -4.79370158e-07 -1.57079872e+00]
-2025-05-16 19:21:05,020 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-16 19:21:05,021 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-16 19:21:05,047 - 测试日志 - ERROR - log.py:106 - 机械臂控制失败:The truth value of an array with more than one element is ambiguous. Use a.any() or a.all()
-2025-05-16 19:21:19,050 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-16 19:21:22,574 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-16 19:21:22,575 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999989 -0.13499977 0.34431408]
-2025-05-16 19:21:22,584 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 2.74658341e-05 -8.99999466e+01]
-2025-05-16 19:21:22,588 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000035 -0.13499977 0.34433945]
-2025-05-16 19:21:22,591 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 4.79368317e-07 -1.57079539e+00]
-2025-05-16 19:21:22,593 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000011 -0.13499987 0.34429574]
-2025-05-16 19:21:22,595 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 2.74658341e-05 -8.99999466e+01]
-2025-05-16 19:21:22,597 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.13500012 0.34433902]
-2025-05-16 19:21:22,598 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 2.29816166e-13 -1.57079633e+00]
-2025-05-16 19:21:22,615 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000017 -0.13499975 0.34428102]
-2025-05-16 19:21:22,617 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 2.74658341e-05 -8.99999466e+01]
-2025-05-16 19:21:22,618 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999954 -0.135 0.34433878]
-2025-05-16 19:21:22,619 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 1.37845291e-12 -1.57079486e+00]
-2025-05-16 19:21:22,635 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000007 -0.13500011 0.3442706 ]
-2025-05-16 19:21:22,636 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 2.74658341e-05 -8.99999466e+01]
-2025-05-16 19:21:22,638 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000035 -0.135 0.34433984]
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-2025-05-16 19:21:22,656 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999976 -0.13499998 0.34426275]
-2025-05-16 19:21:22,658 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 2.74658341e-05 -8.99999466e+01]
-2025-05-16 19:21:22,660 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999988 -0.13500023 0.34433914]
-2025-05-16 19:21:22,662 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 -4.79368983e-07 -1.57079633e+00]
-2025-05-16 19:21:22,676 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999972 -0.13499998 0.34425679]
-2025-05-16 19:21:22,679 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 2.74658341e-05 -8.99999466e+01]
-2025-05-16 19:21:22,686 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999977 -0.13500012 0.34433893]
-2025-05-16 19:21:22,691 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 2.29816166e-13 -1.57079633e+00]
-2025-05-16 19:21:22,700 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999977 -0.13500009 0.34425229]
-2025-05-16 19:21:22,703 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 2.74658341e-05 -8.99999466e+01]
-2025-05-16 19:21:22,708 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13499977 0.34433917]
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-2025-05-16 19:21:22,720 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999962 -0.13499985 0.34424869]
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-2025-05-16 19:21:22,729 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.13499988 0.34433951]
-2025-05-16 19:21:22,734 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 4.79368761e-07 -1.57079579e+00]
-2025-05-16 19:21:22,739 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000006 -0.13499986 0.34424702]
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-2025-05-16 19:21:22,746 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999974 -0.135 0.34433813]
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-2025-05-16 19:21:22,759 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000001 -0.13499986 0.3442451 ]
-2025-05-16 19:21:22,764 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 2.74658341e-05 -8.99999466e+01]
-2025-05-16 19:21:22,768 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.13500012 0.34433917]
-2025-05-16 19:21:22,770 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212 0. -1.57079686]
-2025-05-16 19:21:22,782 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999994 -0.13499998 0.34424335]
-2025-05-16 19:21:22,783 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 2.74658341e-05 -8.99999466e+01]
-2025-05-16 19:21:22,784 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000005 -0.13500012 0.34433939]
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-2025-05-16 19:21:22,804 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999994 -0.13500133 0.3442423 ]
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-2025-05-16 19:21:22,807 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999977 -0.13499988 0.34433887]
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-2025-05-16 19:21:22,824 - 测试日志 - INFO - log.py:106 - position command: [ 0.2500002 -0.13500221 0.34424201]
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-2025-05-16 19:21:22,845 - 测试日志 - INFO - log.py:106 - position command: [ 0.25 -0.13500207 0.3442409 ]
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-2025-05-16 19:21:22,864 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999997 -0.13500194 0.34423975]
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-2025-05-16 19:21:22,870 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000017 -0.135 0.34433896]
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-2025-05-16 19:21:22,890 - 测试日志 - INFO - log.py:106 - position current:[ 0.2500002 -0.13499965 0.34433951]
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-2025-05-16 19:21:22,906 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 2.74658341e-05 -8.99999466e+01]
-2025-05-16 19:21:22,909 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000014 -0.13499976 0.34433929]
-2025-05-16 19:21:22,911 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -9.19264664e-13 -1.57079446e+00]
-2025-05-16 19:21:22,925 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000011 -0.1350013 0.34423984]
-2025-05-16 19:21:22,933 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 2.74658341e-05 -8.99999466e+01]
-2025-05-16 19:21:22,936 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000021 -0.13500012 0.34433932]
-2025-05-16 19:21:22,940 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265 0. -1.57079633]
-2025-05-16 19:21:22,948 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000003 -0.13500118 0.34423958]
-2025-05-16 19:21:22,951 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 2.74658341e-05 -8.99999466e+01]
-2025-05-16 19:21:22,957 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.135 0.34433926]
-2025-05-16 19:21:22,961 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 4.79368539e-07 -1.57079579e+00]
-2025-05-16 19:21:22,967 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000004 -0.13500096 0.34423948]
-2025-05-16 19:21:22,973 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 2.74658341e-05 -8.99999466e+01]
-2025-05-16 19:21:22,974 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999966 -0.135 0.34433932]
-2025-05-16 19:21:22,976 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 4.79368984e-07 -1.57079686e+00]
-2025-05-16 19:21:22,989 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-16 19:21:22,989 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-16 19:21:23,014 - 测试日志 - ERROR - log.py:106 - 机械臂控制失败:The truth value of an array with more than one element is ambiguous. Use a.any() or a.all()
-2025-05-16 19:21:38,969 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-16 19:21:42,488 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999983 -0.13500023 0.34431408]
-2025-05-16 19:21:42,504 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-16 19:21:42,505 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,509 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000023 -0.13500012 0.34433945]
-2025-05-16 19:21:42,511 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -4.79369460e-07 -1.57079539e+00]
-2025-05-16 19:21:42,515 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000016 -0.13499989 0.34429548]
-2025-05-16 19:21:42,517 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,518 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999973 -0.13499953 0.34433847]
-2025-05-16 19:21:42,520 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159026e+00 4.79368984e-07 -1.57079486e+00]
-2025-05-16 19:21:42,534 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999972 -0.13499478 0.34428068]
-2025-05-16 19:21:42,534 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,535 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000005 -0.13500012 0.34433939]
-2025-05-16 19:21:42,536 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265 0. -1.57079633]
-2025-05-16 19:21:42,553 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999974 -0.13499147 0.34427106]
