From ce34b3a2736e1a9e676c2a5cc49542c27070b68d Mon Sep 17 00:00:00 2001 From: "ziwei.he" Date: Mon, 26 May 2025 13:49:35 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BA=86=E5=85=B3=E8=8A=82?= =?UTF-8?q?=E8=A7=92=E5=BA=A6=E5=92=8C=E7=B1=B3=E4=B8=BA=E5=8D=95=E4=BD=8D?= =?UTF-8?q?=E7=9A=84=E4=B8=80=E4=BA=9B=E6=8E=A5=E5=8F=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../MassageControl/hardware/dobot_nova5.py | 236 +- logs/MassageRobot_nova5_test.log | 8723 ----------------- logs/test.py | 45 +- 3 files changed, 273 insertions(+), 8731 deletions(-) diff --git a/Massage/MassageControl/hardware/dobot_nova5.py b/Massage/MassageControl/hardware/dobot_nova5.py index c08bf87..05b04b4 100644 --- a/Massage/MassageControl/hardware/dobot_nova5.py +++ b/Massage/MassageControl/hardware/dobot_nova5.py @@ -144,7 +144,44 @@ class dobot_nova5: break sleep(0.1) return 0 - + + def RunPoint_P_inPose_M_RAD(self,poses_list): + ''' + RUNPOINT_P 以关节运动方式运动到目标点 + MovJ flag = 0 通过位姿走点，输入为[X Y Z RX RY RZ] unit: M/RAD + ''' + # 单位 m/rad -> mm/deg + poses_list_mm_deg = self.__transform_m_rad_2_mm_deg(poses_list) + # 走点 + recvmovemess = self.dashboard.MovJ(*poses_list_mm_deg,0) + print("MovJ:",recvmovemess) + print(self.parseResultId(recvmovemess)) + currentCommandID = self.parseResultId(recvmovemess)[1] + print("指令 ID:", currentCommandID) + sleep(0.02) + while True: # 完成判断循环 + ########## 调试注释 ############# + # print("robot mode",self.feedbackData.robotMode) + # print("feedback current ID", self.feedbackData.robotCurrentCommandID) + # print("指令 ID:", currentCommandID) + ########## 调试注释 ############# + currentCommandID = self.parseResultId(self.dashboard.GetCurrentCommandID())[1] + if self.feedbackData.robotMode == 9 or self.feedbackData.robotMode == 11: + self.dashboard.Stop() + self.dashboard.EmergencyStop(mode=1) + print("当前工作停止，机械臂处于急停状态") + if self.feedbackData.robotMode == 10: # 10 当前工程暂停 + print("机械臂为暂停状态") + res = self.dashboard.Continue() + code = self.parseResultId(res)[0] + if code == 0: + print("机械臂继续已暂停的运动指令") + if self.feedbackData.robotMode == 5 and self.feedbackData.robotCurrentCommandID == currentCommandID: + print("该次运动完成") + break + sleep(0.1) + return 0 + def RunPoint_P_inJoint(self,joints_list): ''' RUNPOINT_P 以关节运动方式运动到目标点 @@ -180,7 +217,45 @@ class dobot_nova5: break sleep(0.1) # 避免 CPU 占用过高 return 0 - + + def RunPoint_P_inJoint_RAD(self,joints_list): + ''' + RUNPOINT_P 以关节运动方式运动到目标点 + MovJ flag = 1 通过关节角度走点，输入为[J1 J2 J3 J4 J5 J6] unit: rad + ''' + # 单位 rad -> deg + joints_list_deg = self.__transform_rad_2_deg(joints_list) + # 走点 + recvmovemess = self.dashboard.MovJ(*joints_list_deg,1) + print("MovJ:",recvmovemess) + print(self.parseResultId(recvmovemess)) + currentCommandID = self.parseResultId(recvmovemess)[1] + print("指令 ID:", currentCommandID) + sleep(0.02) + while True: # 完成判断循环 + ########## 调试注释 ############# + # print("robot mode",self.feedbackData.robotMode) + # print("feedback current ID", self.feedbackData.robotCurrentCommandID) + # print("指令 ID:", currentCommandID) + # print("30004",self.dashboard.GetCurrentCommandID()) + ########## 调试注释 ############# + currentCommandID = self.parseResultId(self.dashboard.GetCurrentCommandID())[1] + if self.feedbackData.robotMode == 9 or self.feedbackData.robotMode == 11: + self.dashboard.Stop() + self.dashboard.EmergencyStop(mode=1) + print("当前工作停止，机械臂处于急停状态") + if self.feedbackData.robotMode == 10: # 10 当前工程暂停 + print("机械臂为暂停状态") + res = self.dashboard.Continue() + code = self.parseResultId(res)[0] + if code == 0: + print("机械臂继续已暂停的运动指令") + if self.feedbackData.robotMode == 5 and self.feedbackData.robotCurrentCommandID == currentCommandID: + print("该次运动完成") + break + sleep(0.1) # 避免 CPU 占用过高 + return 0 + def RunPoint_L_inPose(self,poses_list): ''' RUNPOINT_L 以直线运动方式运动到目标点 @@ -210,6 +285,37 @@ class dobot_nova5: sleep(0.1) return 0 + def RunPoint_L_inPose_M_RAD(self,poses_list): + ''' + RUNPOINT_L 以直线运动方式运动到目标点 + MovJ flag = 0 通过位姿走点，输入为[X Y Z RX RY RZ] unit: m/rad + ''' + # 单位 m/rad -> mm/deg + poses_list_mm_deg = self.