1105 lines
90 KiB
Plaintext
1105 lines
90 KiB
Plaintext
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2025-08-20 09:54:43 - libs.auxiliary - INFO: create folder eye_hand_data/data20250820
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2025-08-20 09:54:43 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
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2025-08-20 09:54:56 - __main__ - INFO: 当前关节角: [-0.00723799722006684, 1.498036656379405, 1.9220779272207082, 0.08685406814972796, -2.1525737285291187, -0.03589951696599447, 0.022583500572145598]
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2025-08-20 09:54:56 - __main__ - INFO: 获取位姿成功:
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[[ 0.97301327 -0.03422747 0.22819653 0.04587884]
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[ 0.23038641 0.08867165 -0.96905079 -0.20770797]
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[ 0.01293359 0.99547266 0.09416424 -0.45394911]
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[ 0. 0. 0. 1. ]]
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2025-08-20 09:54:56 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data20250820/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250820/1.jpg
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2025-08-20 09:54:58 - __main__ - INFO: 当前关节角: [-0.00723799722006684, 1.498036656379405, 1.9220779272207082, 0.08685406814972796, -2.1525737285291187, -0.03589951696599447, 0.02258255132660854]
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2025-08-20 09:54:58 - __main__ - INFO: 获取位姿成功:
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[[ 0.97301327 -0.03422768 0.22819649 0.04587884]
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[ 0.23038641 0.08867257 -0.96905071 -0.20770797]
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[ 0.01293359 0.99547257 0.09416518 -0.45394911]
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[ 0. 0. 0. 1. ]]
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2025-08-20 09:54:58 - __main__ - INFO: ===采集第2次数据！ pose 已保存到 eye_hand_data/data20250820/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250820/2.jpg
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2025-08-20 09:55:00 - __main__ - INFO: 当前关节角: [-0.00723799722006684, 1.498037605624942, 1.9220788764662453, 0.08685406814972796, -2.1525737285291187, -0.03590046621153153, 0.022583500572145598]
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2025-08-20 09:55:00 - __main__ - INFO: 获取位姿成功:
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[[ 0.97301353 -0.03422653 0.22819557 0.04587884]
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[ 0.23038536 0.08867097 -0.96905111 -0.20770755]
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[ 0.01293293 0.99547275 0.09416334 -0.45394917]
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[ 0. 0. 0. 1. ]]
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2025-08-20 09:55:00 - __main__ - INFO: ===采集第3次数据！ pose 已保存到 eye_hand_data/data20250820/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250820/3.jpg
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2025-08-20 09:55:01 - __main__ - INFO: 当前关节角: [-0.00723799722006684, 1.498037605624942, 1.9220779272207082, 0.08685406814972796, -2.1525737285291187, -0.03589951696599447, 0.02258255132660854]
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2025-08-20 09:55:01 - __main__ - INFO: 获取位姿成功:
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[[ 0.97301327 -0.03422768 0.22819649 0.04587884]
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[ 0.23038639 0.08867163 -0.9690508 -0.2077075 ]
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[ 0.01293381 0.99547266 0.09416426 -0.45394914]
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[ 0. 0. 0. 1. ]]
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2025-08-20 09:55:01 - __main__ - INFO: ===采集第4次数据！ pose 已保存到 eye_hand_data/data20250820/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250820/4.jpg
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2025-08-20 09:55:02 - __main__ - INFO: 当前关节角: [-0.00723799722006684, 1.498037605624942, 1.9220788764662453, 0.08685406814972796, -2.1525737285291187, -0.03589951696599447, 0.022583500572145598]
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2025-08-20 09:55:02 - __main__ - INFO: 获取位姿成功:
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[[ 0.97301349 -0.03422745 0.2281956 0.04587884]
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[ 0.23038547 0.08867075 -0.9690511 -0.20770755]
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[ 0.01293387 0.99547274 0.09416334 -0.45394914]
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[ 0. 0. 0. 1. ]]
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2025-08-20 09:55:02 - __main__ - INFO: ===采集第5次数据！ pose 已保存到 eye_hand_data/data20250820/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250820/5.jpg
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2025-08-20 09:55:03 - __main__ - INFO: 当前关节角: [-0.00723799722006684, 1.498037605624942, 1.9220788764662453, 0.08685406814972796, -2.152574677774656, -0.03589951696599447, 0.022583500572145598]
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2025-08-20 09:55:03 - __main__ - INFO: 获取位姿成功:
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[[ 0.97301327 -0.03422744 0.22819652 0.04587883]
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[ 0.23038638 0.08867079 -0.96905088 -0.20770752]
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[ 0.01293376 0.99547274 0.09416339 -0.45394914]
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[ 0. 0. 0. 1. ]]
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2025-08-20 09:55:03 - __main__ - INFO: ===采集第6次数据！ pose 已保存到 eye_hand_data/data20250820/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250820/6.jpg
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2025-08-20 09:55:05 - __main__ - INFO: 当前关节角: [-0.00723799722006684, 1.498038554870479, 1.9220779272207082, 0.08685406814972796, -2.1525737285291187, -0.03589951696599447, 0.022583500572145598]
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2025-08-20 09:55:05 - __main__ - INFO: 获取位姿成功:
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[[ 0.97301327 -0.03422747 0.22819651 0.04587884]
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[ 0.23038637 0.08866976 -0.96905098 -0.20770703]
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[ 0.01293403 0.99547283 0.0941624 -0.45394918]
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[ 0. 0. 0. 1. ]]
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2025-08-20 09:55:05 - __main__ - INFO: ===采集第7次数据！ pose 已保存到 eye_hand_data/data20250820/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250820/7.jpg
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2025-08-20 09:55:06 - __main__ - INFO: 当前关节角: [-0.00723799722006684, 1.498038554870479, 1.9220779272207082, 0.08685406814972796, -2.1525737285291187, -0.03589951696599447, 0.022583500572145598]
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2025-08-20 09:55:06 - __main__ - INFO: 获取位姿成功:
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[[ 0.97301327 -0.03422747 0.22819651 0.04587884]
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[ 0.23038637 0.08866976 -0.96905098 -0.20770703]
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[ 0.01293403 0.99547283 0.0941624 -0.45394918]
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[ 0. 0. 0. 1. ]]
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2025-08-20 09:55:06 - __main__ - INFO: ===采集第8次数据！ pose 已保存到 eye_hand_data/data20250820/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250820/8.jpg
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2025-08-20 09:55:07 - __main__ - INFO: 检测到 'q'，退出程序
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2025-08-20 09:55:07 - __main__ - INFO: 相机已关闭，窗口已销毁
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2025-08-20 10:00:41 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082001
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2025-08-20 10:00:41 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
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2025-08-20 10:00:55 - __main__ - INFO: 当前关节角: [-0.007238946465603898, 1.4980499458169236, 1.9220779272207082, 0.08685691588633913, -2.152575627020193, -0.035890973756160946, 0.022575906607849135]
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2025-08-20 10:00:55 - __main__ - INFO: 获取位姿成功:
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[[ 0.97301246 -0.0342392 0.22819824 0.045879 ]
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[ 0.23038913 0.08866486 -0.96905077 -0.20770154]
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[ 0.01294636 0.99547286 0.09416036 -0.45394925]
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[ 0. 0. 0. 1. ]]
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2025-08-20 10:00:55 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082001/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082001/1.jpg
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2025-08-20 10:00:56 - __main__ - INFO: 当前关节角: [-0.007238946465603898, 1.4980499458169236, 1.9220788764662453, 0.08685691588633913, -2.152575627020193, -0.035890973756160946, 0.022575906607849135]
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2025-08-20 10:00:56 - __main__ - INFO: 获取位姿成功:
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[[ 0.97301267 -0.03423919 0.22819731 0.045879 ]
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[ 0.23038821 0.0886649 -0.96905098 -0.20770158]
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[ 0.01294643 0.99547286 0.09416038 -0.45394924]
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[ 0. 0. 0. 1. ]]
