解决点云投影与姿态欧拉角的转换关系

IoT/iot.service

@@ -5,7 +5,7 @@ Wants=network-online.target
 
 [Service]
 Type=simple
-WorkingDirectory=/home/jsfb/jsfb_ws/MassageRobot_aubo/IoT
+WorkingDirectory=/home/jsfb/jsfb_ws/MassageRobot_Dobot/IoT
 Environment="PATH=/home/jsfb/anaconda3/envs/CPU_robotarm/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin"
 ExecStart=/home/jsfb/anaconda3/envs/CPU_robotarm/bin/python iot_lite.pyc
 Restart=always

IoT/iot_lite.py

@@ -976,10 +976,10 @@ class OTAListener(OTAListener):
         # 获取当前脚本所在目录的上一级目录
         base_path = os.path.dirname(os.path.dirname(current_path))
 
-        # 检查当前路径是否包含 MassageRobot_aubo- 开头的文件夹名
+        # 检查当前路径是否包含 MassageRobot_Dobot- 开头的文件夹名
-        if "MassageRobot_aubo-" in base_path:
+        if "MassageRobot_Dobot-" in base_path:
             # 提取版本号部分并去除后续目录部分
-            version = base_path.split("MassageRobot_aubo-")[-1].split("/")[0]
+            version = base_path.split("MassageRobot_Dobot-")[-1].split("/")[0]
         else:
             # 如果没有匹配的版本号，则返回默认值
             version = "default"

Language/LLM/scripts/LLM.py

@@ -14,11 +14,11 @@ current_file_path = os.path.abspath(__file__)
 Language_Path = os.path.dirname(os.path.dirname(os.path.dirname(current_file_path)))
 # print("Language_Path:",Language_Path)
 # 找到上三级目录的父级（project_root），然后拼接目标文件夹路径
-MassageRobot_aubo_Path = os.path.dirname(Language_Path)
+MassageRobot_Dobot_Path = os.path.dirname(Language_Path)
-# print("MassageRobot_aubo_Path:",MassageRobot_aubo_Path)
+# print("MassageRobot_Dobot_Path:",MassageRobot_Dobot_Path)
 
 # 添加目标文件夹到系统路径
-sys.path.append(MassageRobot_aubo_Path)
+sys.path.append(MassageRobot_Dobot_Path)
 
 # # 测试
 try:

Language/LLM/scripts/LLM_back.py

@@ -13,11 +13,11 @@ current_file_path = os.path.abspath(__file__)
 Language_Path = os.path.dirname(os.path.dirname(os.path.dirname(current_file_path)))
 # print("Language_Path:",Language_Path)
 # 找到上三级目录的父级（project_root），然后拼接目标文件夹路径
-MassageRobot_aubo_Path = os.path.dirname(Language_Path)
+MassageRobot_Dobot_Path = os.path.dirname(Language_Path)
-# print("MassageRobot_aubo_Path:",MassageRobot_aubo_Path)
+# print("MassageRobot_Dobot_Path:",MassageRobot_Dobot_Path)
 
 # 添加目标文件夹到系统路径
-sys.path.append(MassageRobot_aubo_Path)
+sys.path.append(MassageRobot_Dobot_Path)
 
 # # 测试
 try:

Language/Language.py

@@ -30,9 +30,9 @@ import os
 import copy
 current_file_path = os.path.abspath(__file__)
 Language_Path = os.path.dirname(os.path.dirname(os.path.dirname(current_file_path)))
-MassageRobot_aubo_Path = os.path.dirname(Language_Path)
+MassageRobot_Dobot_Path = os.path.dirname(Language_Path)
-print("MassageRobot_aubo_Path:",MassageRobot_aubo_Path)
+print("MassageRobot_Dobot_Path:",MassageRobot_Dobot_Path)
-sys.path.append(MassageRobot_aubo_Path)
+sys.path.append(MassageRobot_Dobot_Path)
 from VortXDB.client import VTXClient
 # 自定义输出类，将输出同时发送到终端和日志文件
 class MultiWriter:

Language/Speech_processor/scripts/Audio_player.py

@@ -149,7 +149,7 @@ if __name__ == "__main__":
     # 启动线程A，优先级为5
     threading.Thread(
         target=thread_play,
-        args=("/home/jsfb/jsfb_ws/MassageRobot_aubo/Language/pre_mp3/按摩已结束.mp3", 10),
+        args=("/home/jsfb/jsfb_ws/MassageRobot_Dobot/Language/pre_mp3/按摩已结束.mp3", 10),
     ).start()
 
     # time.sleep(2)
@@ -157,7 +157,7 @@ if __name__ == "__main__":
     # 启动线程B，优先级为7（更高），强制停止A并播放新的音频
     threading.Thread(
         target=thread_play,
-        args=("/home/jsfb/jsfb_ws/MassageRobot_aubo/Language/pre_mp3/我在/audio_1.mp3", 10),
+        args=("/home/jsfb/jsfb_ws/MassageRobot_Dobot/Language/pre_mp3/我在/audio_1.mp3", 10),
     ).start()
 
     time.sleep(2)
@@ -165,7 +165,7 @@ if __name__ == "__main__":
     # 启动线程C，优先级为3（更低），不会打断线程B的播放
     threading.Thread(
         target=thread_play,
-        args=("/home/jsfb/jsfb_ws/MassageRobot_aubo/Language/pre_mp3/完成复位.mp3", 3),
+        args=("/home/jsfb/jsfb_ws/MassageRobot_Dobot/Language/pre_mp3/完成复位.mp3", 3),
     ).start()
 
     time.sleep(2)
@@ -173,7 +173,7 @@ if __name__ == "__main__":
     # 启动线程D，优先级为5
     threading.Thread(
         target=thread_play,
-        args=("/home/jsfb/jsfb_ws/MassageRobot_aubo/Language/pre_mp3/connect_successfully.mp3", 5),
+        args=("/home/jsfb/jsfb_ws/MassageRobot_Dobot/Language/pre_mp3/connect_successfully.mp3", 5),
     ).start()
 
     time.sleep(2)

Language/Speech_processor/scripts/Recognizer.py

@@ -14,9 +14,9 @@ from tools.log import CustomLogger
 import os
 current_file_path = os.path.abspath(__file__)
 Language_Path = os.path.dirname(os.path.dirname(os.path.dirname(current_file_path)))
-MassageRobot_aubo_Path = os.path.dirname(Language_Path)
+MassageRobot_Dobot_Path = os.path.dirname(Language_Path)
-print("MassageRobot_aubo_Path:",MassageRobot_aubo_Path)
+print("MassageRobot_Dobot_Path:",MassageRobot_Dobot_Path)
-sys.path.append(MassageRobot_aubo_Path)
+sys.path.append(MassageRobot_Dobot_Path)
 from VortXDB.client import VTXClient
 
 # 获取当前文件的父目录的上三级路径
@@ -296,5 +296,5 @@ if __name__ == '__main__':
     # text,if_timeout,remaining_time = recognizer.speech_recognize()
     # print(text,if_timeout)
     ## 音频语音识别
-    # recognizer.speech_recognize_UI("/home/jsfb/jsfb_ws/MassageRobot_aubo/tmp/speech_audio.mp3")   
+    # recognizer.speech_recognize_UI("/home/jsfb/jsfb_ws/MassageRobot_Dobot/tmp/speech_audio.mp3")   
     recognizer.test_token()

Language/Speech_processor/scripts/Synthesizer.py

@@ -13,9 +13,9 @@ from tools.log import CustomLogger
 import os
 current_file_path = os.path.abspath(__file__)
 Language_Path = os.path.dirname(os.path.dirname(os.path.dirname(current_file_path)))
-MassageRobot_aubo_Path = os.path.dirname(Language_Path)
+MassageRobot_Dobot_Path = os.path.dirname(Language_Path)
-print("MassageRobot_aubo_Path:",MassageRobot_aubo_Path)
+print("MassageRobot_Dobot_Path:",MassageRobot_Dobot_Path)
-sys.path.append(MassageRobot_aubo_Path)
+sys.path.append(MassageRobot_Dobot_Path)
 from VortXDB.client import VTXClient
 