__transform_m_rad_2_mm_deg(poses_list) + # 走点 + recvmovemess = self.dashboard.MovL(*poses_list_mm_deg,0) + print("MovL:",recvmovemess) + print(self.parseResultId(recvmovemess)) + currentCommandID = self.parseResultId(recvmovemess)[1] + print("指令 ID:", currentCommandID) + while True: + currentCommandID = self.parseResultId(self.dashboard.GetCurrentCommandID())[1] + if self.feedbackData.robotMode == 9 or self.feedbackData.robotMode == 11: + self.dashboard.Stop() + self.dashboard.EmergencyStop(mode=1) + print("当前工作停止，机械臂处于急停状态") + if self.feedbackData.robotMode == 10: # 10 当前工程暂停 + print("机械臂为暂停状态") + res = self.dashboard.Continue() + code = self.parseResultId(res)[0] + if code == 0: + print("机械臂继续已暂停的运动指令") + if self.feedbackData.robotMode == 5 and self.feedbackData.robotCurrentCommandID == currentCommandID: + print("该次运动完成") + break + sleep(0.1) + return 0 + def RunPoint_L_inJoint(self,joints_list): ''' RUNPOINT_L 以直线运动方式运动到目标点 @@ -238,9 +344,68 @@ class dobot_nova5: break sleep(0.1) return 0 + + def RunPoint_L_inJoint_RAD(self,joints_list): + ''' + RUNPOINT_L 以直线运动方式运动到目标点 + MovJ flag = 0 通过位姿走点，输入为[X Y Z RX RY RZ] unit: rad + ''' + # 单位 rad -> deg + joints_list_deg = self.__transform_rad_2_deg(joints_list) + # 走点 + recvmovemess = self.dashboard.MovL(*joints_list_deg,0) + print("MovL:",recvmovemess) + print(self.parseResultId(recvmovemess)) + currentCommandID = self.parseResultId(recvmovemess)[1] + print("指令 ID:", currentCommandID) + while True: + currentCommandID = self.parseResultId(self.dashboard.GetCurrentCommandID())[1] + if self.feedbackData.robotMode == 9 or self.feedbackData.robotMode == 11: + self.dashboard.Stop() + self.dashboard.EmergencyStop(mode=1) + print("当前工作停止，机械臂处于急停状态") + if self.feedbackData.robotMode == 10: # 10 当前工程暂停 + print("机械臂为暂停状态") + res = self.dashboard.Continue() + code = self.parseResultId(res)[0] + if code == 0: + print("机械臂继续已暂停的运动指令") + if self.feedbackData.robotMode == 5 and self.feedbackData.robotCurrentCommandID == currentCommandID: + print("该次运动完成") + break + sleep(0.1) + return 0 - def ServoJoint(self,joints_list,t=-1,aheadtime=-1,gain=-1): - tcp_command = f"servoj({joints_list[0]},{joints_list[1]},{joints_list[2]},{joints_list[3]},{joints_list[4]},{joints_list[5]},t={t},aheadtime={aheadtime},gain={gain})" + def ServoJoint(self,joints_list): + ''' + 关节角度伺服 + 输入为[J1 J2 J3 J4 J5 J6] unit: deg + ''' + tcp_command = f"servoj({joints_list[0]},{joints_list[1]},{joints_list[2]},{joints_list[3]},{joints_list[4]},{joints_list[5]}, t=0.01, aheadtime=20, gain=200)" + self.dashboard.send_data(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("ServoJ:",tcp_command) + if self.feedbackData.robotMode == 9 or self.feedbackData.robotMode == 11: + self.dashboard.Stop() + self.dashboard.EmergencyStop(mode=1) + print("当前工作停止，机械臂处于急停状态") + return -1 + if self.feedbackData.robotMode == 10: # 10 当前工程暂停 + print("机械臂为暂停状态") + res = self.dashboard.Continue() + code = self.parseResultId(res)[0] + if code == 0: + print("机械臂继续已暂停的运动指令") + return 0 + + def ServoJoint_RAD(self,joints_list): + ''' + 关节角度伺服 + 输入为[J1 J2 J3 J4 J5 J6] unit: rad + ''' + # 单位转换 rad -> deg + joints_list_deg = self.__transform_rad_2_deg(joints_list) + # 构造字符串 + tcp_command = f"servoj({joints_list_deg[0]},{joints_list_deg[1]},{joints_list_deg[2]},{joints_list_deg[3]},{joints_list_deg[4]},{joints_list_deg[5]}, t=0.01, aheadtime=20, gain=200)" self.dashboard.send_data(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("ServoJ:",tcp_command) if self.feedbackData.robotMode == 9 or self.feedbackData.robotMode == 11: @@ -257,6 +422,10 @@ class dobot_nova5: return 0 def ServoPose(self,poses_list): + ''' + 位姿伺服 + 输入为[X Y Z RX RY RZ] unit: mm/deg + ''' 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 @@ -271,6 +440,30 @@ class dobot_nova5: code = self.parseResultId(res)[0] if code == 0: print("机械臂继续已暂停的运动指令") + + def ServoPose_M_RAD(self,poses_list): + ''' + 位姿伺服 + 输入为[X Y Z RX RY RZ] unit: M/RAD + ''' + # 单位 m/rad -> mm/deg + poses_list_mm_deg = self.