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2025-08-20 10:00:56 - __main__ - INFO: ===采集第2次数据！ pose 已保存到 eye_hand_data/data2025082001/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082001/2.jpg
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2025-08-20 10:00:57 - __main__ - INFO: 当前关节角: [-0.007238946465603898, 1.4980499458169236, 1.9220788764662453, 0.08685691588633913, -2.152575627020193, -0.035891923001698, 0.022575906607849135]
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2025-08-20 10:00:57 - __main__ - INFO: 获取位姿成功:
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[[ 0.97301271 -0.03423826 0.22819729 0.045879 ]
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[ 0.2303881 0.08866512 -0.96905099 -0.20770159]
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[ 0.01294548 0.99547287 0.09416038 -0.45394927]
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[ 0. 0. 0. 1. ]]
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2025-08-20 10:00:57 - __main__ - INFO: ===采集第3次数据！ pose 已保存到 eye_hand_data/data2025082001/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082001/3.jpg
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2025-08-20 10:00:58 - __main__ - INFO: 当前关节角: [-0.00723799722006684, 1.4980499458169236, 1.9220788764662453, 0.08685691588633913, -2.152575627020193, -0.035890973756160946, 0.022575906607849135]
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2025-08-20 10:00:58 - __main__ - INFO: 获取位姿成功:
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[[ 0.97301266 -0.03424013 0.22819722 0.04587947]
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[ 0.23038821 0.0886649 -0.96905098 -0.20770158]
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[ 0.01294735 0.99547283 0.09416059 -0.4539492 ]
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[ 0. 0. 0. 1. ]]
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2025-08-20 10:00:58 - __main__ - INFO: ===采集第4次数据！ pose 已保存到 eye_hand_data/data2025082001/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082001/4.jpg
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2025-08-20 10:00:59 - __main__ - INFO: 检测到 'q'，退出程序
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2025-08-20 10:01:00 - __main__ - INFO: 相机已关闭，窗口已销毁
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2025-08-20 10:30:16 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082002
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2025-08-20 10:30:16 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
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2025-08-20 10:30:42 - __main__ - INFO: robot.torqueOff
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2025-08-20 10:31:18 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
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2025-08-20 10:31:37 - __main__ - INFO: 当前关节角: [0.11186573880566779, 1.4627959158161286, 1.9220152770152625, -0.05093366778191822, -0.9092177512512868, -0.030951099981311396, 0.23845807287325255]
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2025-08-20 10:31:37 - __main__ - INFO: 获取位姿成功:
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[[ 0.52119764 -0.24736929 -0.81679952 0.05920395]
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[-0.84974048 -0.06144587 -0.52360818 -0.24590889]
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[ 0.07933562 0.96697096 -0.24222514 -0.4500887 ]
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[ 0. 0. 0. 1. ]]
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2025-08-20 10:31:37 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
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2025-08-20 10:31:37 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082002/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082002/1.jpg
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2025-08-20 10:31:39 - __main__ - INFO: 检测到 'q'，退出程序
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2025-08-20 10:31:39 - __main__ - INFO: 相机已关闭，窗口已销毁
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2025-08-20 10:51:55 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082003
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2025-08-20 10:51:55 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
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2025-08-20 10:52:04 - __main__ - INFO: robot.torqueOff
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2025-08-20 11:25:43 - __main__ - INFO: 检测到 'q'，退出程序
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2025-08-20 11:25:44 - __main__ - INFO: 相机已关闭，窗口已销毁
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2025-08-20 11:26:15 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082004
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2025-08-20 11:26:15 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
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2025-08-20 11:26:26 - __main__ - INFO: robot.torqueOff
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2025-08-20 11:31:17 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
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2025-08-20 11:31:17 - __main__ - INFO: 当前关节角: [-2.651948074436878, -1.3060526957549723, 1.6455010013158198, -0.6103430476809071, 0.09948188152920982, -0.05029862251762646, -0.3020356912087826]
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2025-08-20 11:31:17 - __main__ - INFO: 获取位姿成功:
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[[ 0.27619125 -0.94809435 0.15759281 0.33867107]
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[ 0.95266231 0.29174352 0.08555842 -0.27150635]
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[-0.12709414 0.12650224 0.98379076 -0.27915331]
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[ 0. 0. 0. 1. ]]
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2025-08-20 11:31:17 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
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2025-08-20 11:31:17 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082004/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082004/1.jpg
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2025-08-20 11:31:24 - __main__ - INFO: robot.torqueOff
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2025-08-20 11:31:29 - __main__ - INFO: 检测到 'q'，退出程序
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2025-08-20 11:31:30 - __main__ - INFO: 相机已关闭，窗口已销毁
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2025-08-20 11:31:35 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082005
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2025-08-20 11:31:35 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
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2025-08-20 11:31:43 - __main__ - INFO: robot.torqueOff
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2025-08-20 11:32:01 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
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2025-08-20 11:32:51 - __main__ - INFO: robot.torqueOff
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2025-08-20 11:32:59 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
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2025-08-20 11:33:19 - __main__ - INFO: robot.torqueOff
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2025-08-20 11:33:28 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
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2025-08-20 11:33:35 - __main__ - INFO: 当前关节角: [-2.667841292463839, -1.2816153186489525, 1.6453282386280752, -0.8689422123594551, 0.16725421589299896, -0.05024071853986592, -0.21713232263770874]
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2025-08-20 11:33:35 - __main__ - INFO: 获取位姿成功:
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[[ 0.27955884 -0.96007438 -0.01019952 0.3549007 ]
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[ 0.9578522 0.27814922 0.07177865 -0.2729717 ]
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[-0.06607585 -0.02983599 0.99736844 -0.2202249 ]
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[ 0. 0. 0. 1. ]]
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2025-08-20 11:33:35 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
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2025-08-20 11:33:35 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/1.jpg
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2025-08-20 11:33:38 - __main__ - INFO: robot.torqueOff
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2025-08-20 11:33:47 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
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2025-08-20 11:33:57 - __main__ - INFO: robot.torqueOff
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2025-08-20 11:34:06 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
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2025-08-20 11:34:12 - __main__ - INFO: 当前关节角: [-2.7427168311814327, -1.0574851579120526, 1.807436594464683, -1.0285189303487294, 0.2539545062657235, 0.158883768747222, -0.10335480332040624]
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2025-08-20 11:34:12 - __main__ - INFO: 获取位姿成功:
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[[ 0.2777794 -0.95904404 -0.05543589 0.31791437]
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|
[ 0.95532897 0.26971945 0.12082208 -0.37176731]
|
|||
|
|
[-0.10092156 -0.0865214 0.99112506 -0.16171829]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:34:12 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:34:12 - __main__ - INFO: ===采集第2次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/2.jpg
|
|||
|
|
2025-08-20 11:34:15 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:34:26 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:34:31 - __main__ - INFO: 当前关节角: [-2.7590637885751077, -0.8062084733063696, 2.027065432864854, -0.8694348707931883, 0.24372448711285005, 0.532676727084363, -0.09309156057373573]