 # aliyun语音合成
@@ -129,7 +129,7 @@ if __name__ == '__main__':
     from Audio_player import AudioPlayer
     def parse_args():
         parser = argparse.ArgumentParser(description='Speech processor')
-        parser.add_argument('--synthesizer_config_path', type=str, default='/home/jsfb/jsfb_ws/MassageRobot_aubo/Language/Speech_processor/config/aliyun_synthesize_config.yaml')
+        parser.add_argument('--synthesizer_config_path', type=str, default='/home/jsfb/jsfb_ws/MassageRobot_Dobot/Language/Speech_processor/config/aliyun_synthesize_config.yaml')
         args = parser.parse_args()
         return args
     

Language/language.service

@@ -5,7 +5,7 @@ Wants=network-online.target
 
 [Service]
 Type=simple
-WorkingDirectory=/home/jsfb/jsfb_ws/MassageRobot_aubo/Language
+WorkingDirectory=/home/jsfb/jsfb_ws/MassageRobot_Dobot/Language
 Environment="PATH=/home/jsfb/anaconda3/envs/CPU_robotarm/bin"
 Environment="PULSE_SERVER=unix:/run/user/1000/pulse/native"
 Environment="DISPLAY=:0"

License/license_client.service

@@ -5,7 +5,7 @@ Wants=network-online.target
 
 [Service]
 Type=simple
-WorkingDirectory=/home/jsfb/jsfb_ws/MassageRobot_aubo/License
+WorkingDirectory=/home/jsfb/jsfb_ws/MassageRobot_Dobot/License
 Environment="PATH=/home/jsfb/anaconda3/envs/CPU_robotarm/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin"
 ExecStart=/home/jsfb/anaconda3/envs/CPU_robotarm/bin/python license_client.pyc
 Restart=always

Massage/Massage.py

@@ -26,7 +26,7 @@ import requests
 from tools.yaml_operator import read_yaml
 from tools.log import CustomLogger
 from typing import Literal
-from MassageControl.MassageRobot_aubo import MassageRobot
+from MassageControl.MassageRobot_nova5 import MassageRobot
 from aucpuncture2point import ToolCamera, AbdomenDetector,BackDetector,LegDetector, CoordinateTransformer
 from scipy.spatial.transform import Rotation as R
 from scipy.interpolate import make_interp_spline
@@ -34,7 +34,7 @@ import matplotlib.pyplot as plt
 import datetime
 import shutil
 import importlib.util
-from MassageControl.hardware.force_sensor_aubo import XjcSensor
+from MassageControl.hardware.force_sensor import XjcSensor
 sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 from VortXDB.client import VTXClient
 

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=100):
+    def __init__(self, port=None, baudrate=115200, rate=250):
         self.port = port
         self.baudrate = baudrate
         self.rate = rate
@@ -29,6 +29,9 @@ class XjcSensor:
         self._last_reading = None
         self._reading_lock = threading.Lock()
 
+        if not self.port:
+            self.port = self.find_sensor_port()
+        
         try:
             self.connect()
             atexit.register(self.disconnect)
@@ -48,6 +51,32 @@ class XjcSensor:
     def connect(self):
         self.ser = serial.Serial(self.port, self.baudrate,timeout=0.1)
     
+    def find_sensor_port(self):
+        """寻找对应六维力传感器的串口"""
+        try:
+            # 目标 YAML 文件路径
+            yaml_file_path = '/home/jsfb/jsfb_ws/global_config/force_sensor.yaml'
+
+            # 读取现有的 YAML 文件内容
+            with open(yaml_file_path, 'r') as file:
+                data = yaml.safe_load(file)  # 读取并解析 YAML 内容
+
+            # 获取 target_usb_device_path 的值
+            target_usb_device_path = data.get('target_usb_device_path')
+
+            print(f"已成功将 target_usb_device_path 添加到 {yaml_file_path}")
+
+            ports = serial.tools.list_ports.comports()
+            for port in ports:
+                print(port.usb_device_path)
+                if target_usb_device_path == port.usb_device_path:
+                    print(f"找到六维力传感器在端口: {port.usb_device_path}")
+                    return port.device
+            print("未找到具有指定描述的六维力传感器。")
+        except Exception as e:
+            print(f"查找串口时发生错误: {e}")
+        return None
+
     @staticmethod
     def generate_crc16_table():
         table = []