__transform_m_rad_2_mm_deg(poses_list) + # 确保数据类型正确 + poses_list_mm_deg = list(map(float, poses_list_mm_deg)) + # 构造字符串 + 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) + if self.feedbackData.robotMode == 9 or self.feedbackData.robotMode == 11: + self.dashboard.Stop() + self.dashboard.EmergencyStop(mode=1) + print("当前工作停止，机械臂处于急停状态") + if self.feedbackData.robotMode == 10: # 10 当前工程暂停 + print("机械臂为暂停状态") + res = self.dashboard.Continue() + code = self.parseResultId(res)[0] + if code == 0: + print("机械臂继续已暂停的运动指令") def setEndEffector(self,i,tool_i): ''' @@ -469,7 +662,42 @@ class dobot_nova5: def __del__(self): del self.dashboard del self.feedFour + ## 内部工具函数 + + def __transform_m_rad_2_mm_deg(self,input_list): + ''' + 接受列表 [X Y Z RX RY RZ] + 将单位 m/rad 转为 mm/deg + ''' + if len(input_list) != 6: + raise ValueError("Input list must contain exactly 6 elements [X, Y, Z, RX, RY, RZ]") + + # 转换位置单位：m -> mm (乘以 1000) + x_mm = input_list[0] * 1000.0 + y_mm = input_list[1] * 1000.0 + z_mm = input_list[2] * 1000.0 + + # 转换角度单位：rad -> deg (乘以 180/pi) + rx_deg = math.degrees(input_list[3]) + ry_deg = math.degrees(input_list[4]) + rz_deg = math.degrees(input_list[5]) + + return [x_mm, y_mm, z_mm, rx_deg, ry_deg, rz_deg] + def __transform_rad_2_deg(self,input_list): + ''' + 接受列表 [J1 J2 J3 J4 J5 J6] + 将单位rad转为deg + ''' + if len(input_list) != 6: + raise ValueError("Input list must contain exactly 6 elements [J1, J2, J3, J4, J5, J6]") + # 转换角度单位: rad -> deg + J_deg = [] + for i in range(6): + J_deg.append(math.degrees(input_list[i])) + return J_deg + + ## 为反馈线程封装 def Get_feedInfo_angle(self): diff --git a/logs/MassageRobot_nova5_test.log b/logs/MassageRobot_nova5_test.log index 7b655aa..e69de29 100644 --- a/logs/MassageRobot_nova5_test.log +++ b/logs/MassageRobot_nova5_test.log @@ -1,8723 +0,0 @@ -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 - 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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 - 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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] -2025-05-16 19:21:04,685 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01] -2025-05-16 19:21:04,688 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000031 -0.13499965 0.34433957] -2025-05-16 19:21:04,690 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 4.79371745e-07 -1.57079819e+00] -2025-05-16 19:21:04,704 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999749 -0.13500247 0.34425739] -2025-05-16 19:21:04,705 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01] -2025-05-16 19:21:04,713 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999948 -0.13500012 0.34433878] -2025-05-16 19:21:04,715 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -2.29771757e-12 -1.57079926e+00] -2025-05-16 19:21:04,724 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999693 -0.13500269 0.34425217] -2025-05-16 19:21:04,728 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01] -2025-05-16 19:21:04,732 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000014 -0.13499976 0.34433929] -2025-05-16 19:21:04,735 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 2.29771757e-12 -1.57079779e+00] -2025-05-16 19:21:04,744 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999788 -0.13500202 0.34424935] -2025-05-16 19:21:04,751 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01] -2025-05-16 19:21:04,754 - 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] -2025-05-16 19:21:04,770 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01] -2025-05-16 19:21:04,773 - 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] -2025-05-16 19:21:04,791 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.31662242e-10 -9.00001068e+01] -2025-05-16 19:21:04,801 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000018 -0.13499976 0.34433917] -2025-05-16 19:21:04,816 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 6.89226454e-13 -1.57079686e+00] -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] -2025-05-16 19:21:04,850 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -9.19264664e-13 -1.57079872e+00] -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] -2025-05-16 19:21:04,940 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 4.79367396e-07 -1.57079926e+00] -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] -2025-05-16 19:21:04,967 