-2025-05-16 19:21:42,554 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,554 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000008 -0.135 0.34433948]
-2025-05-16 19:21:42,555 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -4.79369460e-07 -1.57079539e+00]
-2025-05-16 19:21:42,574 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999973 -0.1349888 0.3442624 ]
-2025-05-16 19:21:42,576 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,581 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999965 -0.13500012 0.34433868]
-2025-05-16 19:21:42,584 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 4.59188243e-13 -1.57079633e+00]
-2025-05-16 19:21:42,598 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999994 -0.13498816 0.34425695]
-2025-05-16 19:21:42,599 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,600 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13500012 0.34433896]
-2025-05-16 19:21:42,602 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 -4.79368983e-07 -1.57079579e+00]
-2025-05-16 19:21:42,619 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000018 -0.13498878 0.34425317]
-2025-05-16 19:21:42,621 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,622 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000023 -0.13500023 0.34433911]
-2025-05-16 19:21:42,623 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -9.58738475e-07 -1.57079539e+00]
-2025-05-16 19:21:42,639 - 测试日志 - INFO - log.py:106 - position command: [ 0.2500002 -0.13498855 0.34424911]
-2025-05-16 19:21:42,639 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,640 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999969 -0.13500012 0.34433875]
-2025-05-16 19:21:42,642 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 6.89226454e-13 -1.57079633e+00]
-2025-05-16 19:21:42,659 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999968 -0.13498769 0.34424625]
-2025-05-16 19:21:42,663 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,665 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000014 -0.13499988 0.34433948]
-2025-05-16 19:21:42,667 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -4.79369460e-07 -1.57079486e+00]
-2025-05-16 19:21:42,680 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000012 -0.13498654 0.3442451 ]
-2025-05-16 19:21:42,682 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,682 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999944 -0.13500012 0.34433887]
-2025-05-16 19:21:42,683 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 2.29816166e-13 -1.57079633e+00]
-2025-05-16 19:21:42,699 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999943 -0.13498582 0.34424309]
-2025-05-16 19:21:42,700 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,701 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999954 -0.13500011 0.34433844]
-2025-05-16 19:21:42,702 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159079e+00 -9.58737078e-07 -1.57079539e+00]
-2025-05-16 19:21:42,719 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000011 -0.13498468 0.34424284]
-2025-05-16 19:21:42,720 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,721 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999986 -0.13500024 0.34433902]
-2025-05-16 19:21:42,723 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212 0. -1.57079726]
-2025-05-16 19:21:42,739 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999985 -0.13498422 0.34424138]
-2025-05-16 19:21:42,740 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,741 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.135 0.34433908]
-2025-05-16 19:21:42,749 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 4.59854377e-13 -1.57079539e+00]
-2025-05-16 19:21:42,760 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999983 -0.13498326 0.34424085]
-2025-05-16 19:21:42,762 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,764 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.135 0.34433902]
-2025-05-16 19:21:42,765 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 2.29594121e-13 -1.57079579e+00]
-2025-05-16 19:21:42,779 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000022 -0.13498265 0.3442412 ]
-2025-05-16 19:21:42,780 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,781 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.13499988 0.34433917]
-2025-05-16 19:21:42,782 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 6.89226454e-13 -1.57079446e+00]
-2025-05-16 19:21:42,799 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999968 -0.13498226 0.34423941]
-2025-05-16 19:21:42,801 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,802 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.13500035 0.34433917]
-2025-05-16 19:21:42,803 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -9.58737332e-07 -1.57079539e+00]
-2025-05-16 19:21:42,820 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999977 -0.13498172 0.34423968]
-2025-05-16 19:21:42,821 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,822 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999962 -0.13500012 0.34433908]
-2025-05-16 19:21:42,823 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 -4.79368983e-07 -1.57079579e+00]
-2025-05-16 19:21:42,839 - 测试日志 - INFO - log.py:106 - position command: [ 0.2499997 -0.13498183 0.3442395 ]
-2025-05-16 19:21:42,840 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,842 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000008 -0.135 0.34433948]
-2025-05-16 19:21:42,844 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -4.79369460e-07 -1.57079539e+00]
-2025-05-16 19:21:42,867 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999995 -0.1349812 0.34424001]
-2025-05-16 19:21:42,869 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,872 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.13500012 0.34433929]
-2025-05-16 19:21:42,874 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -4.79369904e-07 -1.57079539e+00]
-2025-05-16 19:21:42,888 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000001 -0.13498094 0.34423959]
-2025-05-16 19:21:42,890 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -2.74658196e-05 -9.00000305e+01]
-2025-05-16 19:21:42,893 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000011 -0.13499988 0.3443389 ]
-2025-05-16 19:21:42,895 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 4.59410288e-13 -1.57079539e+00]
-2025-05-16 19:21:42,907 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-16 19:21:42,909 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-16 19:21:51,941 - 测试日志 - ERROR - log.py:106 - 传感器数据读取失败
-2025-05-16 19:21:51,953 - 测试日志 - ERROR - log.py:106 - 传感器线程数据读取失败-1
-2025-05-16 19:22:04,905 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-16 19:22:08,431 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-16 19:22:08,432 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999944 -0.13499988 0.34431371]
-2025-05-16 19:22:08,439 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,450 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999977 -0.135 0.34433902]
-2025-05-16 19:22:08,453 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079633]
-2025-05-16 19:22:08,457 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999976 -0.13500455 0.34429526]
-2025-05-16 19:22:08,459 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,460 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000037 -0.13499965 0.34433957]
-2025-05-16 19:22:08,461 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159079e+00 4.79369904e-07 -1.57079579e+00]
-2025-05-16 19:22:08,474 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999985 -0.13500681 0.34428131]
-2025-05-16 19:22:08,476 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,477 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999988 -0.13500012 0.34433914]
-2025-05-16 19:22:08,478 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079726]
-2025-05-16 19:22:08,495 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000007 -0.13500898 0.34427116]
-2025-05-16 19:22:08,499 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,501 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.135 0.34433896]
-2025-05-16 19:22:08,504 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079686]
-2025-05-16 19:22:08,515 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000011 -0.13501082 0.34426297]
-2025-05-16 19:22:08,518 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,521 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000027 -0.13499988 0.34433899]
-2025-05-16 19:22:08,523 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159 0. -1.57079579]
-2025-05-16 19:22:08,535 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999972 -0.13501099 0.34425629]
-2025-05-16 19:22:08,540 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,542 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000032 -0.135 0.34433936]
-2025-05-16 19:22:08,543 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -4.59632332e-13 -1.57079726e+00]
-2025-05-16 19:22:08,558 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999976 -0.13501188 0.34425212]
-2025-05-16 19:22:08,560 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,561 - 测试日志 - INFO - log.py:106 - position current:[ 0.2499996 -0.135 0.34433847]
-2025-05-16 19:22:08,562 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132 0. -1.57079633]