Massage/MassageControl/hardware/test.py

@@ -0,0 +1,40 @@
+import numpy as np
+import matplotlib.pyplot as plt
+from mpl_toolkits.mplot3d import Axes3D
+from scipy.spatial.transform import Rotation as R
+
+# 定义你的坐标系（原点 + 欧拉角，单位为角度）
+frames = [
+    {"origin": [0, 0, 0], "euler": [0, 0, 0]},
+    {"origin": [2, 2, 2], "euler": [0, 150, 90]},
+    {"origin": [3, 3, 3], "euler": [-30, -180, 0]},
+]
+
+def draw_frame(ax, origin, rot_matrix, length=0.5):
+    origin = np.array(origin)
+    x_axis = origin + rot_matrix @ np.array([length, 0, 0])
+    y_axis = origin + rot_matrix @ np.array([0, length, 0])
+    z_axis = origin + rot_matrix @ np.array([0, 0, length])
+    ax.quiver(*origin, *(x_axis - origin), color='r')
+    ax.quiver(*origin, *(y_axis - origin), color='g')
+    ax.quiver(*origin, *(z_axis - origin), color='b')
+
+fig = plt.figure()
+ax = fig.add_subplot(111, projection='3d')
+ax.set_box_aspect([1,1,1])
+
+for frame in frames:
+    origin = frame["origin"]
+    euler_deg = frame["euler"]
+    rotation = R.from_euler('xyz', euler_deg, degrees=True)
+    rot_matrix = rotation.as_matrix()
+    draw_frame(ax, origin, rot_matrix)
+
+ax.set_xlim(-1, 3)
+ax.set_ylim(-1, 3)
+ax.set_zlim(-1, 3)
+ax.set_xlabel("X")
+ax.set_ylabel("Y")
+ax.set_zlabel("Z")
+plt.title("Multiple 3D Coordinate Frames (Euler Angles)")
+plt.show()

Massage/MassageControl/tools/auto_visual_valibration.py

@@ -8,7 +8,7 @@ import time
 from scipy.spatial.transform import Rotation as R
 
 sys.path.append(str(Path(__file__).resolve().parent.parent))
-sys.path.append('/home/jsfb/jsfb_ws/MassageRobot_aubo/Massage/MassageControl')
+sys.path.append('/home/jsfb/jsfb_ws/MassageRobot_Dobot/Massage/MassageControl')
 from hardware.remote_cam import ToolCamera
 from hardware.aubo_C5 import AuboC5
 

Massage/aucpuncture2point/scripts/coordinate_transform.py

@@ -380,9 +380,13 @@ class CoordinateTransformer:
             temp_point[:, :3] = point[:, :3]
             
             # 计算欧拉角
+            # temp_point[0][3] = -math.asin(point[0][4])
+            # temp_point[0][4] = -math.atan2(-point[0][3], point[0][5])
+            # temp_point[0][5] = 0.0
+
             temp_point[0][3] = -math.asin(point[0][4])
-            temp_point[0][4] = -math.atan2(-point[0][3], point[0][5])
+            temp_point[0][4] = math.atan2(point[0][3], point[0][5])
-            temp_point[0][5] = 0.0
+            temp_point[0][5] = -np.pi/2
             
             # 确保角度在[-pi, pi]范围内
             if temp_point[0][5] > np.pi:

Massage/aucpuncture2point/scripts/rgb_point_cloud.py

@@ -68,6 +68,6 @@ def display_rgb_point_cloud(rgb_image, depth_image, camera_intrinsics):
     o3d.visualization.draw_geometries([point_cloud])
 
 intrinsics = {'fx': 454.114136, 'fy': 454.114136, 'cx': 325.119751, 'cy': 235.403824}
-color_image = cv2.imread('/home/jsfb/jsfb_ws/MassageRobot_aubo/Massage/aucpuncture2point/configs/using_img/color.png')
+color_image = cv2.imread('/home/jsfb/jsfb_ws/MassageRobot_Dobot/Massage/aucpuncture2point/configs/using_img/color.png')
-depth_img = cv2.imread('/home/jsfb/jsfb_ws/MassageRobot_aubo/Massage/aucpuncture2point/configs/using_img/depth.png', cv2.IMREAD_UNCHANGED)
+depth_img = cv2.imread('/home/jsfb/jsfb_ws/MassageRobot_Dobot/Massage/aucpuncture2point/configs/using_img/depth.png', cv2.IMREAD_UNCHANGED)
 display_rgb_point_cloud(color_image, depth_img, intrinsics)

