2025-08-21 09:52:37 - __main__ - INFO: 读 eye_hand_data/data2025082010/1.jpg 2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg 2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_1.jpg 2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg 2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_2.jpg 2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg 2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_3.jpg 2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg 2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_4.jpg 2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg 2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_5.jpg 2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg 2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_6.jpg 2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg 2025-08-21 09:54:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_7.jpg 2025-08-21 09:54:46 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg 2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_8.jpg 2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg 2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_9.jpg 2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg 2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_10.jpg 2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg 2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_11.jpg 2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg 2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_12.jpg 2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg 2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_13.jpg 2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg 2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_14.jpg 2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg 2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_15.jpg 2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg 2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_16.jpg 2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg 2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_17.jpg 2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg 2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_18.jpg 2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg 2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_19.jpg 2025-08-21 09:54:47 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg 2025-08-21 09:54:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_20.jpg 2025-08-21 09:54:47 - __main__ - INFO: 旋转矩阵是: [[-0.8747942 0.22946188 0.42671109] [-0.45426317 -0.08221912 -0.88706538] [-0.16846387 -0.96983878 0.17616089]] 2025-08-21 09:54:47 - __main__ - INFO: 平移向量是: [[-0.12651951] [-0.21061809] [ 0.0697177 ]] 2025-08-21 09:54:47 - __main__ - INFO: 四元数是： [ 0.08840819 -0.63569139 0.73026951 -0.234066 ] 2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/1.jpg 2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_1.jpg 2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/2.jpg 2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_2.jpg 2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/3.jpg 2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_3.jpg 2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/4.jpg 2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_4.jpg 2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/5.jpg 2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_5.jpg 2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/6.jpg 2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_6.jpg 2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/7.jpg 2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_7.jpg 2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/8.jpg 2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_8.jpg 2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/9.jpg 2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_9.jpg 2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/10.jpg 2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_10.jpg 2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/11.jpg 2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_11.jpg 2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/12.jpg 2025-08-21 09:55:21 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_12.jpg 2025-08-21 09:55:21 - __main__ - INFO: 读 eye_hand_data/data2025082009/13.jpg 2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_13.jpg 2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/14.jpg 2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_14.jpg 2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/15.jpg 2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_15.jpg 2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/16.jpg 2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_16.jpg 2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/17.jpg 2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_17.jpg 2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/18.jpg 2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_18.jpg 2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/19.jpg 2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_19.jpg 2025-08-21 09:55:22 - __main__ - INFO: 读 eye_hand_data/data2025082009/20.jpg 2025-08-21 09:55:22 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082009/corner/corner_20.jpg 2025-08-21 09:55:22 - __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]] 2025-08-21 09:55:22 - __main__ - INFO: 平移向量是: [[-0.12651976] [-0.21061824] [ 0.0697178 ]] 2025-08-21 09:55:22 - __main__ - INFO: 四元数是： [ 0.08840828 -0.63569123 0.73026947 -0.23406652] 2025-08-21 11:27:09 - libs.auxiliary - INFO: create folder eye_hand_data/data20250821 2025-08-21 11:27:09 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0 2025-08-21 11:27:20 - __main__ - INFO: robot.torqueOff 2025-08-21 11:28:46 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:28:51 - __main__ - INFO: 当前关节角: [0.8253898778736996, 0.2562934472690343, -0.0472638845356522, 0.982365663091435, -0.811866925952772, 1.0474525818308873, 0.016616543126199347] 2025-08-21 11:28:51 - __main__ - INFO: 获取位姿成功: [[-0.25318109 -0.89031678 0.37846449 0.20513955] [ 0.6294954 -0.44867523 -0.63437061 -0.47519781] [ 0.73459844 0.07763101 0.6740464 -0.14564497] [ 0. 