-2025-05-16 19:22:08,581 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999981 -0.13501172 0.34424867]
-2025-05-16 19:22:08,582 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,584 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.13499988 0.34433893]
-2025-05-16 19:22:08,585 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212 0. -1.57079579]
-2025-05-16 19:22:08,603 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999936 -0.13501196 0.34424582]
-2025-05-16 19:22:08,606 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,607 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999995 -0.13499965 0.34433957]
-2025-05-16 19:22:08,609 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 9.58737777e-07 -1.57079539e+00]
-2025-05-16 19:22:08,625 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999985 -0.13501225 0.34424437]
-2025-05-16 19:22:08,627 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,628 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.135 0.34433917]
-2025-05-16 19:22:08,630 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212 0. -1.57079633]
-2025-05-16 19:22:08,644 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999994 -0.13501351 0.34424338]
-2025-05-16 19:22:08,646 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,647 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999953 -0.135 0.34433847]
-2025-05-16 19:22:08,649 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 4.79369682e-07 -1.57079633e+00]
-2025-05-16 19:22:08,664 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000003 -0.1350149 0.34424275]
-2025-05-16 19:22:08,666 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,668 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.13500024 0.34433969]
-2025-05-16 19:22:08,670 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -6.89004409e-13 -1.57079686e+00]
-2025-05-16 19:22:08,684 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999993 -0.13501537 0.344242 ]
-2025-05-16 19:22:08,686 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,688 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999954 -0.135 0.34433878]
-2025-05-16 19:22:08,689 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 4.59188243e-13 -1.57079579e+00]
-2025-05-16 19:22:08,704 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999987 -0.13501429 0.34424053]
-2025-05-16 19:22:08,705 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,706 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999971 -0.135 0.34433887]
-2025-05-16 19:22:08,708 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159 0. -1.57079633]
-2025-05-16 19:22:08,726 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999977 -0.13501494 0.34424036]
-2025-05-16 19:22:08,729 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,730 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999995 -0.13499965 0.34433893]
-2025-05-16 19:22:08,733 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 4.79368762e-07 -1.57079579e+00]
-2025-05-16 19:22:08,745 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999973 -0.13501365 0.34424027]
-2025-05-16 19:22:08,747 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,749 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13500012 0.34434003]
-2025-05-16 19:22:08,750 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159026e+00 -1.14908083e-12 -1.57079633e+00]
-2025-05-16 19:22:08,766 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999965 -0.13501355 0.34423924]
-2025-05-16 19:22:08,768 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,770 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13499988 0.34433936]
-2025-05-16 19:22:08,772 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 2.29816166e-13 -1.57079633e+00]
-2025-05-16 19:22:08,787 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000001 -0.13501246 0.34423966]
-2025-05-16 19:22:08,790 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,793 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.13499988 0.34433929]
-2025-05-16 19:22:08,800 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079486]
-2025-05-16 19:22:08,810 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000017 -0.13501244 0.34423978]
-2025-05-16 19:22:08,813 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,818 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999977 -0.135 0.34433926]
-2025-05-16 19:22:08,827 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 9.58738221e-07 -1.57079779e+00]
-2025-05-16 19:22:08,834 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999994 -0.13501302 0.34423972]
-2025-05-16 19:22:08,837 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 2.74657814e-05 -9.00000305e+01]
-2025-05-16 19:22:08,841 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999988 -0.13500012 0.34433929]
-2025-05-16 19:22:08,846 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079686]
-2025-05-16 19:22:08,851 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-16 19:22:08,852 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-16 19:22:32,287 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-16 19:22:35,805 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-16 19:22:35,809 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000002 -0.135 0.34431414]
-2025-05-16 19:22:35,838 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:35,849 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13499988 0.34433896]
-2025-05-16 19:22:35,851 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 4.79368983e-07 -1.57079633e+00]
-2025-05-16 19:22:35,855 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999966 -0.13500012 0.34429495]
-2025-05-16 19:22:35,857 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:35,867 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999995 -0.135 0.34433942]
-2025-05-16 19:22:35,869 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -6.89226454e-13 -1.57079579e+00]
-2025-05-16 19:22:35,880 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999997 -0.13500188 0.34428161]
-2025-05-16 19:22:35,886 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:35,892 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999971 -0.13500012 0.34433902]
-2025-05-16 19:22:35,893 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079686]
-2025-05-16 19:22:35,897 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999986 -0.13500441 0.34427084]
-2025-05-16 19:22:35,898 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:35,901 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.13499988 0.34433951]
-2025-05-16 19:22:35,902 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 4.79369238e-07 -1.57079686e+00]
-2025-05-16 19:22:35,916 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000007 -0.13500661 0.34426323]
-2025-05-16 19:22:35,918 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:35,944 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999966 -0.135 0.34433914]
-2025-05-16 19:22:35,946 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212 0. -1.57079633]
-2025-05-16 19:22:35,950 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999968 -0.13500899 0.34425693]
-2025-05-16 19:22:35,952 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:35,963 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.135 0.34433942]
-2025-05-16 19:22:35,968 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212 0. -1.57079633]
-2025-05-16 19:22:35,987 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999991 -0.13501097 0.34425275]
-2025-05-16 19:22:36,006 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:36,008 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.135 0.34433923]
-2025-05-16 19:22:36,009 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212 0. -1.57079633]
-2025-05-16 19:22:36,013 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999956 -0.13501142 0.34424849]
-2025-05-16 19:22:36,030 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:36,035 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999998 -0.13500012 0.34433905]
-2025-05-16 19:22:36,040 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159 0. -1.57079686]
-2025-05-16 19:22:36,044 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999985 -0.13501022 0.34424681]
-2025-05-16 19:22:36,046 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:36,050 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.135 0.34433896]
-2025-05-16 19:22:36,052 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079633]
-2025-05-16 19:22:36,064 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999996 -0.13500876 0.3442446 ]
-2025-05-16 19:22:36,068 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:36,072 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.13499988 0.34433893]
-2025-05-16 19:22:36,074 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212 0. -1.57079579]
-2025-05-16 19:22:36,083 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999934 -0.13500767 0.34424278]
-2025-05-16 19:22:36,085 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:36,087 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000034 -0.13500023 0.34433923]
-2025-05-16 19:22:36,089 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -4.79369237e-07 -1.57079633e+00]
-2025-05-16 19:22:36,104 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999994 -0.13500597 0.34424189]
