更新一些小细节，底层碰撞检测阈值已修改

Massage/MassageControl/hardware/dobot_nova5.py

@@ -95,6 +95,7 @@ class dobot_nova5:
                         self.feedbackData.QActual = feedInfo['QActual'][0]
                         self.feedbackData.ActualQuaternion = feedInfo['ActualQuaternion'][0]
                         self.feedbackData.ToolVectorActual = feedInfo['ToolVectorActual'][0]
+                        self.feedbackData.QDActual = feedInfo['QDActual'][0]
                         # 自定义添加所需反馈数据
                         '''
                         self.feedData.DigitalOutputs = int(feedInfo['DigitalOutputs'][0])

Massage/MassageControl/tools/auto_visual_valibration.py

@@ -231,6 +231,12 @@ if __name__ == '__main__':
     os.makedirs(systemPath, exist_ok=True)
 
     calib = Calibration(calibration_board_size,calibration_board_square_size,systemPath)
+    
+    time.sleep(0.5)
+    calib.arm.chooseBaseFrame(i=1)
+    calib.arm.chooseEndEffector(i=0)
+    time.sleep(0.5)
+    
     calib.collect_data()
     print("=================数据采集完成===================")
     R, t,intrin = calib.calibrate()
@@ -240,3 +246,7 @@ if __name__ == '__main__':
     print("平移向量：")
     print(t)
     print(f"内参： {intrin}")
+    time.sleep(0.5)
+    calib.cam.stop()
+    time.sleep(0.5)
+    print('camera stopped')