|
|||
|
|
2025-08-20 11:34:31 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.22208051 -0.97501407 0.0052729 0.25405466]
|
|||
|
|
[ 0.95908004 0.21941892 0.17894361 -0.48699537]
|
|||
|
|
[-0.17562951 -0.03468276 0.9838452 -0.12064719]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:34:31 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:34:31 - __main__ - INFO: ===采集第3次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/3.jpg
|
|||
|
|
2025-08-20 11:34:33 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:34:42 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:34:47 - __main__ - INFO: 当前关节角: [-2.782934466095504, -0.5803915032501177, 2.091387259701438, -0.7553535929040271, 0.23251484656573276, 0.7117737302976969, -0.24883047885668474]
|
|||
|
|
2025-08-20 11:34:47 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.20252563 -0.9771179 -0.06499212 0.2028304 ]
|
|||
|
|
[ 0.9356907 0.17350519 0.30721142 -0.55014374]
|
|||
|
|
[-0.28890531 -0.12303071 0.94941938 -0.06964596]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:34:47 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:34:47 - __main__ - INFO: ===采集第4次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/4.jpg
|
|||
|
|
2025-08-20 11:34:49 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:35:00 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:35:06 - __main__ - INFO: 当前关节角: [-2.7773557500742143, -0.4273569855022468, 1.990266980375266, -1.155712136841272, 1.0984726309566777, 0.3962767881278955, 0.5551766940492475]
|
|||
|
|
2025-08-20 11:35:06 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.13419875 -0.99089275 -0.01105719 0.22012738]
|
|||
|
|
[ 0.98836252 0.13464592 -0.07078143 -0.49871061]
|
|||
|
|
[ 0.07162561 -0.00142973 0.99743056 0.06148901]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:35:06 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:35:06 - __main__ - INFO: ===采集第5次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/5.jpg
|
|||
|
|
2025-08-20 11:35:08 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:35:19 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:35:26 - __main__ - INFO: 当前关节角: [-2.786382125886098, -0.5418995967224179, 1.779420561683955, -1.4977945987674552, 1.2146916097952933, -0.0548075388186517, 0.696672183048642]
|
|||
|
|
2025-08-20 11:35:26 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.10749988 -0.97909741 0.17266164 0.26378689]
|
|||
|
|
[ 0.95873485 0.05611448 -0.27870891 -0.39850777]
|
|||
|
|
[ 0.26319435 0.1954979 0.9447271 0.04603196]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:35:26 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:35:26 - __main__ - INFO: ===采集第6次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/6.jpg
|
|||
|
|
2025-08-20 11:35:27 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:35:36 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:35:41 - __main__ - INFO: 当前关节角: [-2.799370652569662, -0.5832297474059209, 1.7727995740629756, -1.5223250019361065, 1.1548492726480861, -0.054790452398984654, 0.440121490239065]
|
|||
|
|
2025-08-20 11:35:41 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.10460907 -0.9923942 -0.06488994 0.26711558]
|
|||
|
|
[ 0.96599954 0.11690533 -0.23060363 -0.38824267]
|
|||
|
|
[ 0.23643568 -0.03856042 0.97088169 0.03413653]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:35:41 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:35:41 - __main__ - INFO: ===采集第7次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/7.jpg
|
|||
|
|
2025-08-20 11:35:43 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:36:01 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:36:06 - __main__ - INFO: 当前关节角: [-2.0370809225263526, -1.2750142651842515, 1.1785291518155336, -1.7961139936986559, 0.1593640869889733, -0.7638426957419364, 1.4928680144301243]
|
|||
|
|
2025-08-20 11:36:06 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.15552225 -0.96586249 0.20717743 0.29572925]
|
|||
|
|
[ 0.94505578 0.08442892 -0.31581852 -0.11055109]
|
|||
|
|
[ 0.28754549 0.24491104 0.9259245 0.15520871]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:36:06 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:36:06 - __main__ - INFO: ===采集第8次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/8.jpg
|
|||
|
|
2025-08-20 11:36:07 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:36:15 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:36:21 - __main__ - INFO: 当前关节角: [-2.1111780799035587, -1.0638859205684343, 1.2061237195778083, -1.6851538351353414, 0.357820952930604, -0.7654307835254344, 1.088731473255389]
|
|||
|
|
2025-08-20 11:36:21 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.3062964 -0.95183114 0.01414199 0.33093188]
|
|||
|
|
[ 0.91746645 0.29121123 -0.27101906 -0.17392187]
|
|||
|
|
[ 0.25384607 0.09598696 0.96247009 0.12609413]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:36:21 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:36:21 - __main__ - INFO: ===采集第9次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/9.jpg
|
|||
|
|
2025-08-20 11:36:23 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:36:34 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:36:39 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:36:45 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:36:50 - __main__ - INFO: 当前关节角: [-1.9882934989037224, -1.5578770950355378, 0.8138128793037408, -1.1872906881225787, 0.08319567584990664, -1.3335561359456893, 0.6900834697759228]
|
|||
|
|
2025-08-20 11:36:50 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.52786704 -0.81179547 -0.2496888 0.39943565]
|
|||
|
|
[ 0.78974482 0.57731597 -0.20738706 0.00682057]
|
|||
|
|
[ 0.31250521 -0.08771764 0.94585734 0.06484517]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:36:50 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:36:50 - __main__ - INFO: ===采集第10次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/10.jpg
|
|||
|
|
2025-08-20 11:36:53 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:37:07 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:37:11 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:37:27 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:37:34 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:37:48 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:37:52 - __main__ - INFO: 当前关节角: [-2.064885273552317, -1.5847483376985743, 0.9748163133352132, -0.9252334219525284, 0.4790747300977749, -1.1735978212505176, -0.09822792817475627]
|
|||
|
|
2025-08-20 11:37:53 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.59352438 -0.71833302 -0.36294143 0.44645306]
|
|||
|
|
[ 0.76345885 0.64522592 -0.02853255 -0.0308873 ]
|
|||
|
|
[ 0.25467509 -0.26015608 0.93137501 0.00571151]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:37:53 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:37:53 - __main__ - INFO: ===采集第11次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/11.jpg
|
|||
|
|
2025-08-20 11:37:54 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:38:11 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:38:18 - __main__ - INFO: 当前关节角: [-1.0750974596066258, -1.0530882525844003, 1.202661821104158, -1.1384709901516885, 0.618269247915341, -0.4266668839968057, 1.8304966162964318]
|
|||
|
|
2025-08-20 11:38:18 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.02323262 -0.95066269 0.3093553 0.20661784]
|
|||
|
|
[ 0.93936916 -0.0851352 -0.33217101 -0.24746959]
|
|||
|
|
[ 0.34211961 0.29831603 0.89104529 0.40341777]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:38:18 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:38:18 - __main__ - INFO: ===采集第12次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/12.jpg
|
|||
|
|
2025-08-20 11:38:19 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:38:33 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:38:39 - __main__ - INFO: 当前关节角: [-1.1932538485863766, -0.3593985990131943, 1.199421096840642, -1.0661631606118365, 1.5343851664844277, 0.013353036969794129, 1.7179777965612681]
|
|||
|
|
2025-08-20 11:38:39 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[-0.26676796 -0.92549148 0.2688873 0.1070502 ]
|
|||
|
|
[ 0.89695267 -0.34048413 -0.28203983 -0.4629952 ]
|
|||
|
|
[ 0.35257732 0.16594 0.92095231 0.31669506]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:38:39 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:38:39 - __main__ - INFO: ===采集第13次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/13.jpg
|
|||
|
|
2025-08-20 11:38:40 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:38:52 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:38:56 - __main__ - INFO: 当前关节角: [-0.9979826506671123, -1.6711951795129043, 1.0606907600906974, -1.1554264139346175, -0.17462320899717979, -0.7334753817659156, 2.070575051301442]
|
|||
|
|
2025-08-20 11:38:56 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.17630072 -0.97337824 0.14646792 0.18120904]
|
|||
|
|
[ 0.94639296 0.12670266 -0.29713093 0.00320103]
|
|||
|
|
[ 0.27066291 0.19100061 0.94353609 0.40016574]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:38:56 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:38:56 - __main__ - INFO: ===采集第14次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/14.jpg
|
|||
|
|
2025-08-20 11:38:57 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:39:50 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:39:54 - __main__ - INFO: 当前关节角: [-2.5679218087420455, -1.2360353956960413, 2.163585926004528, -1.2738875107317638, 0.24506102482902764, 0.37729567436888484, -0.28499768306412954]
|
|||
|
|
2025-08-20 11:39:54 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.21985256 -0.69956035 -0.67991188 0.31423333]
|
|||
|
|