-2025-05-16 19:22:36,116 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:36,118 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.135 0.34433875]
-2025-05-16 19:22:36,119 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -4.79368984e-07 -1.57079579e+00]
-2025-05-16 19:22:36,130 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999992 -0.13500512 0.34424116]
-2025-05-16 19:22:36,133 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:36,136 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999977 -0.13499988 0.34433887]
-2025-05-16 19:22:36,142 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 4.79368983e-07 -1.57079579e+00]
-2025-05-16 19:22:36,152 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999991 -0.13500418 0.34424097]
-2025-05-16 19:22:36,161 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:36,186 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999988 -0.13500023 0.34433896]
-2025-05-16 19:22:36,199 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079726e+00]
-2025-05-16 19:22:36,200 - 测试日志 - INFO - log.py:106 - position command: [ 0.2499999 -0.1350042 0.34424034]
-2025-05-16 19:22:36,201 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:36,204 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13500012 0.34433914]
-2025-05-16 19:22:36,207 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079633e+00]
-2025-05-16 19:22:36,222 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999996 -0.13500372 0.34424017]
-2025-05-16 19:22:36,224 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:36,226 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13500012 0.34433914]
-2025-05-16 19:22:36,227 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079633e+00]
-2025-05-16 19:22:36,242 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000013 -0.13500438 0.3442398 ]
-2025-05-16 19:22:36,245 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:36,247 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13499988 0.34433902]
-2025-05-16 19:22:36,249 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 2.29816166e-13 -1.57079633e+00]
-2025-05-16 19:22:36,266 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999995 -0.13500605 0.34423973]
-2025-05-16 19:22:36,268 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:36,271 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.135 0.34433914]
-2025-05-16 19:22:36,273 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079686]
-2025-05-16 19:22:36,286 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999995 -0.13500783 0.34423958]
-2025-05-16 19:22:36,288 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:36,292 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.135 0.34433868]
-2025-05-16 19:22:36,294 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -4.79368984e-07 -1.57079579e+00]
-2025-05-16 19:22:36,306 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000001 -0.13500828 0.34423903]
-2025-05-16 19:22:36,310 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -8.99999695e+01]
-2025-05-16 19:22:36,312 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999973 -0.13500012 0.34433932]
-2025-05-16 19:22:36,314 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -4.79368761e-07 -1.57079686e+00]
-2025-05-16 19:22:36,327 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-16 19:22:36,328 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-16 19:22:38,210 - 测试日志 - ERROR - log.py:106 - 传感器数据读取失败
-2025-05-16 19:22:38,212 - 测试日志 - ERROR - log.py:106 - 传感器线程数据读取失败-1
-2025-05-16 19:23:51,474 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-16 19:23:54,997 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999959 -0.13499976 0.34431298]
-2025-05-16 19:23:55,001 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
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-2025-05-16 19:36:05,640 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.25012389 -0.13500469 0.34368791]
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-2025-05-16 19:36:05,673 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.25012166 -0.13500371 0.34368741]
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-2025-05-16 19:36:05,723 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.25012259 -0.13500432 0.34368771]
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-2025-05-16 19:36:05,754 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.25012349 -0.1350063 0.34368698]
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-2025-05-16 19:36:05,784 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.25012531 -0.13500614 0.34368781]
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-2025-05-16 19:36:05,820 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.25011197 -0.13500664 0.34367749]
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-2025-05-16 19:36:05,854 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.25011333 -0.13500777 0.34367897]
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-2025-05-16 19:36:05,887 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.25011506 -0.13500809 0.34368108]
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-2025-05-16 19:36:05,933 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.25011653 -0.13501035 0.34368259]
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-2025-05-16 19:36:05,968 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.250117 -0.13501076 0.34368143]
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-2025-05-16 19:36:05,996 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.25011818 -0.13501016 0.34368111]
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-2025-05-16 19:36:06,032 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.25011857 -0.1350084 0.34368099]
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-2025-05-16 19:36:06,069 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.2501191 -0.1350083 0.34368086]
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-2025-05-16 19:36:06,100 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.25011742 -0.13500811 0.3436799 ]
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-2025-05-16 19:36:06,862 - 测试日志 - INFO - log.py:106 - 输入位置:[ 0.25010479 -0.13501903 0.3437635 ]
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-2025-05-16 19:48:14,064 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-16 19:48:14,065 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-16 19:48:19,876 - 测试日志 - ERROR - log.py:106 - 传感器数据读取失败
-2025-05-16 19:48:19,877 - 测试日志 - ERROR - log.py:106 - 传感器线程数据读取失败-1
-2025-05-16 19:51:26,145 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-16 19:51:29,681 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-16 19:51:29,682 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000032 -0.13499953 0.34431436]
-2025-05-16 19:51:29,687 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79974625e+02 -3.69333716e-02 -9.00109993e+01]
-2025-05-16 19:51:29,691 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000014 -0.13499988 0.34433929]
-2025-05-16 19:51:29,696 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -4.79368983e-07 -1.57079539e+00]
-2025-05-16 19:51:29,699 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000014 -0.13499987 0.34429555]
-2025-05-16 19:51:29,700 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79963921e+02 -3.93813252e-02 -9.00224707e+01]
-2025-05-16 19:51:29,702 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13499976 0.34433902]
-2025-05-16 19:51:29,702 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212 0. -1.57079539]
-2025-05-16 19:51:29,719 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000021 -0.13499962 0.34428166]
-2025-05-16 19:51:29,721 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79990491e+02 -3.93531817e-02 -9.00260998e+01]
-2025-05-16 19:51:29,724 - 测试日志 - INFO - log.py:106 - position current:[ 0.2500002 -0.13499963 0.34433948]
-2025-05-16 19:51:29,727 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -4.59632332e-13 -1.57079446e+00]
-2025-05-16 19:51:29,742 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000036 -0.13499964 0.34427108]
-2025-05-16 19:51:29,744 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79962795e+02 -9.91561828e-03 -9.00554519e+01]
-2025-05-16 19:51:29,750 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.13499963 0.34433908]
-2025-05-16 19:51:29,779 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -2.29372077e-13 -1.57079539e+00]
-2025-05-16 19:51:29,782 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999996 -0.13500008 0.34426255]
-2025-05-16 19:51:29,799 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79968903e+02 -6.77967995e-03 -9.00150330e+01]
-2025-05-16 19:51:29,800 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.13500012 0.34433914]
-2025-05-16 19:51:29,809 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -4.79368063e-07 -1.57079726e+00]
-2025-05-16 19:51:29,812 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000034 -0.13499972 0.34425764]
-2025-05-16 19:51:29,814 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998036e+02 -1.03720674e-02 -9.00153465e+01]
-2025-05-16 19:51:29,815 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999997 -0.13499976 0.3443392 ]
-2025-05-16 19:51:29,817 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079579e+00]