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -3.21698224e-12 -1.57080019e+00] -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] -2025-05-16 19:21:22,640 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159079e+00 4.79368984e-07 -1.57079686e+00] -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 - 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测试日志 - INFO - log.py:106 - orientation command: [ 1.79999969e+02 2.74658341e-05 -8.99999466e+01] -2025-05-16 19:21:22,890 - 测试日志 - INFO - log.py:106 - position current:[ 0.2500002 -0.13499965 0.34433951] -2025-05-16 19:21:22,892 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 9.58735935e-07 -1.57079446e+00] -2025-05-16 19:21:22,905 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000017 -0.13500144 0.34424025] -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 - 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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 - 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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 - 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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 - 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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 - 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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 -2025-05-16 19:23:55,006 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999802e+02 -9.21597525e-11 -8.99999695e+01] -2025-05-16 19:23:55,013 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999973 -0.13499988 0.34433881] -2025-05-16 19:23:55,015 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 4.44089210e-16 -1.57079579e+00] -2025-05-16 19:23:55,018 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999993 -0.13500021 0.3442955 ] -2025-05-16 19:23:55,022 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999802e+02 -9.21597525e-11 -8.99999695e+01] -2025-05-16 19:23:55,024 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13500012 0.34433929] -2025-05-16 19:23:55,025 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159 0. -1.57079686] -2025-05-16 19:23:55,039 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000004 -0.1349981 0.34428146] -2025-05-16 19:23:55,041 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999802e+02 -9.21597525e-11 -8.99999695e+01] -2025-05-16 19:23:55,043 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.135 0.34433936] -2025-05-16 19:23:55,046 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212 0. -1.57079633] -2025-05-16 19:23:55,063 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999975 -0.13499741 0.3442703 ] -2025-05-16 19:23:55,064 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999802e+02 -9.21597525e-11 -8.99999695e+01] -2025-05-16 19:23:55,066 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.13500012 0.34433951] -2025-05-16 19:23:55,068 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212 0. -1.57079686] -2025-05-16 19:23:55,084 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999947 -0.13499558 0.34426256] -2025-05-16 19:23:55,092 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999802e+02 -9.21597525e-11 -8.99999695e+01] -2025-05-16 19:23:55,093 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000024 -0.13499988 0.34433957] -2025-05-16 19:23:55,099 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159 0. -1.57079579] -2025-05-16 19:23:55,114 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000021 -0.13499485 0.34425724] -2025-05-16 19:23:55,116 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999802e+02 -9.21597525e-11 -8.99999695e+01] -2025-05-16 19:23:55,116 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000005 -0.135 0.34433905] -2025-05-16 19:23:55,117 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -4.59632332e-13 -1.57079686e+00] -2025-05-16 19:23:55,131 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999972 -0.13499464 0.34425197] -2025-05-16 19:23:55,132 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999802e+02 -9.21597525e-11 -8.99999695e+01] -2025-05-16 19:23:55,134 