[ 0.96383251 0.26338894 0.04065907 -0.37379439]
|
|||
|
|
[ 0.1506378 -0.66426018 0.73216574 -0.06570926]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:39:54 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:39:54 - __main__ - INFO: ===采集第15次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/15.jpg
|
|||
|
|
2025-08-20 11:39:56 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:40:27 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:40:30 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:40:38 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:40:42 - __main__ - INFO: 当前关节角: [-2.9687435845013743, 1.616818598168077, 1.8944805117218226, -1.4336379406543198, 2.99140777094417, -1.0294045764348045, 0.3738404206139939]
|
|||
|
|
2025-08-20 11:40:42 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.64204072 -0.76380034 -0.06627791 0.20144855]
|
|||
|
|
[ 0.75751403 0.64531872 -0.09867241 -0.05683629]
|
|||
|
|
[ 0.1181364 0.01314526 0.99291037 0.36172528]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:40:42 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:40:42 - __main__ - INFO: ===采集第16次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/16.jpg
|
|||
|
|
2025-08-20 11:40:45 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:40:53 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 11:40:57 - __main__ - INFO: 当前关节角: [-3.0478622507696174, 0.8171124567905542, 1.6310088697015561, -0.908173581160523, 2.282334644199403, 0.2767392468917254, 0.400527509642841]
|
|||
|
|
2025-08-20 11:40:57 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.20332387 -0.9654331 -0.16308996 0.17291884]
|
|||
|
|
[ 0.97549797 0.18544594 0.11837869 -0.40903036]
|
|||
|
|
[-0.08404234 -0.18316314 0.97948361 0.35856547]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 11:40:57 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 11:40:57 - __main__ - INFO: ===采集第17次数据！ pose 已保存到 eye_hand_data/data2025082005/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082005/17.jpg
|
|||
|
|
2025-08-20 11:40:59 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 11:41:40 - __main__ - INFO: 检测到 'q'，退出程序
|
|||
|
|
2025-08-20 11:41:41 - __main__ - INFO: 相机已关闭，窗口已销毁
|
|||
|
|
2025-08-20 13:59:58 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082006
|
|||
|
|
2025-08-20 13:59:58 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
|
|||
|
|
2025-08-20 13:59:59 - __main__ - INFO: 相机已关闭，窗口已销毁
|
|||
|
|
2025-08-20 14:00:28 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082007
|
|||
|
|
2025-08-20 14:00:28 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
|
|||
|
|
2025-08-20 14:01:18 - __main__ - INFO: 检测到 'q'，退出程序
|
|||
|
|
2025-08-20 14:01:19 - __main__ - INFO: 相机已关闭，窗口已销毁
|
|||
|
|
2025-08-20 14:01:25 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082008
|
|||
|
|
2025-08-20 14:01:25 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
|
|||
|
|
2025-08-20 14:01:47 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:01:57 - __main__ - INFO: 检测到 'q'，退出程序
|
|||
|
|
2025-08-20 14:01:58 - __main__ - INFO: 相机已关闭，窗口已销毁
|
|||
|
|
2025-08-20 14:02:35 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082009
|
|||
|
|
2025-08-20 14:02:35 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
|
|||
|
|
2025-08-20 14:02:43 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:04:29 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:04:37 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:04:45 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:04:58 - __main__ - INFO: 当前关节角: [-2.860337845678283, -1.397555219299673, 2.0252352874694064, -1.0969272592223474, -0.16422327489317293, 0.6307841010759129, -0.2368320152682723]
|
|||
|
|
2025-08-20 14:04:58 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[-0.16395738 -0.98632494 -0.01676548 0.2810995 ]
|
|||
|
|
[ 0.98423078 -0.16470583 0.06451166 -0.29995445]
|
|||
|
|
[-0.06639083 -0.00592393 0.99777611 -0.23273999]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:04:58 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:04:58 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/1.jpg
|
|||
|
|
2025-08-20 14:05:00 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:05:10 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:05:17 - __main__ - INFO: 当前关节角: [-2.9108500484417474, -1.217145409508588, 2.146251753252313, -1.1118560437836578, -0.01833942377595952, 0.8426756391035247, -0.15500135450065497]
|
|||
|
|
2025-08-20 14:05:17 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[-0.19375254 -0.98100008 0.00993916 0.24418529]
|
|||
|
|
[ 0.97878718 -0.19260787 0.06984168 -0.38038904]
|
|||
|
|
[-0.06660033 0.02326033 0.99750857 -0.20525812]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:05:17 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:05:17 - __main__ - INFO: ===采集第2次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/2.jpg
|
|||
|
|
2025-08-20 14:05:19 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:05:30 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:05:38 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:05:44 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:05:48 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:05:54 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:06:00 - __main__ - INFO: 当前关节角: [-2.8767113819469956, -1.1714050640599138, 2.1948816021157915, -1.2464932337778085, -0.33234889818919106, 0.9236481819056417, -0.2588829890941284]
|
|||
|
|
2025-08-20 14:06:00 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[-0.24048553 -0.96995889 -0.03669408 0.2430299 ]
|
|||
|
|
[ 0.89330918 -0.2359526 0.38252462 -0.39933358]
|
|||
|
|
[-0.37969122 0.05921248 0.92321637 -0.16032958]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:06:00 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:06:00 - __main__ - INFO: ===采集第3次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/3.jpg
|
|||
|
|
2025-08-20 14:06:02 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:06:10 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:06:15 - __main__ - INFO: 当前关节角: [-2.8960247316439762, -1.1171215087777182, 2.457270154978275, -1.0737191550868177, -0.21691684390079657, 1.085321783286277, -0.2536925144974955]
|
|||
|
|
2025-08-20 14:06:15 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[-0.13760853 -0.99039869 -0.01320328 0.19258248]
|
|||
|
|
[ 0.97988083 -0.13806846 0.14412032 -0.4556436 ]
|
|||
|
|
[-0.14455954 0.00689455 0.98947208 -0.17809969]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:06:15 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:06:15 - __main__ - INFO: ===采集第4次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/4.jpg
|
|||
|
|
2025-08-20 14:06:17 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:06:28 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:06:34 - __main__ - INFO: 当前关节角: [-2.895932654826882, -1.136302913345048, 2.3703762185159905, -1.4080842507967197, -0.5981243591278972, 0.9507244616046825, -0.28384814671875236]
|
|||
|
|
2025-08-20 14:06:34 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[-0.1055292 -0.99278924 0.05686049 0.2089658 ]
|
|||
|
|
[ 0.78002265 -0.04717608 0.62397041 -0.42963626]
|
|||
|
|
[-0.61678866 0.11019957 0.77937655 -0.11836521]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:06:34 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:06:34 - __main__ - INFO: ===采集第5次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/5.jpg
|
|||
|
|
2025-08-20 14:06:35 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:06:57 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:07:02 - __main__ - INFO: 当前关节角: [-2.7922010010282636, -1.198485140741103, 2.602807531474462, -1.6992320956954479, 0.9828621185073163, 0.9554080390845264, 1.519222867521001]
|
|||
|
|
2025-08-20 14:07:03 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[-0.16681717 -0.9424688 0.28969742 0.15720106]
|
|||
|
|
[ 0.98494471 -0.14577393 0.09291867 -0.418235 ]
|
|||
|
|
[-0.04534262 0.30083637 0.95259725 -0.03442695]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:07:03 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:07:03 - __main__ - INFO: ===采集第6次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/6.jpg
|
|||
|
|
2025-08-20 14:07:03 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:07:13 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:07:24 - __main__ - INFO: 当前关节角: [-2.798477412519291, -1.0798303978543966, 2.450834270237022, -1.9171181192895805, 0.7499163144677593, 0.992160927788336, 1.3116390057405583]
|
|||
|
|
2025-08-20 14:07:24 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[-0.12546073 -0.97101801 0.20342968 0.15722323]
|
|||
|
|
[ 0.87744671 -0.01291482 0.47950023 -0.38189769]
|
|||
|
|
[-0.4629761 0.23865715 0.85363686 0.02103926]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:07:24 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:07:24 - __main__ - INFO: ===采集第7次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/7.jpg
|
|||
|
|
2025-08-20 14:07:26 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:07:34 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:07:39 - __main__ - INFO: 当前关节角: [-2.2133918900884213, -1.1263130533130503, 1.8354573734730966, -2.0067867004566855, 0.4697626313792364, -0.028983313982990273, 2.044217350473954]
|
|||
|
|
2025-08-20 14:07:39 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.05006683 -0.81857593 0.57221216 0.21641723]
|
|||
|
|
[ 0.99722798 0.00939751 -0.07381085 -0.25666936]
|
|||
|
|
[ 0.05504241 0.57432145 0.81677733 0.15489376]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:07:39 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:07:39 - __main__ - INFO: ===采集第8次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/8.jpg
|
|||
|
|