0. 0. 1. ]] 2025-08-21 11:28:51 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 11:28:51 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/1.jpg 2025-08-21 11:28:53 - __main__ - INFO: robot.torqueOff 2025-08-21 11:29:00 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:29:04 - __main__ - INFO: 当前关节角: [0.8917611258247912, 0.3193556252779419, 0.0663351766206834, 0.6812782681741733, -1.1216997200029486, 1.03807878215244, 0.016623187844958753] 2025-08-21 11:29:04 - __main__ - INFO: 获取位姿成功: [[-0.25224294 -0.90609294 0.33966025 0.22289984] [ 0.8456558 -0.37703157 -0.37777436 -0.51750052] [ 0.47036131 0.19194474 0.8613463 -0.11653364] [ 0. 0. 0. 1. ]] 2025-08-21 11:29:04 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 11:29:04 - __main__ - INFO: ===采集第2次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/2.jpg 2025-08-21 11:29:05 - __main__ - INFO: robot.torqueOff 2025-08-21 11:29:14 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:29:18 - __main__ - INFO: 当前关节角: [1.1896438678089452, 0.30651423165262204, 0.10917083072596027, 0.6814301474601026, -1.6521096487448172, 1.0335860030255448, 0.016608949161902885] 2025-08-21 11:29:18 - __main__ - INFO: 获取位姿成功: [[-0.42170444 -0.84445498 0.33024408 0.2558707 ] [ 0.9003429 -0.43313682 0.04213264 -0.51967065] [ 0.10746175 0.31510043 0.94295477 -0.04397596] [ 0. 0. 0. 1. ]] 2025-08-21 11:29:18 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 11:29:18 - __main__ - INFO: ===采集第3次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/3.jpg 2025-08-21 11:29:19 - __main__ - INFO: robot.torqueOff 2025-08-21 11:29:28 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:29:34 - __main__ - INFO: 当前关节角: [1.4559585002127002, 0.30681324399679527, 0.17970546960258804, 0.6812127702321163, -2.1080019043365628, 1.0236910675472528, 0.016632680300329335] 2025-08-21 11:29:34 - __main__ - INFO: 获取位姿成功: [[-0.44997072 -0.85803562 0.24759084 0.26886029] [ 0.85847564 -0.33920789 0.38465255 -0.52136803] [-0.24606082 0.38563309 0.8892363 0.03026231] [ 0. 0. 0. 1. ]] 2025-08-21 11:29:34 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 11:29:34 - __main__ - INFO: ===采集第4次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/4.jpg 2025-08-21 11:29:36 - __main__ - INFO: robot.torqueOff 2025-08-21 11:29:46 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:29:51 - __main__ - INFO: 当前关节角: [1.6850703015280803, 0.3357206183368209, 0.14558294028196603, 0.7301084078459711, -2.380654649191254, 1.0414419590902364, 0.016624137090495813] 2025-08-21 11:29:51 - __main__ - INFO: 获取位姿成功: [[-0.48372144 -0.85725737 0.17641818 0.27941969] [ 0.74091476 -0.29378779 0.60393216 -0.50585554] [-0.46589579 0.42284577 0.77726609 0.08600871] [ 0. 0. 0. 1. ]] 2025-08-21 11:29:51 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 11:29:51 - __main__ - INFO: ===采集第5次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/5.jpg 2025-08-21 11:29:53 - __main__ - INFO: robot.torqueOff 2025-08-21 11:30:03 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:30:07 - __main__ - INFO: 当前关节角: [1.9511694551949232, 0.7207327096764498, -0.06620038375442117, 0.8133790740933053, -1.3808665335126573, 0.21355366696300027, 1.1411364716197472] 2025-08-21 11:30:07 - __main__ - INFO: 获取位姿成功: [[-0.21216612 -0.68156647 0.70032327 0.38204138] [ 0.97416126 -0.20429083 0.09630729 -0.3389997 ] [ 0.07742981 0.70266095 0.70729924 0.18673545] [ 0. 0. 0. 1. ]] 2025-08-21 11:30:07 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 11:30:07 - __main__ - INFO: ===采集第6次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/6.jpg 2025-08-21 11:30:08 - __main__ - INFO: robot.torqueOff 2025-08-21 11:30:17 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:30:21 - __main__ - INFO: 当前关节角: [1.8940381633015537, 0.4051379952163314, -0.12349589512570175, 0.6297399309851491, -1.2283436591092607, 0.9395015316200465, 1.0908577832583988] 2025-08-21 11:30:21 - __main__ - INFO: 获取位姿成功: [[-0.4310179 -0.70629928 0.5615736 0.28826997] [ 0.89989504 -0.38227375 0.20989447 -0.50135244] [ 0.06642653 0.59582557 0.80036205 0.12584165] [ 0. 0. 0. 1. ]] 2025-08-21 11:30:21 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 11:30:21 - __main__ - INFO: ===采集第7次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/7.jpg 2025-08-21 11:30:22 - __main__ - INFO: robot.torqueOff 2025-08-21 11:30:35 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:30:42 - __main__ - INFO: 当前关节角: [1.8361265915767224, 1.1135570917860655, -0.08976350572081057, 0.5308864500014717, -1.5194516356954322, 0.07328175546087345, 0.9682465849732351] 2025-08-21 11:30:42 - __main__ - INFO: 获取位姿成功: [[-0.13468827 -0.72882711 0.67131968 0.45481058] [ 0.98906271 -0.05778144 0.13570654 -0.23383011] [-0.06011679 0.68225534 0.7286382 0.15317249] [ 0. 