-2025-05-16 19:51:29,832 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000027 -0.13499972 0.34425252]
-2025-05-16 19:51:29,834 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79977796e+02 -3.90337257e-02 -9.00470445e+01]
-2025-05-16 19:51:29,839 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000003 -0.13499976 0.34433908]
-2025-05-16 19:51:29,843 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 4.59188243e-13 -1.57079633e+00]
-2025-05-16 19:51:29,851 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000005 -0.13499972 0.3442491 ]
-2025-05-16 19:51:29,852 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79943489e+02 -2.12627503e-02 -9.00493722e+01]
-2025-05-16 19:51:29,853 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000049 -0.13499963 0.34433978]
-2025-05-16 19:51:29,854 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 6.89226454e-13 -1.57079539e+00]
-2025-05-16 19:51:29,871 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999992 -0.13499974 0.34424646]
-2025-05-16 19:51:29,873 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79953558e+02 -2.37389744e-02 -9.00337554e+01]
-2025-05-16 19:51:29,875 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000008 -0.13499988 0.34433948]
-2025-05-16 19:51:29,881 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159 0. -1.57079579]
-2025-05-16 19:51:29,891 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000011 -0.13499984 0.34424512]
-2025-05-16 19:51:29,893 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79974109e+02 -3.16875835e-02 -9.00006617e+01]
-2025-05-16 19:51:29,894 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000038 -0.13499953 0.34433984]
-2025-05-16 19:51:29,895 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -6.89226454e-13 -1.57079393e+00]
-2025-05-16 19:51:29,912 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000029 -0.13499972 0.34424374]
-2025-05-16 19:51:29,913 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79975469e+02 -5.33816266e-02 -9.00135128e+01]
-2025-05-16 19:51:29,914 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000018 -0.13500023 0.34433957]
-2025-05-16 19:51:29,915 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -9.58737967e-07 -1.57079633e+00]
-2025-05-16 19:51:29,946 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999971 -0.13500107 0.34424135]
-2025-05-16 19:51:29,955 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79995090e+02 -1.55195496e-02 -9.00174656e+01]
-2025-05-16 19:51:29,957 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000018 -0.13499965 0.34433936]
-2025-05-16 19:51:29,964 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 4.79369238e-07 -1.57079579e+00]
-2025-05-16 19:51:29,968 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000017 -0.1350032 0.34424144]
-2025-05-16 19:51:29,977 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79980800e+02 -1.35464496e-02 -9.00414714e+01]
-2025-05-16 19:51:29,979 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000018 -0.13499988 0.34433917]
-2025-05-16 19:51:29,980 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -4.79368539e-07 -1.57079633e+00]
-2025-05-16 19:51:29,996 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000016 -0.13500406 0.34424085]
-2025-05-16 19:51:29,997 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79960086e+02 -2.10019338e-02 -9.00085114e+01]
-2025-05-16 19:51:29,999 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000009 -0.13499953 0.34433926]
-2025-05-16 19:51:29,999 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 4.79369237e-07 -1.57079539e+00]
-2025-05-16 19:51:30,014 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000013 -0.13500391 0.34424064]
-2025-05-16 19:51:30,015 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79982348e+02 -5.44383568e-02 -9.00038725e+01]
-2025-05-16 19:51:30,016 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.13499953 0.34433908]
-2025-05-16 19:51:30,018 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 4.79368984e-07 -1.57079486e+00]
-2025-05-16 19:51:30,036 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999995 -0.13500406 0.34424006]
-2025-05-16 19:51:30,039 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998797e+02 -4.78113238e-02 -9.00025381e+01]
-2025-05-16 19:51:30,042 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13499988 0.34433884]
-2025-05-16 19:51:30,044 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -4.79369238e-07 -1.57079579e+00]
-2025-05-16 19:51:30,062 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000021 -0.13500367 0.34424002]
-2025-05-16 19:51:30,063 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79992220e+02 -5.69374468e-02 -9.00484014e+01]
-2025-05-16 19:51:30,072 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000014 -0.13499988 0.34433948]
-2025-05-16 19:51:30,076 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -4.79368539e-07 -1.57079579e+00]
-2025-05-16 19:51:30,084 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000017 -0.13500319 0.34424006]
-2025-05-16 19:51:30,086 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79957801e+02 -3.88925789e-02 -9.00560068e+01]
-2025-05-16 19:51:30,092 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999985 -0.13499976 0.34433868]
-2025-05-16 19:51:30,097 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159 0. -1.57079539]
-2025-05-16 19:51:30,104 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999989 -0.13500259 0.34423915]
-2025-05-16 19:51:30,107 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79976630e+02 -8.48794894e-03 -9.00278034e+01]
-2025-05-16 19:51:30,111 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999965 -0.135 0.34433835]
-2025-05-16 19:51:30,112 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159079e+00 -9.19264664e-13 -1.57079686e+00]
-2025-05-16 19:51:30,126 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000029 -0.13500225 0.3442397 ]
-2025-05-16 19:51:30,128 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79968339e+02 -3.69531123e-02 -9.00022808e+01]
-2025-05-16 19:51:30,129 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000014 -0.13499965 0.34433929]
-2025-05-16 19:51:30,130 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 4.79369460e-07 -1.57079579e+00]
-2025-05-16 19:51:30,144 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-16 19:51:30,146 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-16 19:51:47,730 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-16 19:51:51,246 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000002 -0.13500011 0.34431414]
-2025-05-16 19:51:51,247 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-16 19:51:51,249 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999890e+02 -1.27609598e-03 -9.00044883e+01]
-2025-05-16 19:51:51,255 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.13500023 0.34433875]
-2025-05-16 19:51:51,257 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 -1.91747873e-06 -1.57079726e+00]
-2025-05-16 19:51:51,259 - 测试日志 - INFO - log.py:106 - position command: [ 0.2499999 -0.13500023 0.3442977 ]
-2025-05-16 19:51:51,261 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999859e+02 -2.43580194e-04 -9.00006981e+01]
-2025-05-16 19:51:51,262 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.13500035 0.34433914]
-2025-05-16 19:51:51,264 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -1.91747593e-06 -1.57079779e+00]
-2025-05-16 19:51:51,279 - 测试日志 - INFO - log.py:106 - position command: [ 0.2500003 -0.13499999 0.34428661]
-2025-05-16 19:51:51,281 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79995504e+02 -4.13044179e-03 -9.00025748e+01]
-2025-05-16 19:51:51,283 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000035 -0.13500023 0.34433945]
-2025-05-16 19:51:51,285 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -1.91747479e-06 -1.57079779e+00]
-2025-05-16 19:51:51,300 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999979 -0.13499989 0.34427648]
-2025-05-16 19:51:51,302 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997203e+02 -5.27388781e-04 -9.00026503e+01]
-2025-05-16 19:51:51,304 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.13500023 0.34433902]
-2025-05-16 19:51:51,306 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -9.58739110e-07 -1.57079872e+00]
-2025-05-16 19:51:51,321 - 测试日志 - INFO - log.py:106 - position command: [ 0.25 -0.13500035 0.34426917]
-2025-05-16 19:51:51,324 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996476e+02 -6.88294360e-04 -9.00056795e+01]
-2025-05-16 19:51:51,329 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000024 -0.13500023 0.34433957]
-2025-05-16 19:51:51,336 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -1.43810511e-06 -1.57079779e+00]
-2025-05-16 19:51:51,344 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999999 -0.13499999 0.34426435]
-2025-05-16 19:51:51,347 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998461e+02 -3.19443099e-03 -9.00054114e+01]
-2025-05-16 19:51:51,349 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000003 -0.13500035 0.34433926]
-2025-05-16 19:51:51,356 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -1.91747327e-06 -1.57079779e+00]
-2025-05-16 19:51:51,365 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000024 -0.13500011 0.34426158]