2025-08-20 14:07:40 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:07:48 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:07:52 - __main__ - INFO: 当前关节角: [-2.285479494663676, -1.323132470703256, 1.1370831931765097, -1.9620145854558102, -0.329922626596471, -0.16446912948727094, 1.8630386517978523]
|
|||
|
|
2025-08-20 14:07:52 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.2541324 -0.79104318 0.55647768 0.2759644 ]
|
|||
|
|
[ 0.87524293 0.43292317 0.21570197 -0.08896943]
|
|||
|
|
[-0.41154166 0.4322363 0.80237475 0.07335788]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:07:52 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:07:52 - __main__ - INFO: ===采集第9次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/9.jpg
|
|||
|
|
2025-08-20 14:07:53 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:08:01 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:08:06 - __main__ - INFO: 当前关节角: [-2.3440849648760964, -1.6339980438977515, 0.8394557982418241, -1.6024213911075191, -0.6461723204771592, -0.6819873545903555, 1.6445735884261141]
|
|||
|
|
2025-08-20 14:08:06 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.32520519 -0.8561661 0.4015236 0.30455147]
|
|||
|
|
[ 0.91842517 0.3870982 0.0815487 0.0377295 ]
|
|||
|
|
[-0.22524829 0.34224932 0.91221084 0.00634541]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:08:06 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:08:06 - __main__ - INFO: ===采集第10次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/10.jpg
|
|||
|
|
2025-08-20 14:08:08 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:08:16 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:08:21 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:08:30 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:08:36 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:08:43 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:08:48 - __main__ - INFO: 当前关节角: [-2.497259021717915, -1.6540622468145454, 0.8332420369562429, -1.6059222086481888, -0.741180407790215, -0.5510446282264343, 1.4580886071978583]
|
|||
|
|
2025-08-20 14:08:48 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.27527833 -0.89018499 0.3630324 0.29155814]
|
|||
|
|
[ 0.8740154 0.38901255 0.29114655 0.04205002]
|
|||
|
|
[-0.40039844 0.23714957 0.88512212 -0.04047238]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:08:48 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:08:48 - __main__ - INFO: ===采集第11次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/11.jpg
|
|||
|
|
2025-08-20 14:08:50 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:09:08 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:09:15 - __main__ - INFO: 当前关节角: [-2.67787197005393, -1.695893599141615, 0.9758396000241617, -1.0902246364851813, 0.3696713342152354, -1.0488109521944171, -0.12474225451585882]
|
|||
|
|
2025-08-20 14:09:15 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.45678441 -0.88918966 0.02626305 0.33237336]
|
|||
|
|
[ 0.88584264 0.45196591 -0.10492676 0.02391353]
|
|||
|
|
[ 0.08142979 0.07119384 0.9941331 -0.18395896]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:09:15 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:09:15 - __main__ - INFO: ===采集第12次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/12.jpg
|
|||
|
|
2025-08-20 14:09:15 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:09:29 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:09:34 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:09:41 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:09:47 - __main__ - INFO: 当前关节角: [-2.7174061481813196, -1.645996507486164, 0.9696543161046921, -0.7109640238545865, -0.07768720399835938, -1.030985070254006, -0.14346802122540092]
|
|||
|
|
2025-08-20 14:09:47 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.388996 -0.91389276 0.11611258 0.31099434]
|
|||
|
|
[ 0.77084337 0.39191325 0.50219966 -0.02327599]
|
|||
|
|
[-0.5044627 -0.10584904 0.85692086 -0.31035607]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:09:47 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:09:47 - __main__ - INFO: ===采集第13次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/13.jpg
|
|||
|
|
2025-08-20 14:09:48 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:10:03 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:10:07 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:10:23 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:10:28 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:10:36 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:10:40 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:10:54 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:11:01 - __main__ - INFO: 当前关节角: [-2.59334165497892, -1.7232641449571438, 0.8401060314347089, -1.2428718620539325, -0.3679408596011788, -1.0488982827838265, 0.777891529690394]
|
|||
|
|
2025-08-20 14:11:01 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.38350728 -0.90548657 0.18170369 0.31897592]
|
|||
|
|
[ 0.91383861 0.40050188 0.06706149 0.06206318]
|
|||
|
|
[-0.13349594 0.14032928 0.98106398 -0.12864962]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:11:01 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:11:01 - __main__ - INFO: ===采集第14次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/14.jpg
|
|||
|
|
2025-08-20 14:11:02 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:11:15 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:11:20 - __main__ - INFO: 当前关节角: [-2.524884914582912, -1.8413208631555036, 0.8301389532956004, -1.9373436939476743, -1.181938841784646, -0.40802465089452467, 1.9857229419893694]
|
|||
|
|
2025-08-20 14:11:20 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.46733478 -0.77023683 0.43397401 0.21932794]
|
|||
|
|
[ 0.86020935 0.50946101 -0.02212141 0.04891959]
|
|||
|
|
[-0.20405411 0.3836466 0.90065376 0.04292094]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:11:20 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:11:20 - __main__ - INFO: ===采集第15次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/15.jpg
|
|||
|
|
2025-08-20 14:11:21 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:11:40 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:11:44 - __main__ - INFO: 当前关节角: [-2.5734616056963158, -1.111399456680333, 2.3367102762986933, -1.7749239855749113, 0.9300223656869857, 0.7028081062001845, 1.7020646443780287]
|
|||
|
|
2025-08-20 14:11:44 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[-0.21538374 -0.90042002 0.37795983 0.19757147]
|
|||
|
|
[ 0.9724784 -0.1625549 0.16691814 -0.3817943 ]
|
|||
|
|
[-0.08885721 0.40350922 0.9106507 0.04632134]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:11:44 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:11:44 - __main__ - INFO: ===采集第16次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/16.jpg
|
|||
|
|
2025-08-20 14:11:45 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:12:51 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:12:57 - __main__ - INFO: 当前关节角: [-2.562403844435128, -1.1884221888027517, 2.1572573060089626, -1.0425307437212419, -0.6156199036214122, 0.9407915563049082, -0.19512121712440908]
|
|||
|
|
2025-08-20 14:12:57 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[-0.26075281 -0.96339061 0.06234184 0.30846709]
|
|||
|
|
[ 0.86038398 -0.20261143 0.4676409 -0.39571944]
|
|||
|
|
[-0.43788968 0.1755766 0.88171735 -0.12749709]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:12:57 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:12:57 - __main__ - INFO: ===采集第17次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/17.jpg
|
|||
|
|
2025-08-20 14:12:58 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:13:14 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:13:20 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:13:26 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:13:31 - __main__ - INFO: 当前关节角: [-2.5375022862614864, -1.3847527447413726, 2.1184644886460156, -1.615819991863092, -0.2114444433796575, 0.9092699597558249, 0.7430675079178862]
|
|||
|
|
2025-08-20 14:13:31 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[-0.10398076 -0.96201607 0.25241449 0.29135046]
|
|||
|
|
[ 0.87394009 0.03277464 0.48492735 -0.31623915]
|
|||
|
|
[-0.4747807 0.27101825 0.83733649 -0.02503839]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:13:31 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:13:31 - __main__ - INFO: ===采集第18次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/18.jpg
|
|||
|
|
2025-08-20 14:13:32 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:13:45 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:13:49 - __main__ - INFO: 当前关节角: [-2.472082182338527, -1.7953982625637142, 1.247466210453293, -1.7028449242094903, -0.6526480735309685, -0.47461327607360254, 1.5201929964598744]
|
|||
|
|
2025-08-20 14:13:49 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.38556585 -0.80444241 0.45189753 0.31566391]
|
|||
|
|
[ 0.92142331 0.36125553 -0.14308573 -0.01852427]
|
|||
|
|
[-0.04814625 0.47155789 0.88051979 0.03345264]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:13:49 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:13:49 - __main__ - INFO: ===采集第19次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/19.jpg
|
|||
|
|
2025-08-20 14:13:51 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:14:01 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:14:06 - __main__ - INFO: 当前关节角: [-2.6700397451276654, -1.7032094344957205, 1.2031801091673915, -1.7198525564969576, -0.7150951404318626, -0.1940077521094401, 1.2712049428440382]
|
|||
|
|
2025-08-20 14:14:06 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.22670363 -0.85123977 0.4732825 0.30212498]
|
|||
|
|
[ 0.86749479 0.39739454 0.29921626 -0.02912893]
|
|||
|
|
[-0.44278467 0.34273669 0.82853684 -0.04460204]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:14:06 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:14:06 - __main__ - INFO: ===采集第20次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/20.jpg