0. 0. 1. ]] 2025-08-21 11:30:42 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 11:30:42 - __main__ - INFO: ===采集第8次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/8.jpg 2025-08-21 11:30:43 - __main__ - INFO: robot.torqueOff 2025-08-21 11:31:04 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:31:08 - __main__ - INFO: 当前关节角: [1.773997521930743, 0.605477215057948, 0.028329283807957347, 1.2173817716473154, -1.7268484961050745, 0.15453242720534835, 0.8873870023900281] 2025-08-21 11:31:08 - __main__ - INFO: 获取位姿成功: [[-0.35110132 -0.76965787 0.53324913 0.36358769] [ 0.90927708 -0.14433419 0.39036245 -0.28723159] [-0.22347945 0.62192798 0.75050818 0.11913745] [ 0. 0. 0. 1. ]] 2025-08-21 11:31:08 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 11:31:08 - __main__ - INFO: ===采集第9次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/9.jpg 2025-08-21 11:31:09 - __main__ - INFO: robot.torqueOff 2025-08-21 11:31:26 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:31:30 - __main__ - INFO: 当前关节角: [1.4005130683931457, 1.4388303137420266, 0.15982067409229817, 0.8202088957324373, -1.891621384164204, -1.0446542059876405, 0.5873542192644378] 2025-08-21 11:31:30 - __main__ - INFO: 获取位姿成功: [[ 0.36091887 -0.80430791 0.47204487 0.44921615] [ 0.93025175 0.34636313 -0.12109612 -0.02012862] [-0.06610037 0.48282644 0.87321782 -0.00595984] [ 0. 0. 0. 1. ]] 2025-08-21 11:31:30 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 11:31:30 - __main__ - INFO: ===采集第10次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/10.jpg 2025-08-21 11:31:32 - __main__ - INFO: robot.torqueOff 2025-08-21 11:31:51 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:31:56 - __main__ - INFO: robot.torqueOff 2025-08-21 11:32:05 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:32:09 - __main__ - INFO: 当前关节角: [1.4349839708258678, 0.8371567255510698, -0.01699624134102253, 1.6177536050220789, -2.016514568720455, -0.8374870629979659, 0.5931132919377683] 2025-08-21 11:32:09 - __main__ - INFO: 获取位姿成功: [[-0.0401021 -0.92276134 0.3832797 0.33858263] [ 0.95373667 0.07903515 0.29006864 -0.11724388] [-0.2979567 0.37718027 0.87690185 -0.01763812] [ 0. 0. 0. 1. ]] 2025-08-21 11:32:09 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 11:32:09 - __main__ - INFO: ===采集第11次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/11.jpg 2025-08-21 11:32:12 - __main__ - INFO: robot.torqueOff 2025-08-21 11:32:48 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:32:52 - __main__ - INFO: 当前关节角: [0.7093417632317545, 0.9039997485340793, 0.3698402999208317, 1.4349972602633867, -1.868800572207794, -0.677916040481914, -0.3356152520822075] 2025-08-21 11:32:52 - __main__ - INFO: 获取位姿成功: [[ 6.72744280e-03 -9.95813278e-01 9.11628002e-02 3.05739589e-01] [ 9.97824272e-01 7.05770400e-04 -6.59259053e-02 -1.35775630e-01] [ 6.55855519e-02 9.14079675e-02 9.93651407e-01 -1.75063848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] 2025-08-21 11:32:52 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 11:32:52 - __main__ - INFO: ===采集第12次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/12.jpg 2025-08-21 11:32:53 - __main__ - INFO: robot.torqueOff 2025-08-21 11:34:07 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:34:12 - __main__ - INFO: 当前关节角: [0.5287221701769795, 0.9609924505790383, 0.5908911081355157, 1.1136415746388637, -2.4692230547809086, -0.6455401229494787, -0.3356162013277445] 2025-08-21 11:34:12 - __main__ - INFO: 获取位姿成功: [[ 0.12520332 -0.99186645 -0.02291465 0.31366201] [ 0.90598349 0.10488766 0.41011278 -0.19783819] [-0.40437364 -0.07210778 0.91174691 -0.25384818] [ 0. 0. 0. 1. ]] 2025-08-21 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 2025-08-21 11:34:12 - __main__ - INFO: ===采集第13次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/13.jpg 2025-08-21 11:34:13 - __main__ - INFO: robot.torqueOff 2025-08-21 11:34:31 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 11:34:37 - __main__ - INFO: 当前关节角: [0.39919666739988574, 1.3179505393164566, 0.9448201543641821, 1.2761780402126846, -2.03749479358051, -0.385342428786525, -0.3356180998188186] 2025-08-21 11:34:37 - __main__ - INFO: 获取位姿成功: [[ 0.03301101 -0.99908595 0.02715761 0.313764 ] [ 0.83829597 0.01288215 -0.54506323 -0.0913168 ] [ 0.54421516 0.0407592 0.83795498 -0.18631875] [ 0. 0. 0. 1. ]] 2025-08-21 11:34:37 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 11:34:37 - __main__ - INFO: ===采集第14次数据！ pose 已保存到 eye_hand_data/data20250821/RobotToolPose.csv, 图片保存到 eye_hand_data/data20250821/14.jpg 2025-08-21 11:34:39 - __main__ - INFO: robot.torqueOff 2025-08-21 11:35:06 - __main__ - INFO: 检测到 'q'，退出程序 2025-08-21 11:35:07 - __main__ - INFO: 相机已关闭，窗口已销毁 2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/1.jpg 2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_1.jpg 2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/2.jpg 2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_2.jpg 2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/3.jpg 2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_3.jpg 2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/4.jpg 2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_4.jpg 2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/5.jpg 2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_5.jpg 2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/6.jpg 2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_6.jpg 