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000018 -0.135 0.34433942] -2025-05-16 19:23:55,138 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -4.59632332e-13 -1.57079579e+00] -2025-05-16 19:23:55,148 - 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测试日志 - INFO - log.py:106 - position command: [ 0.24999966 -0.1349999 0.34423392] -2025-05-16 19:43:02,896 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 -5.49316028e-05 -8.99999466e+01] -2025-05-16 19:43:02,899 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999977 -0.135 0.34433868] -2025-05-16 19:43:02,906 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -4.79368063e-07 -1.57079486e+00] -2025-05-16 19:43:02,907 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999989 -0.1349999 0.34423422] -2025-05-16 19:43:02,909 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 -5.49316028e-05 -8.99999466e+01] -2025-05-16 19:43:02,913 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999966 -0.135 0.34433865] -2025-05-16 19:43:02,914 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 -4.79368317e-07 -1.57079539e+00] -2025-05-16 19:43:02,934 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999962 -0.13500002 0.34423483] -2025-05-16 19:43:02,940 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 -5.49316028e-05 -8.99999466e+01] -2025-05-16 19:43:02,943 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999965 -0.13500023 0.34433887] -2025-05-16 19:43:02,950 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -4.79368063e-07 -1.57079579e+00] -2025-05-16 19:43:02,993 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000006 -0.13500003 0.3442358 ] -2025-05-16 19:43:02,994 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999924e+02 -5.49316028e-05 -8.99999466e+01] -2025-05-16 19:43:02,996 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13500023 0.34433914] -2025-05-16 19:43:02,998 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 -9.58737967e-07 -1.57079579e+00] -2025-05-16 19:43:03,000 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动 -2025-05-16 19:43:03,002 - 测试日志 - INFO - log.py:106 - MassageRobot启动 -2025-05-16 19:48:10,121 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头 -2025-05-16 19:48:13,644 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动 -2025-05-16 19:48:13,646 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000031 -0.13499976 0.34431423] -2025-05-16 19:48:13,652 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 2.63349928e-11 -8.99999695e+01] -2025-05-16 19:48:13,654 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000008 -0.13499988 0.34433948] -2025-05-16 19:48:13,656 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159 0. -1.57079579] -2025-05-16 19:48:13,658 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000008 -0.13499987 0.34429572] -2025-05-16 19:48:13,660 - 测试日志 - INFO - log.py:106 - orientation command: [-179.99993896 0. -89.99996948] -2025-05-16 19:48:13,661 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000008 -0.13499988 0.34433948] -2025-05-16 19:48:13,662 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159 0. -1.57079579] -2025-05-16 19:48:13,678 - 测试日志 - INFO - log.py:106 - position command: [ 0.2499998 -0.13499987 0.34428121] -2025-05-16 19:48:13,680 - 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测试日志 - INFO - log.py:106 - position current:[ 0.24999977 -0.13500012 0.3443392 ] -2025-05-16 19:48:14,029 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079686e+00] -2025-05-16 19:48:14,045 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999982 -0.13500556 0.34423953] -2025-05-16 19:48:14,047 - 测试日志 - INFO - log.py:106 - orientation command: [-1.80000000e+02 -2.74658196e-05 -9.00000305e+01] -2025-05-16 19:48:14,050 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999988 -0.135 0.34433881] -2025-05-16 19:48:14,059 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 -4.59632332e-13 -1.57079686e+00] -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 - 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测试日志 - INFO - log.py:106 - orientation current: [ 3.14145231e+00 -2.87682002e-06 -1.57080019e+00] -2025-05-19 10:07:41,699 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000034 -0.13500056 0.34423983] -2025-05-19 10:07:41,700 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999908e+02 -1.35860545e-04 -9.00001357e+01] -2025-05-19 10:07:41,701 - 测试日志 - INFO - log.py:106 - position current:[ 0.24996567 -0.13500069 0.34429709] -2025-05-19 10:07:41,702 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14145231e+00 -3.35618881e-06 -1.57080019e+00] -2025-05-19 10:07:41,719 - 测试日志 - INFO - log.py:106 - MassageRobot启动 -2025-05-19 10:07:41,719 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动 -2025-05-19 10:12:10,090 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头 -2025-05-19 10:12:13,603 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动 -2025-05-19 10:12:13,605 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000014 -0.13500046 0.34431448] -2025-05-19 10:12:13,606 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79994756e+02 -2.56405012e-03 -9.00008278e+01] -2025-05-19 10:12:13,607 - 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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 - 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测试日志 - INFO - log.py:106 - position command: [ 0.24999971 -0.13500081 0.34428922] -2025-05-19 10:18:16,147 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999097e+02 -3.08332616e-03 -9.00043224e+01] -2025-05-19 10:18:16,147 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.1350007 0.34433948] -2025-05-19 10:18:16,148 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -2.87620742e-06 -1.57080298e+00] -2025-05-19 10:18:16,164 - 测试日志 - INFO - log.py:106 - MassageRobot启动 -2025-05-19 10:18:16,165 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动 -2025-05-19 10:21:40,587 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头 -2025-05-19 10:21:44,102 - 测试日志 - INFO - log.py:106 - position command: [ 0.2499996 -0.13499988 0.34433359] -2025-05-19 10:21:44,103 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999044e+02 -4.41616059e-03 -9.00045435e+01] -2025-05-19 10:21:44,103 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.13499988 0.34433841] -2025-05-19 10:21:44,104 - 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INFO - log.py:106 - orientation current: [-3.14159212e+00 -4.59410288e-13 -1.57079633e+00] -2025-05-19 10:21:44,125 - 测试日志 - INFO - log.py:106 - position command: [ 0.2499996 -0.13499987 0.34432456] -2025-05-19 10:21:44,126 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997411e+02 -2.38227541e-03 -9.00005274e+01] -2025-05-19 10:21:44,127 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999986 -0.13500047 0.34433951] -2025-05-19 10:21:44,129 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -2.06790141e-12 -1.57079686e+00] -2025-05-19 10:21:44,136 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999986 -0.13499992 0.3443227 ] -2025-05-19 10:21:44,138 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996089e+02 -1.35804733e-03 -9.00014995e+01] -2025-05-19 10:21:44,139 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000018 -0.13499988 0.34433936] -2025-05-19 10:21:44,141 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -4.79369904e-07 -1.57079340e+00] -2025-05-19 10:21:44,149 - 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测试日志 - INFO - log.py:106 - position current:[ 0.24999989 -0.135 0.34433926] -2025-05-19 10:21:44,301 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -2.29816166e-13 -1.57079579e+00] -2025-05-19 10:21:44,310 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000031 -0.13499992 0.3443147 ] -2025-05-19 10:21:44,312 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997171e+02 -4.89043208e-03 -9.00015305e+01] -2025-05-19 10:21:44,312 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999988 -0.13500024 0.34433948] -2025-05-19 10:21:44,313 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -4.59632332e-13 -1.57079686e+00] -2025-05-19 10:21:44,323 - 测试日志 - INFO - log.py:106 - MassageRobot启动 -2025-05-19 10:21:44,324 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动 -2025-05-19 10:22:55,285 