|
|||
|
|
2025-08-20 14:14:08 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:14:38 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:14:54 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:16:00 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:16:04 - __main__ - INFO: 当前关节角: [-2.7266717338685424, -1.4964087002833506, 2.1396905681001686, -1.2463555931749353, 0.2724942208500023, 0.5135987902805724, 0.49249611274623717]
|
|||
|
|
2025-08-20 14:16:04 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[-0.01268576 -0.97706624 0.21255736 0.31018606]
|
|||
|
|
[ 0.94294893 -0.08241786 -0.32257497 -0.29397731]
|
|||
|
|
[ 0.33269564 0.19633863 0.9223691 -0.15981144]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:16:04 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:16:04 - __main__ - INFO: ===采集第21次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/21.jpg
|
|||
|
|
2025-08-20 14:16:05 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:16:16 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:16:22 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:16:29 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:16:35 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:16:40 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
|
|||
|
|
2025-08-20 14:16:51 - __main__ - INFO: 当前关节角: [-2.6900802169060327, -1.6929186636284754, 1.3311004377413205, -1.136432959983625, -0.567748501942043, -0.5687110369166197, 0.3733525084079461]
|
|||
|
|
2025-08-20 14:16:51 - __main__ - INFO: 获取位姿成功:
|
|||
|
|
[[ 0.34430947 -0.92138619 0.18027335 0.35856051]
|
|||
|
|
[ 0.83282029 0.38838393 0.39442146 -0.04957 ]
|
|||
|
|
[-0.43342976 0.01433226 0.90107338 -0.1862423 ]
|
|||
|
|
[ 0. 0. 0. 1. ]]
|
|||
|
|
2025-08-20 14:16:51 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
|
|||
|
|
2025-08-20 14:16:51 - __main__ - INFO: ===采集第22次数据！ pose 已保存到 eye_hand_data/data2025082009/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082009/22.jpg
|
|||
|
|
2025-08-20 14:16:52 - __main__ - INFO: robot.torqueOff
|
|||
|
|
2025-08-20 14:17:12 - __main__ - INFO: 检测到 'q'，退出程序
|
|||
|
|
2025-08-20 14:17:13 - __main__ - INFO: 相机已关闭，窗口已销毁
|
|||
|
|
2025-08-20 14:19:02 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
|||
|
|
2025-08-20 14:19:02 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
|
|||
|
|
2025-08-20 14:19:03 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
|
|||
|
|
2025-08-20 14:19:03 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
|
|||
|
|
2025-08-20 14:19:03 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
|
|||
|
|
2025-08-20 14:19:03 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
|
|||
|
|
2025-08-20 14:19:04 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
|
|||
|
|
2025-08-20 14:19:04 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
|
|||
|
|
2025-08-20 14:19:04 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
|
|||
|
|
2025-08-20 14:19:04 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
|
|||
|
|
2025-08-20 14:19:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
|
|||
|
|
2025-08-20 14:19:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
|
|||
|
|
2025-08-20 14:19:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
|
|||
|
|
2025-08-20 14:19:06 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
|
|||
|
|
2025-08-20 14:19:06 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
|
|||
|
|
2025-08-20 14:19:06 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
|
|||
|
|
2025-08-20 14:19:07 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
|
|||
|
|
2025-08-20 14:19:07 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
|
|||
|
|
2025-08-20 14:19:07 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
|
|||
|
|
2025-08-20 14:19:07 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
|
|||
|
|
2025-08-20 14:19:08 - __main__ - INFO: 读 eye_hand_data/data2025082009/21.jpg
|
|||
|
|
2025-08-20 14:23:34 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
|||
|
|
2025-08-20 14:27:23 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
|||
|
|
2025-08-20 14:27:23 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
|
|||
|
|
2025-08-20 14:27:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
|
|||
|
|
2025-08-20 14:27:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
|
|||
|
|
2025-08-20 14:27:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
|
|||
|
|
2025-08-20 14:27:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
|
|||
|
|
2025-08-20 14:27:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
|
|||
|
|
2025-08-20 14:27:25 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
|
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2025-08-20 14:27:25 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
|
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|
|
2025-08-20 14:27:25 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
|
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|
|
2025-08-20 14:27:25 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
|
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2025-08-20 14:27:26 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
|
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2025-08-20 14:27:26 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
|
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2025-08-20 14:27:26 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
|
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2025-08-20 14:27:26 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
|
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2025-08-20 14:27:27 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
|
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2025-08-20 14:27:27 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
|
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2025-08-20 14:27:27 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
|
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|
2025-08-20 14:27:27 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
|
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2025-08-20 14:27:27 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
|
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2025-08-20 14:27:28 - __main__ - INFO: 读 eye_hand_data/data2025082009/21.jpg
|
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2025-08-20 14:27:39 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
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2025-08-20 14:27:39 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
|
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2025-08-20 14:27:40 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
|
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2025-08-20 14:27:40 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
|
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2025-08-20 14:27:40 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
|
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2025-08-20 14:27:40 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
|
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2025-08-20 14:27:41 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
|
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2025-08-20 14:27:41 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
|
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|
2025-08-20 14:27:41 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
|
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|
2025-08-20 14:27:41 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
|
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2025-08-20 14:27:42 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
|
|||
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|
2025-08-20 14:27:42 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
|
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2025-08-20 14:27:49 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
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2025-08-20 14:28:39 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
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2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
|
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2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
|
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2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
|
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2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
|
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2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
|
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|
|
2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
|
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|
|
2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
|
|||
|
|
2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
|
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|
|
2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
|
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|
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2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
|
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|
|
2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
|
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2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
|
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2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
|
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|
|
2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
|
|||
|
|