2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/7.jpg 2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_7.jpg 2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/8.jpg 2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_8.jpg 2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/9.jpg 2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_9.jpg 2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/10.jpg 2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_10.jpg 2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/11.jpg 2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_11.jpg 2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/12.jpg 2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_12.jpg 2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/13.jpg 2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_13.jpg 2025-08-21 11:35:46 - __main__ - INFO: 读 eye_hand_data/data20250821/14.jpg 2025-08-21 11:35:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_14.jpg 2025-08-21 11:35:46 - __main__ - INFO: 旋转矩阵是: [[-0.99732744 0.02734315 0.0677519 ] [-0.06713675 0.0228221 -0.99748274] [-0.02882056 -0.99936555 -0.02092538]] 2025-08-21 11:35:46 - __main__ - INFO: 平移向量是: [[-0.00078482] [-0.17419722] [ 0.06796275]] 2025-08-21 11:35:46 - __main__ - INFO: 四元数是： [-0.01392688 0.71433097 -0.69885263 0.03379822] 2025-08-21 11:38:53 - __main__ - INFO: 读 eye_hand_data/data20250821/1.jpg 2025-08-21 11:38:53 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_1.jpg 2025-08-21 11:38:53 - __main__ - INFO: 读 eye_hand_data/data20250821/2.jpg 2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_2.jpg 2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/3.jpg 2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_3.jpg 2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/4.jpg 2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_4.jpg 2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/5.jpg 2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_5.jpg 2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/6.jpg 2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_6.jpg 2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/7.jpg 2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_7.jpg 2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/8.jpg 2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_8.jpg 2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/9.jpg 2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_9.jpg 2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/10.jpg 2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_10.jpg 2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/11.jpg 2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_11.jpg 2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/12.jpg 2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_12.jpg 2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/13.jpg 2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_13.jpg 2025-08-21 11:38:54 - __main__ - INFO: 读 eye_hand_data/data20250821/14.jpg 2025-08-21 11:38:54 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data20250821/corner/corner_14.jpg 2025-08-21 11:38:54 - __main__ - INFO: 旋转矩阵是: [[-0.99732744 0.02734315 0.0677519 ] [-0.06713675 0.0228221 -0.99748274] [-0.02882056 -0.99936555 -0.02092538]] 2025-08-21 11:38:54 - __main__ - INFO: 平移向量是: [[-0.00078482] [-0.17419722] [ 0.06796275]] 2025-08-21 11:38:54 - __main__ - INFO: 四元数是： [-0.01392688 0.71433097 -0.69885263 0.03379822] 2025-08-21 16:14:42 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082101 2025-08-21 16:14:42 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0 2025-08-21 16:15:03 - __main__ - INFO: robot.torqueOff 2025-08-21 16:15:13 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:15:27 - __main__ - INFO: robot.torqueOff 2025-08-21 16:16:00 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:16:07 - __main__ - INFO: 当前关节角: [0.1881774860208302, 1.5359324367098321, 2.101302129336008, 1.237947176207676, -3.239618392465156, 0.660369236729398, -0.22447188913024077] 2025-08-21 16:16:07 - __main__ - INFO: 获取位姿成功: [[-0.13936557 -0.98748272 -0.0738588 0.25639562] [ 0.98789482 -0.13351676 -0.07897536 -0.27191259] [ 0.06812542 -0.08397117 0.9941367 -0.23921664] [ 0. 0. 0. 1. ]] 2025-08-21 16:16:07 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:16:07 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/1.jpg 2025-08-21 16:16:11 - __main__ - INFO: robot.torqueOff 2025-08-21 16:16:20 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:16:25 - __main__ - INFO: 当前关节角: [0.1847488111409769, 1.3553365747934838, 2.1088087630430623, 1.2244802297734347, -3.265897305913068, 0.6804733079587482, -0.22435892891133088] 2025-08-21 16:16:25 - __main__ - INFO: 获取位姿成功: [[-0.12214152 -0.99148995 -0.04504583 0.24935823] [ 0.98590508 -0.12643169 0.10957282 -0.3301866 ] [-0.11433557 -0.03102752 0.99295754 -0.22048319] [ 0. 0. 0. 1. ]] 2025-08-21 16:16:25 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:16:25 - __main__ - INFO: ===采集第2次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/2.jpg 2025-08-21 16:16:28 - __main__ - INFO: robot.torqueOff 2025-08-21 16:16:36 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:16:40 - __main__ - INFO: 当前关节角: [0.18216591403464222, 1.3093807506078976, 2.108801169078766, 1.237752580872579, -3.386807456195824, 0.674951546669682, -0.22420894811647574] 2025-08-21 16:16:40 - __main__ - INFO: 获取位姿成功: [[-0.12765968 -0.99174931 0.01167535 0.24725332] [ 0.95778442 -0.12021331 0.26114702 -0.34440277] [-0.25758884 0.04452042 0.96522843 -0.21331776] [ 0. 