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头 -2025-05-19 10:22:58,799 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动 -2025-05-19 10:22:58,800 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000044 -0.13500034 0.34433384] -2025-05-19 10:22:58,804 - 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测试日志 - INFO - log.py:106 - orientation command: [-1.79997214e+02 -2.69194194e-03 -9.00037132e+01] -2025-05-19 10:22:59,081 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000031 -0.13500058 0.34433942] -2025-05-19 10:22:59,091 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -3.35557927e-06 -1.57079926e+00] -2025-05-19 10:22:59,094 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999992 -0.13500058 0.34429301] -2025-05-19 10:22:59,095 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79995531e+02 -4.26061268e-03 -9.00050211e+01] -2025-05-19 10:22:59,099 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000014 -0.13500046 0.34433948] -2025-05-19 10:22:59,101 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -2.87621022e-06 -1.57079926e+00] -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 - 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测试日志 - INFO - log.py:106 - position command: [ 0.25000854 -0.13499915 0.34429547] -2025-05-19 10:40:50,628 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999693e+02 -3.29197642e-04 -9.00026430e+01] -2025-05-19 10:40:50,629 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000018 -0.13500035 0.34434009] -2025-05-19 10:40:50,631 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14158972e+00 -4.79371745e-07 -1.57079633e+00] -2025-05-19 10:40:50,639 - 测试日志 - INFO - log.py:106 - position command: [ 0.24997814 -0.13499804 0.34425667] -2025-05-19 10:40:50,643 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79997497e+02 -4.92112707e-03 -9.00051884e+01] -2025-05-19 10:40:50,648 - 测试日志 - INFO - log.py:106 - position current:[ 0.24996471 -0.1349987 0.3442933 ] -2025-05-19 10:40:50,652 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14144458e+00 1.91797297e-06 -1.57078967e+00] -2025-05-19 10:40:50,657 - 测试日志 - INFO - log.py:106 - position command: [ 0.24997184 -0.13499818 0.34424753] -2025-05-19 10:40:50,659 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79996131e+02 -5.70830269e-04 -9.00035809e+01] -2025-05-19 10:40:50,660 - 测试日志 - INFO - log.py:106 - position current:[ 0.24996402 -0.13499869 0.3442934 ] -2025-05-19 10:40:50,661 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14144218e+00 1.43853992e-06 -1.57078967e+00] -2025-05-19 10:40:50,672 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动 -2025-05-19 10:40:50,675 - 测试日志 - INFO - log.py:106 - MassageRobot启动 diff --git a/logs/test.py b/logs/test.py index 05d1648..acef9d7 100644 --- a/logs/test.py +++ b/logs/test.py @@ -1,5 +1,42 @@ -import random -import numpy as np +# import random +# import numpy as np -random_array = np.random.rand(3) # 生成长度为 3 的数组 -print(random_array/1000) \ No newline at end of file +# random_array = np.random.rand(3) # 生成长度为 3 的数组 +# print(random_array/1000) + +import math + +def __transform_mm_deg_2_m_rad(input_list): + ''' + 接受列表 [X Y Z RX RY RZ] + 将单位 m/rad 转为 mm/deg + ''' + if len(input_list) != 6: + raise ValueError("Input list must contain exactly 6 elements [X, Y, Z, RX, RY, RZ]") + + # 转换位置单位：m -> mm (乘以 1000) + x_mm = input_list[0] * 1000.0 + y_mm = input_list[1] * 1000.0 + z_mm = input_list[2] * 1000.0 + + # 转换角度单位：rad -> deg (乘以 180/pi) + rx_deg = math.degrees(input_list[3]) + ry_deg = math.degrees(input_list[4]) + rz_deg = math.degrees(input_list[5]) + + return [x_mm, y_mm, z_mm, rx_deg, ry_deg, rz_deg] + +def __transform_rad_2_deg(input_list): + ''' + 接受列表 [J1 J2 J3 J4 J5 J6] + 将单位rad转为deg + ''' + if len(input_list) != 6: + raise ValueError("Input list must contain exactly 6 elements [J1, J2, J3, J4, J5, J6]") + # 转换角度单位: rad -> deg + J_deg = [] + for i in range(6): + J_deg.append(math.degrees(input_list[i])) + return J_deg + +print(__transform_rad_2_deg([6.283185307179586, 3.141592653589793, 6.283185307179586,6.283185307179586, 3.141592653589793, 6.283185307179586])) \ No newline at end of file