2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
|
|||
|
|
2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
|
|||
|
|
2025-08-20 14:28:51 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
|
|||
|
|
2025-08-20 14:28:52 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
|
|||
|
|
2025-08-20 14:28:52 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
|
|||
|
|
2025-08-20 14:28:52 - __main__ - INFO: 读 eye_hand_data/data2025082009/21.jpg
|
|||
|
|
2025-08-20 14:28:57 - __main__ - INFO: 旋转矩阵是:
|
|||
|
|
[[-0.86090303 0.23595808 0.45074355]
|
|||
|
|
[-0.47502031 -0.05548769 -0.87822367]
|
|||
|
|
[-0.18221325 -0.97017777 0.1598544 ]]
|
|||
|
|
2025-08-20 14:28:57 - __main__ - INFO: 平移向量是:
|
|||
|
|
[[-0.13881725]
|
|||
|
|
[-0.20545188]
|
|||
|
|
[ 0.08188335]]
|
|||
|
|
2025-08-20 14:28:57 - __main__ - INFO: 四元数是：
|
|||
|
|
[ 0.09318028 -0.6413971 0.72045908 -0.24671019]
|
|||
|
|
2025-08-20 14:31:17 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
|||
|
|
2025-08-20 14:31:17 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
|
|||
|
|
2025-08-20 14:31:17 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
|
|||
|
|
2025-08-20 14:31:17 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
|
|||
|
|
2025-08-20 14:31:17 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 读 eye_hand_data/data2025082009/21.jpg
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 旋转矩阵是:
|
|||
|
|
[[-0.86090303 0.23595808 0.45074355]
|
|||
|
|
[-0.47502031 -0.05548769 -0.87822367]
|
|||
|
|
[-0.18221325 -0.97017777 0.1598544 ]]
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 平移向量是:
|
|||
|
|
[[-0.13881725]
|
|||
|
|
[-0.20545188]
|
|||
|
|
[ 0.08188335]]
|
|||
|
|
2025-08-20 14:31:18 - __main__ - INFO: 四元数是：
|
|||
|
|
[ 0.09318028 -0.6413971 0.72045908 -0.24671019]
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 读 eye_hand_data/data2025082009/21.jpg
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 旋转矩阵是:
|
|||
|
|
[[-0.86090303 0.23595808 0.45074355]
|
|||
|
|
[-0.47502031 -0.05548769 -0.87822367]
|
|||
|
|
[-0.18221325 -0.97017777 0.1598544 ]]
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 平移向量是:
|
|||
|
|
[[-0.13881725]
|
|||
|
|
[-0.20545188]
|
|||
|
|
[ 0.08188335]]
|
|||
|
|
2025-08-20 14:57:14 - __main__ - INFO: 四元数是：
|
|||
|
|
[ 0.09318028 -0.6413971 0.72045908 -0.24671019]
|
|||
|
|
2025-08-20 15:51:10 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
|||
|
|
2025-08-20 15:51:10 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
|
|||
|
|
2025-08-20 15:51:10 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
|
|||
|
|
2025-08-20 15:51:10 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
|
|||
|
|
2025-08-20 15:51:10 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
|
|||
|
|
2025-08-20 15:51:10 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
|
|||
|
|
2025-08-20 15:51:10 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
|
|||
|
|
2025-08-20 15:51:10 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
|
|||
|
|
2025-08-20 15:51:10 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
|
|||
|
|
2025-08-20 15:51:10 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
|
|||
|
|
2025-08-20 15:51:10 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
|
|||
|
|
2025-08-20 15:51:10 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
|
|||
|
|
2025-08-20 15:51:10 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
|
|||
|
|
2025-08-20 15:51:11 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
|
|||
|
|
2025-08-20 15:51:11 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
|
|||
|
|
2025-08-20 15:51:11 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
|
|||
|
|
2025-08-20 15:51:11 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
|
|||
|
|
2025-08-20 15:51:11 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
|
|||
|
|
2025-08-20 15:51:11 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
|
|||
|
|
2025-08-20 15:51:11 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
|
|||
|
|
2025-08-20 15:51:11 - __main__ - INFO: 读 eye_hand_data/data2025082009/21.jpg
|
|||
|
|
2025-08-20 15:51:11 - __main__ - INFO: 旋转矩阵是:
|
|||
|
|
[[-0.86090303 0.23595808 0.45074355]
|
|||
|
|
[-0.47502031 -0.05548769 -0.87822367]
|
|||
|
|
[-0.18221325 -0.97017777 0.1598544 ]]
|
|||
|
|
2025-08-20 15:51:11 - __main__ - INFO: 平移向量是:
|
|||
|
|
[[-0.13881725]
|
|||
|
|
[-0.20545188]
|
|||
|
|
[ 0.08188335]]
|
|||
|
|
2025-08-20 15:51:11 - __main__ - INFO: 四元数是：
|
|||
|
|
[ 0.09318028 -0.6413971 0.72045908 -0.24671019]
|
|||
|
|
2025-08-20 16:38:34 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
|||
|
|
2025-08-20 16:38:34 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
|
|||
|
|
2025-08-20 16:38:34 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
|
|||
|
|
2025-08-20 16:38:34 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
|
|||
|
|
2025-08-20 16:38:34 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
|
|||
|
|
2025-08-20 16:38:34 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
|
|||
|
|
2025-08-20 16:38:34 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
|
|||
|
|
2025-08-20 16:38:34 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
|
|||
|
|
2025-08-20 16:38:34 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
|
|||
|
|
2025-08-20 16:38:34 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
|
|||
|
|
2025-08-20 16:38:34 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
|
|||
|
|
2025-08-20 16:38:34 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
|
|||
|
|
2025-08-20 16:38:34 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
|
|||
|
|
2025-08-20 16:38:35 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
|
|||
|
|
2025-08-20 16:38:35 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
|
|||
|
|
2025-08-20 16:38:35 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
|
|||
|
|
2025-08-20 16:38:35 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
|
|||
|
|
2025-08-20 16:38:35 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
|
|||
|
|
2025-08-20 16:38:35 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
|
|||
|
|
2025-08-20 16:38:35 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
|
|||
|
|
2025-08-20 16:38:35 - __main__ - INFO: 读 eye_hand_data/data2025082009/21.jpg
|
|||
|
|
2025-08-20 16:38:35 - __main__ - INFO: 旋转矩阵是:
|
|||
|
|
[[-0.86090303 0.23595808 0.45074355]
|
|||
|
|
[-0.47502031 -0.05548769 -0.87822367]
|
|||
|
|
[-0.18221325 -0.97017777 0.1598544 ]]
|
|||
|
|
2025-08-20 16:38:35 - __main__ - INFO: 平移向量是:
|
|||
|
|
[[-0.13881725]
|
|||
|
|
[-0.20545188]
|
|||
|
|
[ 0.08188335]]
|
|||
|
|
2025-08-20 16:38:35 - __main__ - INFO: 四元数是：
|
|||
|
|
[ 0.09318028 -0.6413971 0.72045908 -0.24671019]
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_1.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_2.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_3.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_4.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_5.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_6.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_7.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_8.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_9.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_10.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_11.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_12.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_13.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_14.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_15.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_16.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_17.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_18.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_19.jpg
|
|||
|
|
2025-08-20 16:56:05 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
|
|||
|
|
2025-08-20 16:56:06 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_20.jpg
|
|||
|
|
2025-08-20 16:56:06 - __main__ - INFO: 读 eye_hand_data/data2025082009/21.jpg
|
|||
|
|
2025-08-20 16:56:06 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_21.jpg
|
|||
|
|
2025-08-20 16:56:06 - __main__ - INFO: 旋转矩阵是:
|
|||
|
|
[[-0.86090303 0.23595808 0.45074355]
|
|||
|
|
[-0.47502031 -0.05548769 -0.87822367]
|
|||
|
|
[-0.18221325 -0.97017777 0.1598544 ]]
|
|||
|
|
2025-08-20 16:56:06 - __main__ - INFO: 平移向量是:
|
|||
|
|
[[-0.13881725]
|
|||
|
|
[-0.20545188]
|
|||
|
|
[ 0.08188335]]
|
|||
|
|
2025-08-20 16:56:06 - __main__ - INFO: 四元数是：
|
|||
|
|
[ 0.09318028 -0.6413971 0.72045908 -0.24671019]
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_1.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_2.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_3.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_4.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_5.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_6.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_7.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_8.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_9.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_10.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_11.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_12.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_13.jpg
|
|||
|
|
2025-08-20 17:01:32 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_14.jpg
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_15.jpg
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_16.jpg
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_17.jpg
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_18.jpg
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_19.jpg
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_20.jpg
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 旋转矩阵是:
|
|||
|
|
[[-0.87479368 0.22946254 0.4267118 ]
|
|||
|
|
[-0.45426401 -0.08221905 -0.88706496]
|
|||
|
|
[-0.16846434 -0.96983863 0.17616128]]
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 平移向量是:
|
|||
|
|
[[-0.12651976]
|
|||
|
|
[-0.21061824]
|
|||
|
|
[ 0.0697178 ]]
|
|||
|
|
2025-08-20 17:01:33 - __main__ - INFO: 四元数是：
|
|||
|
|
[ 0.08840828 -0.63569123 0.73026947 -0.23406652]
|
|||
|
|
2025-08-20 17:02:57 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
|||
|
|
2025-08-20 17:02:57 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_1.jpg
|
|||
|
|
2025-08-20 17:02:57 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
|
|||
|
|
2025-08-20 17:02:57 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_2.jpg
|
|||
|
|
2025-08-20 17:02:57 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_3.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_4.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_5.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_6.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_7.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_8.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_9.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_10.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_11.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_12.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_13.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_14.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_15.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_16.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_17.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_18.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_19.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_20.jpg
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 旋转矩阵是:
|
|||
|
|
[[-0.87479368 0.22946254 0.4267118 ]
|
|||
|
|
[-0.45426401 -0.08221905 -0.88706496]
|
|||
|
|
[-0.16846434 -0.96983863 0.17616128]]
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 平移向量是:
|
|||
|
|
[[-0.12651976]
|
|||
|
|
[-0.21061824]
|
|||
|
|
[ 0.0697178 ]]
|
|||
|
|
2025-08-20 17:02:58 - __main__ - INFO: 四元数是：
|
|||
|
|
[ 0.08840828 -0.63569123 0.73026947 -0.23406652]
|
|||
|
|
2025-08-20 17:03:12 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_1.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_2.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_3.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_4.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_5.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_6.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_7.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_8.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_9.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_10.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_11.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_12.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_13.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_14.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_15.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_16.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_17.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_18.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_19.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
|
|||
|
|
2025-08-20 17:03:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_20.jpg
|
|||
|
|
2025-08-20 17:03:14 - __main__ - INFO: 旋转矩阵是:
|
|||
|
|
[[-0.87479368 0.22946254 0.4267118 ]
|
|||
|
|
[-0.45426401 -0.08221905 -0.88706496]
|
|||
|
|
[-0.16846434 -0.96983863 0.17616128]]
|
|||
|
|
2025-08-20 17:03:14 - __main__ - INFO: 平移向量是:
|
|||
|
|
[[-0.12651976]
|
|||
|
|
[-0.21061824]
|
|||
|
|
[ 0.0697178 ]]
|
|||
|
|
2025-08-20 17:03:14 - __main__ - INFO: 四元数是：
|
|||
|
|
[ 0.08840828 -0.63569123 0.73026947 -0.23406652]
|
|||
|
|
2025-08-20 17:03:23 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
|||
|
|
2025-08-20 17:03:23 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_1.jpg
|
|||
|
|
2025-08-20 17:03:23 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
|
|||
|
|
2025-08-20 17:03:23 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_2.jpg
|
|||
|
|
2025-08-20 17:03:23 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
|
|||
|
|
2025-08-20 17:03:23 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_3.jpg
|
|||
|
|
2025-08-20 17:03:23 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_4.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_5.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_6.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_7.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_8.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_9.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_10.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_11.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_12.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_13.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_14.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_15.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_16.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_17.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_18.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_19.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_20.jpg
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 旋转矩阵是:
|
|||
|
|
[[-0.87479368 0.22946254 0.4267118 ]
|
|||
|
|
[-0.45426401 -0.08221905 -0.88706496]
|
|||
|
|
[-0.16846434 -0.96983863 0.17616128]]
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 平移向量是:
|
|||
|
|
[[-0.12651976]
|
|||
|
|
[-0.21061824]
|
|||
|
|
[ 0.0697178 ]]
|
|||
|
|
2025-08-20 17:03:24 - __main__ - INFO: 四元数是：
|
|||
|
|
[ 0.08840828 -0.63569123 0.73026947 -0.23406652]
|
|||
|
|
2025-08-20 17:03:36 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg
|
|||
|
|
2025-08-20 17:03:36 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_1.jpg
|
|||
|
|
2025-08-20 17:03:36 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg
|
|||
|
|
2025-08-20 17:03:36 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_2.jpg
|
|||
|
|
2025-08-20 17:03:36 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg
|
|||
|
|
2025-08-20 17:03:36 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_3.jpg
|
|||
|
|
2025-08-20 17:03:36 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg
|
|||
|
|
2025-08-20 17:03:36 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_4.jpg
|
|||
|
|
2025-08-20 17:03:36 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg
|
|||
|
|
2025-08-20 17:03:36 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_5.jpg
|
|||
|
|
2025-08-20 17:03:36 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_6.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_7.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_8.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_9.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_10.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_11.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_12.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_13.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_14.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_15.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_16.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_17.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_18.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_19.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_20.jpg
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 旋转矩阵是:
|
|||
|
|
[[-0.87479368 0.22946254 0.4267118 ]
|
|||
|
|
[-0.45426401 -0.08221905 -0.88706496]
|
|||
|
|
[-0.16846434 -0.96983863 0.17616128]]
|
|||
|
|
2025-08-20 17:03:37 - __main__ - INFO: 平移向量是:
|
|||
|
|
[[-0.12651976]
|
|||
|
|
[-0.21061824]
|
|||
|
|
[ 0.0697178 ]]
|
|||
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2025-08-20 17:03:37 - __main__ - INFO: 四元数是：
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[ 0.08840828 -0.63569123 0.73026947 -0.23406652]
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2025-08-20 17:29:39 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082010
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2025-08-20 17:29:39 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
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2025-08-20 17:30:05 - __main__ - INFO: robot.torqueOff
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2025-08-20 17:30:58 - __main__ - INFO: 当前关节角: [-0.2127401635377416, 1.5663756903288177, 0.12808739578845102, -0.2158128713411982, -0.1482474725044877, 0.08527642206713766, 0.3227548735461464]
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2025-08-20 17:30:58 - __main__ - INFO: 获取位姿成功:
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[[ 0.98643686 0.16322471 0.01732075 -0.08115292]
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[ 0.03501732 -0.10617399 -0.99373078 -0.22501375]
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[-0.1603624 0.9808592 -0.11044963 -0.44324419]
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[ 0. 0. 0. 1. ]]
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2025-08-20 17:30:58 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
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2025-08-20 17:30:58 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082010/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082010/1.jpg
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2025-08-20 17:31:06 - __main__ - INFO: 检测到 'q'，退出程序
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2025-08-20 17:31:06 - __main__ - INFO: 相机已关闭，窗口已销毁
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