0. 0. 1. ]] 2025-08-21 16:16:40 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:16:40 - __main__ - INFO: ===采集第3次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/3.jpg 2025-08-21 16:16:43 - __main__ - INFO: robot.torqueOff 2025-08-21 16:16:52 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:16:57 - __main__ - INFO: 当前关节角: [0.15805412814783334, 1.218028207858052, 2.1077446587960202, 1.3528049369461503, -3.398763203735069, 0.6851996014877597, -0.2241823692414381] 2025-08-21 16:16:57 - __main__ - INFO: 获取位姿成功: [[-0.12061637 -0.99148511 -0.04908122 0.24079104] [ 0.90170295 -0.13010493 0.41231601 -0.36562399] [-0.41519089 0.00547538 0.90971784 -0.17673377] [ 0. 0. 0. 1. ]] 2025-08-21 16:16:57 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:16:57 - __main__ - INFO: ===采集第4次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/4.jpg 2025-08-21 16:16:59 - __main__ - INFO: robot.torqueOff 2025-08-21 16:17:08 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:17:14 - __main__ - INFO: 当前关节角: [0.15782630921893942, 1.148865228782473, 2.0802051472748952, 1.4294517678358942, -3.4739330085691504, 0.6850638593759604, -0.22417762301375282] 2025-08-21 16:17:14 - __main__ - INFO: 获取位姿成功: [[-0.13323657 -0.98863605 -0.06961879 0.24168424] [ 0.81161017 -0.14915447 0.56483792 -0.37307124] [-0.56880309 0.01875375 0.8222599 -0.14946229] [ 0. 0. 0. 1. ]] 2025-08-21 16:17:14 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:17:14 - __main__ - INFO: ===采集第5次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/5.jpg 2025-08-21 16:17:21 - __main__ - INFO: robot.torqueOff 2025-08-21 16:17:38 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:17:43 - __main__ - INFO: 当前关节角: [0.3590416826912605, 1.1394164387065981, 2.0769226562077487, 1.5773176436344847, -2.5660726784358565, 0.5330820549286868, 0.8458689010901876] 2025-08-21 16:17:43 - __main__ - INFO: 获取位姿成功: [[-0.1100018 -0.97171944 0.20895198 0.26213488] [ 0.9937792 -0.11120581 0.00601407 -0.35469134] [ 0.01739269 0.20831369 0.97790741 -0.04493756] [ 0. 0. 0. 1. ]] 2025-08-21 16:17:43 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:17:43 - __main__ - INFO: ===采集第6次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/6.jpg 2025-08-21 16:17:46 - __main__ - INFO: robot.torqueOff 2025-08-21 16:17:53 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:17:59 - __main__ - INFO: 当前关节角: [0.3520818144135517, 1.1556029736045101, 2.017053740185504, 1.6291274650471073, -2.566324228503177, 0.5650403044248166, 0.8458594086348171] 2025-08-21 16:17:59 - __main__ - INFO: 获取位姿成功: [[-0.20049553 -0.96061353 0.19241411 0.26384736] [ 0.97904311 -0.18929837 0.07510466 -0.33478381] [-0.03572288 0.20343986 0.97843554 -0.04338287] [ 0. 0. 0. 1. ]] 2025-08-21 16:17:59 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:17:59 - __main__ - INFO: ===采集第7次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/7.jpg 2025-08-21 16:18:01 - __main__ - INFO: robot.torqueOff 2025-08-21 16:18:09 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:18:13 - __main__ - INFO: 当前关节角: [0.3172653866053403, 1.313845052368681, 1.8904177408232146, 1.7188083864061938, -2.6905567381656357, 0.28883548277045484, 0.8458527639160577] 2025-08-21 16:18:13 - __main__ - INFO: 获取位姿成功: [[-0.09067794 -0.96156996 0.25915385 0.27763283] [ 0.99082305 -0.1133011 -0.0737058 -0.27031831] [ 0.1002357 0.25009212 0.96301959 -0.05935151] [ 0. 0. 0. 1. ]] 2025-08-21 16:18:13 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:18:13 - __main__ - INFO: ===采集第8次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/8.jpg 2025-08-21 16:18:16 - __main__ - INFO: robot.torqueOff 2025-08-21 16:18:25 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:18:30 - __main__ - INFO: 当前关节角: [0.3113658255925252, 1.3320734144168047, 1.7972094230484208, 1.807990953858325, -2.9523187889736606, 0.29634021798643495, 0.8458480176883724] 2025-08-21 16:18:30 - __main__ - INFO: 获取位姿成功: [[-0.06182316 -0.96333913 0.26106631 0.27572117] [ 0.985666 -0.01779069 0.16776779 -0.23950089] [-0.15697273 0.26769612 0.9506305 -0.05533822] [ 0. 0. 0. 1. ]] 2025-08-21 16:18:30 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:18:30 - __main__ - INFO: ===采集第9次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/9.jpg 2025-08-21 16:18:33 - __main__ - INFO: robot.torqueOff 2025-08-21 16:18:44 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:18:49 - __main__ - INFO: 当前关节角: [0.3174068241903619, 1.4675260063272884, 1.5487007384287987, 1.7904982571014212, -3.2589716104746933, 0.07981446324690623, 0.8458337790053165] 2025-08-21 16:18:49 - __main__ - INFO: 获取位姿成功: [[ 0.00204587 -0.95045805 0.31084613 0.291817 ] [ 0.96975598 0.0777536 0.2313606 -0.15674434] [-0.24406795 0.30097156 0.92187144 -0.07498582] [ 0. 0. 0. 1. ]] 2025-08-21 16:18:49 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:18:49 - __main__ - INFO: ===采集第10次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/10.jpg 2025-08-21 16:18:52 - __main__ - INFO: robot.torqueOff 2025-08-21 16:19:08 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:19:14 - __main__ - INFO: robot.torqueOff 2025-08-21 16:19:25 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:19:30 - __main__ - INFO: 当前关节角: [0.27753946087946524, 1.6105355419582903, 1.2276915274253017, 1.6875801067280616, -3.5108406242955006, -0.6567573574608925, 0.8458072001302789] 2025-08-21 16:19:30 - __main__ - INFO: 获取位姿成功: [[ 0.38872691 -0.8780319 0.27919772 0.29523427] [ 0.91848265 0.39319638 -0.0422638 -0.05153552] [-0.07267057 0.27286734 0.95930308 -0.10555432] [ 0. 