2025-09-05 16:02:35 - libs.auxiliary - INFO: create folder eye_hand_data/data20250905
2025-09-05 16:04:01 - libs.auxiliary - INFO: create folder eye_hand_data/data2025090501
2025-09-05 16:04:01 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-09-05 16:05:28 - libs.auxiliary - INFO: create folder eye_hand_data/data2025090502
2025-09-05 16:05:28 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-09-05 16:05:42 - libs.auxiliary - INFO: create folder eye_hand_data/data2025090503
2025-09-05 16:05:42 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-09-05 16:05:48 - __main__ - INFO: 相机已关闭，窗口已销毁
2025-09-05 16:09:41 - libs.auxiliary - INFO: create folder eye_hand_data/data2025090504
2025-09-05 16:09:41 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0
2025-09-05 16:12:46 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-09-05 16:12:53 - __main__ - INFO: 当前关节角: [-0.020066101407867926, 1.46894512840519, 1.4589372327079881, 0.15968113499835065, 0.0808671765475035, -0.13818357132059936, -0.2431388026164853]
2025-09-05 16:12:53 - __main__ - INFO: 获取位姿成功:
[[-0.10992689  0.05250327 -0.99255201 -0.00608509]
 [ 0.0426073  -0.99743702 -0.0574805  -0.22011888]
 [-0.99302603 -0.04860861  0.10740812 -0.73570586]
 [ 0.          0.          0.          1.        ]]
2025-09-05 16:12:53 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-09-05 16:12:53 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025090504/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025090504/1.jpg
2025-09-05 16:12:56 - __main__ - INFO: robot.torqueOff
2025-09-05 16:25:21 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人
2025-09-05 16:25:26 - __main__ - INFO: 当前关节角: [-0.019045662455530632, 0.14962957400644405, 1.3928232302974393, -0.07693350304193537, -1.3815034772680232, 0.03932344561816248, -0.20795691527650662]
2025-09-05 16:25:26 - __main__ - INFO: 获取位姿成功:
[[-0.03644065  0.99920824  0.01596754 -0.01550389]
 [-0.99665653 -0.03750756  0.07258755 -0.94854757]
 [ 0.07312898 -0.01326902  0.99723422 -0.00291912]
 [ 0.          0.          0.          1.        ]]
2025-09-05 16:25:26 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿
2025-09-05 16:25:26 - __main__ - INFO: ===采集第2次数据！ pose 已保存到 eye_hand_data/data2025090504/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025090504/2.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-09-05 17:21:03 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-09-05 17:21:03 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-09-05 17:21:04 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-09-05 17:21:04 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-09-05 17:21:04 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-09-05 17:21:04 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-09-05 17:21:04 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-09-05 17:21:04 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-09-05 17:21:04 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-09-05 17:21:04 - __main__ - INFO: 旋转矩阵是:
 [[ 0.05477568  0.03458859  0.99789942]
 [-0.99767126  0.04257346  0.0532875 ]
 [-0.04064089 -0.99849443  0.03684003]]
2025-09-05 17:21:04 - __main__ - INFO: 平移向量是:
 [[-0.14908435]
 [-0.19737896]
 [-0.05964516]]
2025-09-05 17:21:04 - __main__ - INFO: 四元数是：
 [-0.49380213  0.48758531 -0.48463669  0.53249159]
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-09-05 17:26:27 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-09-05 17:26:27 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-09-05 17:26:28 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-09-05 17:26:28 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-09-05 17:26:28 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-09-05 17:26:28 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-09-05 17:26:28 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-09-05 17:26:28 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-09-05 17:26:28 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-09-05 17:26:28 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-09-05 17:26:28 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-09-05 17:26:28 - __main__ - INFO: 旋转矩阵是:
 [[-0.99486349  0.07846371  0.06395369]
 [-0.05884529  0.06577685 -0.9960977 ]
 [-0.08236419 -0.99474462 -0.06082177]]
2025-09-05 17:26:28 - __main__ - INFO: 平移向量是:
 [[-0.00797824]
 [-0.17640328]
 [ 0.07459845]]
2025-09-05 17:26:28 - __main__ - INFO: 四元数是：
 [ 0.00673467  0.72826199 -0.68342243  0.05022845]
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg
2025-09-05 17:45:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg
2025-09-05 17:45:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg
2025-09-05 17:45:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg
2025-09-05 17:45:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg
2025-09-05 17:45:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg
2025-09-05 17:45:13 - __main__ - INFO: 旋转矩阵是:
 [[-0.99486349  0.07846371  0.06395369]
 [-0.05884529  0.06577685 -0.9960977 ]
 [-0.08236419 -0.99474462 -0.06082177]]
2025-09-05 17:45:13 - __main__ - INFO: 平移向量是:
 [[-0.00797824]
 [-0.17640328]
 [ 0.07459845]]
2025-09-05 17:45:13 - __main__ - INFO: 四元数是：
 [ 0.00673467  0.72826199 -0.68342243  0.05022845]