Massage/controller.service

@@ -5,7 +5,7 @@ Wants=network-online.target
 
 [Service]
 Type=simple
-WorkingDirectory=/home/jsfb/jsfb_ws/MassageRobot_aubo/Massage/MassageControl/hardware/
+WorkingDirectory=/home/jsfb/jsfb_ws/MassageRobot_Dobot/Massage/MassageControl/hardware/
 Environment="PATH=/home/jsfb/anaconda3/envs/CPU_robotarm/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin"
 ExecStart=/home/jsfb/anaconda3/envs/CPU_robotarm/bin/python controller.pyc
 Restart=on-failure

Massage/massage.service

@@ -5,9 +5,9 @@ Wants=network-online.target
 
 [Service]
 Type=simple
-WorkingDirectory=/home/jsfb/jsfb_ws/MassageRobot_aubo/Massage
+WorkingDirectory=/home/jsfb/jsfb_ws/MassageRobot_Dobot/Massage
 Environment="PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/home/jsfb/anaconda3/envs/CPU_robotarm/bin"
-ExecStart=/bin/bash -c "source /opt/ros/noetic/setup.bash; echo $PATH; exec /home/jsfb/anaconda3/envs/CPU_robotarm/bin/python /home/jsfb/jsfb_ws/MassageRobot_aubo/Massage/Massage.pyc"
+ExecStart=/bin/bash -c "source /opt/ros/noetic/setup.bash; echo $PATH; exec /home/jsfb/anaconda3/envs/CPU_robotarm/bin/python /home/jsfb/jsfb_ws/MassageRobot_Dobot/Massage/Massage.pyc"
 Restart=on-failure
 User=jsfb
 Group=jsfb

UI_next/force_sensor_aubo.py

@@ -8,7 +8,7 @@ import time
 import subprocess
 import psutil
 import sys
-# sys.path.append("/home/jsfb/jsfb_ws/MassageRobot_aubo/Massage/MassageControl")
+# sys.path.append("/home/jsfb/jsfb_ws/MassageRobot_Dobot/Massage/MassageControl")
 from tools.ssh_tools import execute_command_on_remote
 from tools.serial_tools import start_virtual_serial,stop_virtual_serial
 

UI_next/modules/thermal/thermal_trajectory.py

@@ -8,8 +8,8 @@ current_file_path = os.path.abspath(__file__)
 current_file_floder = os.path.dirname(current_file_path)
 Path = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(current_file_path))))
 print(Path)
-MassageRobot_aubo_Path = os.path.dirname(Path)
+MassageRobot_Dobot_Path = os.path.dirname(Path)
-sys.path.append(MassageRobot_aubo_Path)
+sys.path.append(MassageRobot_Dobot_Path)
 
 from VortXDB.client import VTXClient
 

UI_next/tools/log_utils.py

@@ -1,6 +1,6 @@
 import os
 
-# 获取项目根目录的绝对路径（MassageRobot_aubo 目录）
+# 获取项目根目录的绝对路径（MassageRobot_Dobot 目录）
 BASE_DIR = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 
 def read_log_file(log_type, keyword=None, page=1 , page_size=400):

UI_next/ui_next_app.service

@@ -5,7 +5,7 @@ Wants=network-online.target
 
 [Service]
 Type=simple
-WorkingDirectory=/home/jsfb/jsfb_ws/MassageRobot_aubo/UI_next
+WorkingDirectory=/home/jsfb/jsfb_ws/MassageRobot_Dobot/UI_next
 Environment="PATH=/home/jsfb/anaconda3/envs/CPU_robotarm/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin"
 Environment="PULSE_SERVER=unix:/run/user/1000/pulse/native"
 Environment="DISPLAY=:0"