0. 0. 1. ]] 2025-08-21 16:19:30 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:19:30 - __main__ - INFO: ===采集第11次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/11.jpg 2025-08-21 16:19:33 - __main__ - INFO: robot.torqueOff 2025-08-21 16:20:00 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:20:06 - __main__ - INFO: 当前关节角: [0.19953615811726558, 1.5134979676870048, 1.3755934745543004, 1.2340486247869789, -3.235004109909517, -0.39607934505618747, -0.18381760126912305] 2025-08-21 16:20:06 - __main__ - INFO: 获取位姿成功: [[ 0.2004248 -0.97752505 -0.065381 0.29826073] [ 0.95269085 0.17889858 0.24571414 -0.11593768] [-0.22849516 -0.11153509 0.96713489 -0.24686201] [ 0. 0. 0. 1. ]] 2025-08-21 16:20:06 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:20:06 - __main__ - INFO: ===采集第12次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/12.jpg 2025-08-21 16:20:08 - __main__ - INFO: robot.torqueOff 2025-08-21 16:20:19 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:20:24 - __main__ - INFO: 当前关节角: [0.14909894575122867, 1.5289374463472523, 1.327669864370393, 1.130913097185633, -3.1925177781618777, -0.44474526525007424, -0.2899508462764979] 2025-08-21 16:20:24 - __main__ - INFO: 获取位姿成功: [[ 0.1795737 -0.98355917 -0.01909571 0.27480921] [ 0.95378635 0.16931837 0.24823956 -0.10309542] [-0.24092504 -0.06279052 0.96851044 -0.28676362] [ 0. 0. 0. 1. ]] 2025-08-21 16:20:24 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:20:24 - __main__ - INFO: ===采集第13次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/13.jpg 2025-08-21 16:20:26 - __main__ - INFO: robot.torqueOff 2025-08-21 16:20:38 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:20:43 - __main__ - INFO: 当前关节角: [0.16214537641255308, 1.3656235486785808, 1.5120835918367883, 1.2035123451053618, -2.9271913103622, -0.014777854520918107, -0.2900476693212778] 2025-08-21 16:20:43 - __main__ - INFO: 获取位姿成功: [[ 0.03397924 -0.99615678 -0.08072841 0.28406157] [ 0.99940914 0.03344943 0.00790666 -0.19681757] [-0.00517596 -0.08094937 0.99670478 -0.25137906] [ 0. 0. 0. 1. ]] 2025-08-21 16:20:43 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:20:43 - __main__ - INFO: ===采集第14次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/14.jpg 2025-08-21 16:20:45 - __main__ - INFO: robot.torqueOff 2025-08-21 16:21:17 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:21:26 - __main__ - INFO: 当前关节角: [0.23122007565318572, 1.628535135831983, 1.828089329614453, 1.4320631423083405, -3.0376977295588006, 0.19928270955887112, 0.14386290736881704] 2025-08-21 16:21:26 - __main__ - INFO: 获取位姿成功: [[ 0.02777164 -0.99933259 0.02373016 0.29887982] [ 0.98010716 0.02255505 -0.19718324 -0.18783112] [ 0.1965164 0.0287342 0.98007941 -0.17737878] [ 0. 0. 0. 1. ]] 2025-08-21 16:21:26 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:21:26 - __main__ - INFO: ===采集第15次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/15.jpg 2025-08-21 16:21:29 - __main__ - INFO: robot.torqueOff 2025-08-21 16:21:42 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:21:47 - __main__ - INFO: 当前关节角: [0.22977437470024648, 1.339187060471517, 2.1365172402697836, 1.3177511977536744, -3.033028390762013, 0.8488428873577902, 0.1439046741724476] 2025-08-21 16:21:47 - __main__ - INFO: 获取位姿成功: [[-0.24782493 -0.96680534 0.06221126 0.25321104] [ 0.96857382 -0.24585225 0.03770167 -0.33940743] [-0.02115539 0.06959961 0.99735066 -0.17940936] [ 0. 0. 0. 1. ]] 2025-08-21 16:21:47 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:21:47 - __main__ - INFO: ===采集第16次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/16.jpg 2025-08-21 16:21:50 - __main__ - INFO: robot.torqueOff 2025-08-21 16:22:00 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:22:05 - __main__ - INFO: 当前关节角: [0.2123139522916026, 1.6156225487913838, 1.9870955510359554, 1.1415721753212567, -3.261262139955614, 0.40399890057186194, -0.2904045856432116] 2025-08-21 16:22:05 - __main__ - INFO: 获取位姿成功: [[-0.02238853 -0.99787522 -0.06118662 0.27706052] [ 0.9941035 -0.01572528 -0.10728906 -0.21679508] [ 0.10609892 -0.06322787 0.99234331 -0.26052986] [ 0. 0. 0. 1. ]] 2025-08-21 16:22:05 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:22:05 - __main__ - INFO: ===采集第17次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/17.jpg 2025-08-21 16:22:08 - __main__ - INFO: robot.torqueOff 2025-08-21 16:22:20 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:22:25 - __main__ - INFO: 当前关节角: [0.7920960399069291, 1.588399136034099, 1.9284805883681642, 1.3829188023637766, -3.1986537013134204, 0.2975713894479991, 1.133828230229938] 2025-08-21 16:22:25 - __main__ - INFO: 获取位姿成功: [[ 0.02514396 -0.85857888 0.51206454 0.37379129] [ 0.99831944 -0.00518728 -0.05771811 -0.22146041] [ 0.05221177 0.51265524 0.85700556 -0.00260762] [ 0. 0. 0. 1. ]] 2025-08-21 16:22:25 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:22:25 - __main__ - INFO: ===采集第18次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/18.jpg 2025-08-21 16:22:28 - __main__ - INFO: robot.torqueOff 2025-08-21 16:22:38 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 16:22:42 - __main__ - INFO: 当前关节角: [0.5278507627739604, 1.75270689378007, 1.4620754384535017, 1.2688669510862645, -3.519189238793925, -0.41788541353348263, 0.5962609901386524] 2025-08-21 16:22:42 - __main__ - INFO: 获取位姿成功: [[ 0.30642283 -0.90783743 0.28624507 0.37152839] [ 0.94130348 0.33372329 0.05075938 -0.05876817] [-0.14160791 0.25388965 0.95681098 -0.11450045] [ 0. 