-2025-05-16 19:51:51,368 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996086e+02 -2.61426956e-03 -9.00032818e+01]
-2025-05-16 19:51:51,378 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000024 -0.13500011 0.34433942]
-2025-05-16 19:51:51,380 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -9.58736126e-07 -1.57079779e+00]
-2025-05-16 19:51:51,382 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000023 -0.13500011 0.3442584 ]
-2025-05-16 19:51:51,384 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997930e+02 -5.73176462e-03 -9.00011967e+01]
-2025-05-16 19:51:51,385 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000026 -0.13500011 0.34433936]
-2025-05-16 19:51:51,386 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -1.91747505e-06 -1.57079686e+00]
-2025-05-16 19:51:51,407 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999995 -0.13500033 0.34425608]
-2025-05-16 19:51:51,409 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999243e+02 -1.42938411e-03 -9.00055883e+01]
-2025-05-16 19:51:51,412 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999985 -0.13500023 0.34433887]
-2025-05-16 19:51:51,414 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -1.43810701e-06 -1.57079779e+00]
-2025-05-16 19:51:51,423 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999985 -0.13500022 0.34425548]
-2025-05-16 19:51:51,424 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997348e+02 -4.24684621e-03 -9.00032174e+01]
-2025-05-16 19:51:51,427 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.13500011 0.34433902]
-2025-05-16 19:51:51,432 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -9.58738919e-07 -1.57079779e+00]
-2025-05-16 19:51:51,443 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000027 -0.13499998 0.34425488]
-2025-05-16 19:51:51,446 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996705e+02 -4.21634461e-03 -9.00025070e+01]
-2025-05-16 19:51:51,448 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000017 -0.13500011 0.34433871]
-2025-05-16 19:51:51,451 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159079e+00 -1.91747962e-06 -1.57079686e+00]
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-2025-05-19 10:07:41,275 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
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-2025-05-19 10:07:41,719 - 测试日志 - INFO - log.py:106 - MassageRobot启动
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-2025-05-19 10:12:13,757 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -2.87621403e-06 -1.57079819e+00]
-2025-05-19 10:12:13,769 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999996 -0.13500195 0.34423787]
-2025-05-19 10:12:13,771 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79995982e+02 -7.55974415e-04 -9.00020508e+01]
-2025-05-19 10:12:13,773 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999995 -0.13500058 0.34433942]
-2025-05-19 10:12:13,774 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -2.39684092e-06 -1.57079926e+00]
-2025-05-19 10:12:13,781 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999997 -0.1350026 0.34423617]
-2025-05-19 10:12:13,786 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79995908e+02 -3.77872383e-03 -9.00044993e+01]
-2025-05-19 10:12:13,788 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999995 -0.13500058 0.34433942]
-2025-05-19 10:12:13,791 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -2.39684092e-06 -1.57079926e+00]
-2025-05-19 10:12:13,803 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999997 -0.13500282 0.34423546]
-2025-05-19 10:12:13,807 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79995351e+02 -4.37792568e-03 -9.00048820e+01]
-2025-05-19 10:12:13,809 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999956 -0.1350007 0.3443392 ]
-2025-05-19 10:12:13,811 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -2.87621276e-06 -1.57079872e+00]
-2025-05-19 10:12:13,821 - 测试日志 - INFO - log.py:106 - position command: [ 0.2499996 -0.13500289 0.34423511]
-2025-05-19 10:12:13,823 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999013e+02 -2.99473191e-03 -9.00045923e+01]
-2025-05-19 10:12:13,827 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000015 -0.13500046 0.34433975]
-2025-05-19 10:12:13,829 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159026e+00 -2.87620717e-06 -1.57079819e+00]
-2025-05-19 10:12:13,840 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000018 -0.1350025 0.34423589]
-2025-05-19 10:12:13,844 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79995719e+02 -3.32997381e-03 -9.00056924e+01]
-2025-05-19 10:12:13,847 - 测试日志 - INFO - log.py:106 - position current:[ 0.2500002 -0.13500058 0.34433951]
-2025-05-19 10:12:13,849 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -2.87621047e-06 -1.57079819e+00]
-2025-05-19 10:12:13,863 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999993 -0.13500227 0.34423605]
-2025-05-19 10:12:13,866 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997552e+02 -5.04571586e-03 -9.00001173e+01]
-2025-05-19 10:12:13,867 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999997 -0.13500046 0.34433954]
-2025-05-19 10:12:13,869 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -2.87621174e-06 -1.57079779e+00]
-2025-05-19 10:12:13,880 - 测试日志 - INFO - log.py:106 - position command: [ 0.25 -0.13500202 0.34423649]
-2025-05-19 10:12:13,882 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997393e+02 -1.54291090e-03 -9.00057294e+01]
-2025-05-19 10:12:13,885 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.13500058 0.34433948]
-2025-05-19 10:12:13,887 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -3.35557876e-06 -1.57079819e+00]
-2025-05-19 10:12:13,902 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999995 -0.1350019 0.34423687]
-2025-05-19 10:12:13,905 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79994704e+02 -2.14259842e-03 -9.00028670e+01]
-2025-05-19 10:12:13,907 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999971 -0.13500105 0.34433969]
-2025-05-19 10:12:13,909 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159079e+00 -2.87620844e-06 -1.57080059e+00]
-2025-05-19 10:12:13,921 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999975 -0.13500213 0.3442375 ]
-2025-05-19 10:12:13,924 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998098e+02 -5.29066585e-03 -9.00030163e+01]
-2025-05-19 10:12:13,926 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999945 -0.13500046 0.3443385 ]
-2025-05-19 10:12:13,930 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -2.39684854e-06 -1.57079966e+00]
-2025-05-19 10:12:13,941 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000085 -0.13500135 0.34423808]
-2025-05-19 10:12:13,943 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79995030e+02 -1.00032927e-03 -9.00009644e+01]
-2025-05-19 10:12:13,947 - 测试日志 - INFO - log.py:106 - position current:[ 0.24996632 -0.13500046 0.34429785]
-2025-05-19 10:12:13,950 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14145470e+00 -2.87680961e-06 -1.57079966e+00]
-2025-05-19 10:12:13,966 - 测试日志 - INFO - log.py:106 - position command: [ 0.24996825 -0.1350013 0.34419674]
-2025-05-19 10:12:13,968 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79992721e+02 -4.34144939e-03 -9.00009217e+01]
-2025-05-19 10:12:13,971 - 测试日志 - INFO - log.py:106 - position current:[ 0.24996642 -0.13500058 0.34429745]
-2025-05-19 10:12:13,973 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14145364e+00 -3.35618272e-06 -1.57079966e+00]
-2025-05-19 10:12:13,981 - 测试日志 - INFO - log.py:106 - position command: [ 0.24997003 -0.13500116 0.3441984 ]
-2025-05-19 10:12:13,988 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79994564e+02 -5.48814731e-03 -9.00017413e+01]
-2025-05-19 10:12:13,993 - 测试日志 - INFO - log.py:106 - position current:[ 0.24996631 -0.13500035 0.34429758]
-2025-05-19 10:12:13,996 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14145417e+00 -1.91807367e-06 -1.57080019e+00]
-2025-05-19 10:12:14,001 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-19 10:12:14,004 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-19 10:12:16,688 - 测试日志 - ERROR - log.py:106 - 传感器数据读取失败
-2025-05-19 10:12:16,691 - 测试日志 - ERROR - log.py:106 - 传感器线程数据读取失败-1
-2025-05-19 10:12:29,532 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-19 10:12:33,038 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-19 10:12:33,061 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000006 -0.13500046 0.34430962]
-2025-05-19 10:12:33,063 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79994852e+02 -5.60862375e-03 -9.00046699e+01]
-2025-05-19 10:12:33,070 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.13500046 0.34433917]
-2025-05-19 10:12:33,072 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -1.91747530e-06 -1.57079779e+00]
-2025-05-19 10:12:33,078 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999994 -0.13500034 0.34428992]
-2025-05-19 10:12:33,080 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996063e+02 -4.46868285e-03 -9.00012097e+01]
-2025-05-19 10:12:33,081 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.1350007 0.34433969]
-2025-05-19 10:12:33,086 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -2.87621250e-06 -1.57079726e+00]
-2025-05-19 10:12:33,099 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999956 -0.13500046 0.3442761 ]