UI_next/ui_next_app_net.service

@@ -6,7 +6,7 @@ Requires=NetworkManager.service
 
 [Service]
 Type=simple
-WorkingDirectory=/home/jsfb/jsfb_ws/MassageRobot_aubo/UI_next
+WorkingDirectory=/home/jsfb/jsfb_ws/MassageRobot_Dobot/UI_next
 Environment="PATH=/home/jsfb/anaconda3/envs/CPU_robotarm/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin"
 Environment="PULSE_SERVER=unix:/run/user/1000/pulse/native"
 Environment="DISPLAY=:0"

setup.sh

@@ -7,7 +7,7 @@ PASSWORD="jsfb"
 CURRENT_DIR=$(pwd)
 
 # 定义要替换的路径和新路径
-OLD_PATH="/home/jsfb/jsfb_ws/MassageRobot_aubo"
+OLD_PATH="/home/jsfb/jsfb_ws/MassageRobot_Dobot"
 NEW_PATH="$CURRENT_DIR"
 
 # Conda 环境名称

版本说明.txt

@@ -1,20 +1 @@
-MassageRobot_aubo-1.2.5-alpha-rc1 # 发往日本的稳定版本（无多语言）
+
-MassageRobot_aubo-1.2.5-alpha-rc2 # 发往日本的稳定版本（多语言）10.25更新
-MassageRobot_aubo-1.2.5-alpha-rc3 # 发往日本的稳定版本（多语言）10.25更新:修复断网可继续播音频问题
-MassageRobot_aubo-1.2.5-alpha-rc4 # 发往日本的稳定版本（多语言）10.25更新:jiaru lichuanganqizhuantaipanduantangchuan
-MassageRobot_aubo-1.2.5-alpha-rc5-yoyo # 发往日本的稳定版本（多语言）10.26更新:这个唤醒词为yoyo，修改按摩头、语音路径
-MassageRobot_aubo-1.2.5-alpha-rc5-sakuna # 发往日本的稳定版本（多语言）10.26更新:这个唤醒词为heisakuna，修改按摩头、语音路径
-MassageRobot_aubo-1.2.5-alpha-rc6-yoyo # 发往日本的稳定版本（多语言）10.26更新:这个唤醒词为yoyo，修改按摩头、语音路径,ota	
-MassageRobot_aubo-1.2.5-alpha-rc6-sakuna # 发往日本的稳定版本（多语言）10.26更新:这个唤醒词为heisakuna，修改按摩头、语音路径ota
-MassageRobot_aubo-1.2.6-alpha-rc8-cn # 发往安徽版本 11.2更新:取消用戶取頭置零操作，以及新的視覺模型修改
-MassageRobot_aubo-1.2.8-alpha-rc1-cn # 新发出去的三台前的稳定版本，加入稳定冲击波和滚珠
-MassageRobot_aubo-1.2.8-alpha-rc2-cn # 加入滚珠揉腹部，设置中加入语音重启
-MassageRobot_aubo-1.2.8-alpha-rc3-cn # 加入开发者虚拟模式支持空跑，进入设置需要密码
-MassageRobot_aubo-1.2.8-alpha-rc4-cn # 去掉冲击波绝对路径
-MassageRobot_aubo-1.2.8-alpha-rc8-cn # 1.滚珠改成不过脊柱轨迹；2.加入hybridPid控制方式
-MassageRobot_aubo-1.2.8-alpha-rc9-cn # 旧版OTA的最后一个版本，用于衔接新版OTA
-MassageRobot_aubo-1.2.9-alpha-cn # 新版OTA 语音加入唤醒词可选
-MassageRobot_aubo-1.2.9-alpha-rc1-cn # ???
-MassageRobot_aubo-1.2.9-alpha-rc2-cn # ???
-MassageRobot_aubo-1.2.9-alpha-rc2-iot-cn # rc2版本的iot分支，用于测试iot lite版
-MassageRobot_aubo-1.2.9-alpha-rc3-cn # 添加WiFi配网功能