0. 0. 1. ]] 2025-08-21 16:22:42 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 16:22:42 - __main__ - INFO: ===采集第19次数据！ pose 已保存到 eye_hand_data/data2025082101/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082101/19.jpg 2025-08-21 16:22:45 - __main__ - INFO: robot.torqueOff 2025-08-21 16:22:51 - __main__ - INFO: 检测到 'q'，退出程序 2025-08-21 16:22:52 - __main__ - INFO: 相机已关闭，窗口已销毁 2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg 2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg 2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg 2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg 2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg 2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg 2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg 2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg 2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg 2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg 2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg 2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg 2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg 2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg 2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg 2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg 2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg 2025-08-21 16:23:12 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg 2025-08-21 16:23:12 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg 2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg 2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg 2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg 2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg 2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg 2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg 2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg 2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg 2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg 2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg 2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg 2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg 2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg 2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg 2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg 2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg 2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg 2025-08-21 16:23:13 - __main__ - INFO: 读 eye_hand_data/data2025082101/19.jpg 2025-08-21 16:23:13 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_19.jpg 2025-08-21 16:23:13 - __main__ - INFO: 旋转矩阵是: [[-0.99574619 0.06505242 0.06525112] [-0.06118047 0.06271804 -0.9961543 ] [-0.06889468 -0.99590895 -0.05847131]] 2025-08-21 16:23:13 - __main__ - INFO: 平移向量是: [[-0.00932961] [-0.17733044] [ 0.07299168]] 2025-08-21 16:23:13 - __main__ - INFO: 四元数是： [ 0.0013306 0.72748463 -0.68457228 0.04609919] 2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg 2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg 2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg 2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg 2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg 2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg 2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg 2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg 2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg 2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg 2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg 2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg 2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg 2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg 2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg 2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg 2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg 2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg 2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg 2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg 2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg 2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg 2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg 2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg 2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg 2025-08-21 16:25:46 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg 2025-08-21 16:25:46 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg 2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg 2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg 2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg 2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg 2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg 2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg 2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg 2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg 2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg 2025-08-21 16:25:47 - __main__ - INFO: 读 eye_hand_data/data2025082101/19.jpg 2025-08-21 16:25:47 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_19.jpg 2025-08-21 16:25:47 - __main__ - INFO: 旋转矩阵是: [[-0.99574619 0.06505242 0.06525112] [-0.06118047 0.06271804 -0.9961543 ] [-0.06889468 -0.99590895 -0.05847131]] 2025-08-21 16:25:47 - __main__ - INFO: 平移向量是: [[-0.00932961] [-0.17733044] [ 0.07299168]] 