-2025-05-19 10:12:33,102 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996789e+02 -3.81510304e-03 -9.00001857e+01]
-2025-05-19 10:12:33,105 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000008 -0.13500034 0.34433914]
-2025-05-19 10:12:33,107 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -2.39684498e-06 -1.57079633e+00]
-2025-05-19 10:12:33,125 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000003 -0.13500046 0.34426639]
-2025-05-19 10:12:33,127 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996864e+02 -5.57814949e-03 -9.00048620e+01]
-2025-05-19 10:12:33,137 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13500058 0.34433896]
-2025-05-19 10:12:33,148 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -2.87621530e-06 -1.57079726e+00]
-2025-05-19 10:12:33,150 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999996 -0.13500058 0.34425917]
-2025-05-19 10:12:33,153 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997377e+02 -4.76815069e-04 -9.00008801e+01]
-2025-05-19 10:12:33,156 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000052 -0.13500046 0.34433972]
-2025-05-19 10:12:33,170 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -2.39684295e-06 -1.57079726e+00]
-2025-05-19 10:12:33,186 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000052 -0.13500046 0.34425451]
-2025-05-19 10:12:33,188 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996946e+02 -8.95846005e-04 -9.00034034e+01]
-2025-05-19 10:12:33,189 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.1350007 0.34433902]
-2025-05-19 10:12:33,190 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -2.39684523e-06 -1.57079726e+00]
-2025-05-19 10:12:33,192 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000024 -0.13500046 0.34425025]
-2025-05-19 10:12:33,193 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999273e+02 -5.26430217e-03 -9.00031904e+01]
-2025-05-19 10:12:33,193 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.1350007 0.34433902]
-2025-05-19 10:12:33,194 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -2.39684523e-06 -1.57079726e+00]
-2025-05-19 10:12:33,213 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999992 -0.1350007 0.34424697]
-2025-05-19 10:12:33,214 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996994e+02 -4.43715146e-03 -9.00048191e+01]
-2025-05-19 10:12:33,214 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13500034 0.34433902]
-2025-05-19 10:12:33,215 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -2.39684574e-06 -1.57079686e+00]
-2025-05-19 10:12:33,235 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000012 -0.13500034 0.34424485]
-2025-05-19 10:12:33,236 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998830e+02 -5.27165229e-03 -9.00004149e+01]
-2025-05-19 10:12:33,237 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000011 -0.13500034 0.34433856]
-2025-05-19 10:12:33,238 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159079e+00 -2.39684676e-06 -1.57079633e+00]
-2025-05-19 10:12:33,265 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999996 -0.13500034 0.3442435 ]
-2025-05-19 10:12:33,267 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998117e+02 -9.30328975e-04 -9.00031020e+01]
-2025-05-19 10:12:33,268 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999959 -0.13500046 0.34433847]
-2025-05-19 10:12:33,270 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159026e+00 -2.39684727e-06 -1.57079686e+00]
-2025-05-19 10:12:33,276 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999997 -0.13500034 0.34424235]
-2025-05-19 10:12:33,292 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996925e+02 -3.63633983e-04 -9.00043017e+01]
-2025-05-19 10:12:33,293 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000024 -0.13500058 0.34433942]
-2025-05-19 10:12:33,298 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -2.87621250e-06 -1.57079726e+00]
-2025-05-19 10:12:33,306 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000005 -0.13500024 0.34424072]
-2025-05-19 10:12:33,307 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79994973e+02 -2.82283225e-03 -9.00054693e+01]
-2025-05-19 10:12:33,308 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999982 -0.1350007 0.34433881]
-2025-05-19 10:12:33,309 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -2.39684600e-06 -1.57079779e+00]
-2025-05-19 10:12:33,326 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999987 -0.13500059 0.34423992]
-2025-05-19 10:12:33,328 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996695e+02 -3.60863296e-03 -9.00005403e+01]
-2025-05-19 10:12:33,333 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.13500058 0.34433896]
-2025-05-19 10:12:33,334 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -2.87621403e-06 -1.57079726e+00]
-2025-05-19 10:12:33,365 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000014 -0.13500046 0.34424013]
-2025-05-19 10:12:33,381 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79995349e+02 -3.85570222e-03 -9.00001866e+01]
-2025-05-19 10:12:33,384 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000023 -0.13500058 0.34433929]
-2025-05-19 10:12:33,390 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -2.39684447e-06 -1.57079726e+00]
-2025-05-19 10:12:33,395 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000024 -0.13500058 0.34424025]
-2025-05-19 10:12:33,397 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999342e+02 -1.26709962e-03 -9.00022666e+01]
-2025-05-19 10:12:33,398 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000018 -0.13500023 0.34433936]
-2025-05-19 10:12:33,399 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -1.91747530e-06 -1.57079686e+00]
-2025-05-19 10:12:33,415 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999996 -0.13500046 0.34423979]
-2025-05-19 10:12:33,418 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998241e+02 -5.67343674e-04 -9.00046729e+01]
-2025-05-19 10:12:33,419 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.13500046 0.34433893]
-2025-05-19 10:12:33,422 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -2.39684574e-06 -1.57079726e+00]
-2025-05-19 10:12:33,437 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999991 -0.13500046 0.34423947]
-2025-05-19 10:12:33,439 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998951e+02 -4.73310312e-03 -9.00019297e+01]
-2025-05-19 10:12:33,440 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999959 -0.13500035 0.34433832]
-2025-05-19 10:12:33,442 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159026e+00 -1.91747822e-06 -1.57079686e+00]
-2025-05-19 10:12:33,452 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999966 -0.13500081 0.34423916]
-2025-05-19 10:12:33,453 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79995476e+02 -4.23580612e-03 -9.00018020e+01]
-2025-05-19 10:12:33,454 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999985 -0.13500069 0.34433902]
-2025-05-19 10:12:33,455 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -3.35558308e-06 -1.57079686e+00]
-2025-05-19 10:12:33,475 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999973 -0.13500079 0.34423907]
-2025-05-19 10:12:33,477 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997611e+02 -4.04321489e-03 -9.00052083e+01]
-2025-05-19 10:12:33,479 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999995 -0.13500046 0.34433926]
-2025-05-19 10:12:33,480 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -2.39684473e-06 -1.57079633e+00]
-2025-05-19 10:12:33,501 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999991 -0.13500044 0.34423856]
-2025-05-19 10:12:33,504 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996399e+02 -2.03033247e-03 -9.00056305e+01]
-2025-05-19 10:12:33,506 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999971 -0.1350007 0.3443392 ]
-2025-05-19 10:12:33,510 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -2.39684498e-06 -1.57079779e+00]
-2025-05-19 10:12:33,522 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-19 10:12:33,522 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-19 10:14:35,869 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-19 10:14:39,386 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-19 10:14:39,387 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999979 -0.13500047 0.34431454]
-2025-05-19 10:14:39,388 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999007e+02 -2.14279178e-03 -9.00042940e+01]
-2025-05-19 10:14:39,390 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000024 -0.13500046 0.34433975]
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-2025-05-19 10:14:39,419 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999971 -0.1350007 0.34433902]
-2025-05-19 10:14:39,420 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -2.39684498e-06 -1.57080165e+00]
-2025-05-19 10:14:39,439 - 测试日志 - INFO - log.py:106 - position command: [ 0.2500001 -0.1349928 0.34427094]
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-2025-05-19 10:14:39,443 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.13500035 0.34433929]
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-2025-05-19 10:14:39,468 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999958 -0.13499245 0.34426257]