2025-08-21 16:25:47 - __main__ - INFO: 四元数是： [ 0.0013306 0.72748463 -0.68457228 0.04609919] 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/1.jpg 2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_1.jpg 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/2.jpg 2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_2.jpg 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/3.jpg 2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_3.jpg 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/4.jpg 2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_4.jpg 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/5.jpg 2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_5.jpg 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/6.jpg 2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_6.jpg 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/7.jpg 2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_7.jpg 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/8.jpg 2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_8.jpg 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/9.jpg 2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_9.jpg 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/10.jpg 2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_10.jpg 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/11.jpg 2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_11.jpg 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/12.jpg 2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_12.jpg 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/13.jpg 2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_13.jpg 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/14.jpg 2025-08-21 16:26:08 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_14.jpg 2025-08-21 16:26:08 - __main__ - INFO: 读 eye_hand_data/data2025082101/15.jpg 2025-08-21 16:26:09 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_15.jpg 2025-08-21 16:26:09 - __main__ - INFO: 读 eye_hand_data/data2025082101/16.jpg 2025-08-21 16:26:09 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_16.jpg 2025-08-21 16:26:09 - __main__ - INFO: 读 eye_hand_data/data2025082101/17.jpg 2025-08-21 16:26:09 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_17.jpg 2025-08-21 16:26:09 - __main__ - INFO: 读 eye_hand_data/data2025082101/18.jpg 2025-08-21 16:26:09 - __main__ - INFO: 保存带角点的图片到: eye_hand_data/data2025082101/corner/corner_18.jpg 2025-08-21 16:26:09 - __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]] 2025-08-21 16:26:09 - __main__ - INFO: 平移向量是: [[-0.00797824] [-0.17640328] [ 0.07459845]] 2025-08-21 16:26:09 - __main__ - INFO: 四元数是： [ 0.00673467 0.72826199 -0.68342243 0.05022845] 2025-08-21 17:18:15 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082102 2025-08-21 17:18:15 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0 2025-08-21 17:18:34 - __main__ - INFO: 当前关节角: [0.0020332839403781207, 1.3408007778845155, 1.0441700907637408e-05, 0.3222679105856357, 2.752812057468044e-05, 0.001749459524797795, -0.09380919019975154] 2025-08-21 17:18:34 - __main__ - INFO: 获取位姿成功: [[ 9.99992854e-01 -3.77482620e-03 -2.04576300e-04 3.09996779e-02] [-1.98775400e-04 1.53703370e-03 -9.99998799e-01 -2.05056032e-01] [ 3.77513610e-03 9.99991694e-01 1.53627240e-03 -4.49243316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] 2025-08-21 17:18:34 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 17:18:34 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082102/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082102/1.jpg 2025-08-21 17:18:36 - __main__ - INFO: 检测到 'q'，退出程序 2025-08-21 17:18:36 - __main__ - INFO: 相机已关闭，窗口已销毁 2025-08-21 17:19:10 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082103 2025-08-21 17:19:10 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0 2025-08-21 17:19:15 - __main__ - INFO: robot.torqueOff 2025-08-21 17:19:46 - __main__ - INFO: robot.torqueOn ，请勿触摸机器人 2025-08-21 17:19:50 - __main__ - INFO: 当前关节角: [0.8979217293602972, 1.0614919233239744, 0.02469082566441424, 0.3463407774054252, -1.1223005924279064, 0.6689039033530859, -0.09368958526208224] 2025-08-21 17:19:50 - __main__ - INFO: 获取位姿成功: [[-0.17316325 -0.89563008 0.40970873 0.35893735] [ 0.79070696 -0.37443718 -0.48433387 -0.30959237] [ 0.58719417 0.24009071 0.7730197 -0.22790869] [ 0. 0. 0. 1. ]] 2025-08-21 17:19:50 - __main__ - INFO: 请按 p 失能机器人，并手动移动机器人到其他位姿 2025-08-21 17:19:50 - __main__ - INFO: ===采集第1次数据！ pose 已保存到 eye_hand_data/data2025082103/RobotToolPose.csv, 图片保存到 eye_hand_data/data2025082103/1.jpg 2025-08-21 17:19:53 - __main__ - INFO: robot.torqueOff 2025-08-21 17:21:50 - __main__ - INFO: 检测到 'q'，退出程序 2025-08-21 17:21:51 - __main__ - INFO: 相机已关闭，窗口已销毁 2025-08-21 17:21:57 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082104 2025-08-21 17:21:57 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0 2025-08-21 17:22:07 - __main__ - INFO: robot.torqueOff 2025-08-21 17:22:16 - __main__ - INFO: 相机已关闭，窗口已销毁 2025-08-21 18:00:33 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082105 2025-08-21 18:00:33 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0 2025-08-21 18:00:45 - __main__ - INFO: 检测到 'q'，退出程序 2025-08-21 18:00:45 - __main__ - INFO: 相机已关闭，窗口已销毁 2025-08-21 18:01:14 - libs.auxiliary - INFO: create folder eye_hand_data/data2025082106 2025-08-21 18:01:14 - __main__ - INFO: 开始机器人数据采集程序，版本 V1.0.0 2025-08-21 18:01:32 - __main__ - INFO: 检测到 'q'，退出程序 2025-08-21 18:01:32 - __main__ - INFO: 相机已关闭，窗口已销毁