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-2025-05-19 10:14:39,492 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999947 -0.13499314 0.34425695]
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-2025-05-19 10:14:39,714 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000021 -0.13499718 0.3442406 ]
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-2025-05-19 10:14:39,728 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.13500035 0.34433926]
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-2025-05-19 10:14:39,737 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999986 -0.13499701 0.34424004]
-2025-05-19 10:14:39,744 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997321e+02 -1.95545423e-03 -9.00027613e+01]
-2025-05-19 10:14:39,748 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.13500047 0.34433926]
-2025-05-19 10:14:39,751 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -1.43810016e-06 -1.57080165e+00]
-2025-05-19 10:14:39,756 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000004 -0.13499719 0.34424007]
-2025-05-19 10:14:39,757 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996715e+02 -5.32486088e-03 -9.00008656e+01]
-2025-05-19 10:14:39,758 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13500023 0.34433917]
-2025-05-19 10:14:39,760 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -1.43810473e-06 -1.57080059e+00]
-2025-05-19 10:14:39,777 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999986 -0.13499734 0.34423939]
-2025-05-19 10:14:39,780 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997765e+02 -4.66604976e-03 -9.00012530e+01]
-2025-05-19 10:14:39,785 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.1350006 0.34433969]
-2025-05-19 10:14:39,792 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -1.43810016e-06 -1.57080205e+00]
-2025-05-19 10:14:39,797 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999997 -0.13499792 0.34424003]
-2025-05-19 10:14:39,799 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998153e+02 -3.08700958e-03 -9.00048215e+01]
-2025-05-19 10:14:39,802 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000003 -0.13500023 0.3443396 ]
-2025-05-19 10:14:39,804 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -1.43809939e-06 -1.57080112e+00]
-2025-05-19 10:14:39,819 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-19 10:14:39,823 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-19 10:15:39,975 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-19 10:15:43,487 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999989 -0.13500046 0.34431442]
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-2025-05-19 10:15:43,489 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13500035 0.34433963]
-2025-05-19 10:15:43,491 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
-2025-05-19 10:15:43,491 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -9.58733840e-07 -1.57080112e+00]
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-2025-05-19 10:15:43,544 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13500046 0.34433896]
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-2025-05-19 10:21:44,323 - 测试日志 - INFO - log.py:106 - MassageRobot启动
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-2025-05-19 10:22:58,799 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
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-2025-05-19 10:22:59,103 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-19 10:22:59,104 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-19 10:24:16,891 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-19 10:24:20,406 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
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-2025-05-19 10:35:26,883 - 测试日志 - INFO - log.py:106 - MassageRobot启动
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-2025-05-19 10:38:09,663 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-19 10:38:13,176 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
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-2025-05-19 10:38:13,465 - 测试日志 - INFO - log.py:106 - position current:[ 0.2499998 -0.13500012 0.34433948]
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-2025-05-19 10:38:13,481 - 测试日志 - INFO - log.py:106 - MassageRobot启动
-2025-05-19 10:38:13,482 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
-2025-05-19 10:40:46,795 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
-2025-05-19 10:40:50,313 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
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+2025-05-21 15:52:15,018 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
+2025-05-21 15:53:09,492 - 测试日志 - ERROR - log.py:106 - 传感器数据读取失败
+2025-05-21 15:53:09,495 - 测试日志 - ERROR - log.py:106 - 传感器线程数据读取失败-1
+2025-05-21 15:58:44,141 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
+2025-05-21 15:58:47,653 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999988 -0.13500023 0.34428386]
+2025-05-21 15:58:47,655 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999848e+02 -5.77903395e-04 -9.00005484e+01]
+2025-05-21 15:58:47,661 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
+2025-05-21 15:58:47,664 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13500012 0.34433914]
+2025-05-21 15:58:47,665 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079633e+00]
+2025-05-21 15:58:47,668 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000007 -0.13499989 0.34423911]
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+2025-05-21 15:58:47,673 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212 0. -1.57079726]
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+2025-05-21 15:58:47,691 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 -4.79368983e-07 -1.57079539e+00]
+2025-05-21 15:58:47,704 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999614 -0.13500012 0.344171 ]
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+2025-05-21 15:58:47,708 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000009 -0.13500035 0.34433911]
+2025-05-21 15:58:47,710 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -9.58737777e-07 -1.57079633e+00]
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+2025-05-21 15:58:47,733 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000005 -0.13500035 0.34433923]
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+2025-05-21 15:58:47,744 - 测试日志 - INFO - log.py:106 - position command: [ 0.24998898 -0.13500035 0.3441271 ]
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+2025-05-21 15:58:47,845 - 测试日志 - INFO - log.py:106 - position command: [ 0.24996966 -0.13500001 0.34406945]
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+2025-05-21 15:58:48,094 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
+2025-05-21 15:58:48,108 - 测试日志 - INFO - log.py:106 - MassageRobot启动
+2025-05-21 16:05:44,925 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
+2025-05-21 16:05:48,433 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
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+2025-05-21 16:05:48,738 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000741 -0.13500016 0.34406274]
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+2025-05-21 16:05:48,809 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -4.79370380e-07 -1.57079779e+00]
+2025-05-21 16:05:48,813 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000396 -0.13500018 0.34406024]
+2025-05-21 16:05:48,817 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999613e+02 -7.12208265e-06 -9.00000564e+01]
+2025-05-21 16:05:48,821 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000027 -0.135 0.34433932]
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+2025-05-21 16:05:48,833 - 测试日志 - INFO - log.py:106 - MassageRobot启动
+2025-05-21 16:05:48,835 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
+2025-05-21 16:06:14,414 - 测试日志 - ERROR - log.py:106 - 传感器数据读取失败
+2025-05-21 16:06:14,416 - 测试日志 - ERROR - log.py:106 - 传感器线程数据读取失败-1
+2025-05-21 16:07:20,684 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
+2025-05-21 16:07:24,200 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999974 -0.13500035 0.34428417]
+2025-05-21 16:07:24,201 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
+2025-05-21 16:07:24,205 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 -1.09863307e-04 -8.99999466e+01]
+2025-05-21 16:07:24,208 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13500035 0.34433936]
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+2025-05-21 16:07:24,594 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999974 -0.13500024 0.34404155]
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+2025-05-21 16:07:24,601 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.13500035 0.34433893]
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+2025-05-21 16:07:24,612 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动
+2025-05-21 16:07:24,615 - 测试日志 - INFO - log.py:106 - MassageRobot启动
+2025-05-21 16:09:10,075 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头
+2025-05-21 16:09:13,583 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动
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+2025-05-21 16:09:13,594 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999966 -0.13500021 0.34423885]
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