运行库里的代码，出现下面错误，是什么原因？

[hitbuyi]

代码为库里的代码， 机械臂型号为RM-65

import time
from robotic_arm_package.robotic_arm import *
import sys
#   画八字
def demo1(robot):
    ret = robot.Movej_Cmd([18.44, -10.677, -124.158, -15, -71.455], 30, 0)
    if ret != 0:
        print("设置初始位置失败:" + str(ret))
        sys.exit()

    for num in range(0, 3):
        po1 = [0.186350, 0.062099, 0.2, 3.141, 0, 1.569]

        ret = robot.Movel_Cmd(po1, 30, 0)
        if ret != 0:
            print("Movel_Cmd 1 失败:" + str(ret))
            sys.exit()

        po2 = [0.21674, 0.0925, 0.2, 3.141, 0, 1.569]
        po3 = [0.20785, 0.114, 0.2, 3.141, 0, 1.569]

        ret = robot.Movec_Cmd(po2, po3, 30, 0, 0)
        if ret != 0:
            print("Movec_Cmd 1 失败:" + str(ret))
            sys.exit()

        po4 = [0.164850, 0.157, 0.2, 3.141, 0, 1.569]

        ret = robot.Movel_Cmd(po4, 30, 0)
        if ret != 0:
            print("Movel_Cmd 2 失败:" + str(ret))
            sys.exit()

        po5 = [0.186350, 0.208889, 0.2, 3.141, 0, 1.569]
        po6 = [0.20785, 0.157, 0.2, 3.141, 0, 1.569]

        ret = robot.Movec_Cmd(po5, po6, 30, 0, 0)
        if ret != 0:
            print("Movel_Cmd 2 失败:" + str(ret))
            sys.exit()

    print("cycle draw 8 demo success")


#   获取机械臂状态、坐标系
def demo2(robot):
    # 获取机械臂当前状态
    ret = robot.Get_Current_Arm_State(retry=1)
    if ret[0] != 0:
        print("获取机械臂当前状态失败：" + str(ret))
        sys.exit()

    print("当前关节角度：" + str(ret[1]))
    print("错误码: " + str(ret[3]) + str(ret[4]))

    # 获取当前坐标系
    retval, frame = robot.Get_Current_Work_Frame(retry=1)
    if retval == 0:
        print('当前工作坐标系：', frame.frame_name.name)
        print('当前工作坐标系位置：', frame.pose.position.x, frame.pose.position.y, frame.pose.position.z)
    else:
        print(f'获取当前坐标系失败:{retval}')
        sys.exit()

    #  设置工作坐标系
    retval = robot.Manual_Set_Work_Frame('new', [0.1, 0.2, 0.3, 3.0, 0.2, 0.1])
    if retval != 0:
        print(f'设置坐标系失败:{retval}')
        # sys.exit()

    # 切换当前工作坐标系
    robot.Change_Work_Frame('new')
    # 获取当前工作坐标系
    retval, frame = robot.Get_Current_Work_Frame(retry=1)
    if retval == 0:
        print('当前工作坐标系：', frame.frame_name.name)
        print('当前工作坐标系位置：', frame.pose.position.x, frame.pose.position.y, frame.pose.position.z)
    else:
        print(f'获取当前坐标系失败:{retval}')
        sys.exit()

    robot.Change_Work_Frame('World')

    # 获取指定坐标系
    retval, frame = robot.Get_Given_Work_Frame('new', retry=1)
    if retval == 0:
        print('指定工作坐标系：', frame)
    else:
        print(f'获取指定坐标系失败:{retval}')
        sys.exit()


# 夹爪使用例程（需机械臂末端安装夹爪）
def demo3(robot):
    #   回零位
    zero = [0, 0, 0, 0, 0, 0]
    ret = robot.Movej_Cmd(zero, 20, 0)
    if ret != 0:
        print("回零位失败：" + str(ret))
        sys.exit()

    # 打开末端输出12V
    robot.Set_Tool_Voltage(2)

    #   张开夹爪，抓取位置
    robot.Set_Gripper_Release(500)
    if ret != 0:
        print("张开夹爪失败：" + str(ret))
        sys.exit()

    joint1 = [4.61, 93.549, 75.276, -10.098, -76.508, 57.224]
    ret = robot.Movej_Cmd(joint1, 20, 0)
    if ret != 0:
        print("到达抓取位置失败：" + str(ret))
        sys.exit()

    #   抓取
    ret = robot.Set_Gripper_Pick_On(500, 500)
    if ret != 0:
        print("抓取失败：" + str(ret))
        sys.exit()

    #   放置
    joint2 = [-106.244, 67.172, 96.15, -10.385, -71.097, 58.243]

    ret = robot.Movej_Cmd(joint2, 20, 0)
    if ret != 0:
        print("到达放置位置失败：" + str(ret))
        sys.exit()

    robot.Set_Gripper_Release(200)
    if ret != 0:
        print("放置失败：" + str(ret))
        sys.exit()

    #   回零位
    ret = robot.Movej_Cmd(zero, 20, 0)
    if ret != 0:
        print("回零位失败：" + str(ret))
        sys.exit()
    print("夹爪抓取成功")


# 位置示教例程
def demo4(robot):
    # 初始位置
    joint = [0, -20, -70, 0, -90, 0]
    zero = [0, 0, 0, 0, 0, 0]

    robot.Movej_Cmd(joint, 20, 0)

    # 切换示教坐标系为基坐标系
    robot.Set_Teach_Frame(0)
    #   位置示教
    ret = robot.Pos_Teach_Cmd(2, 1, 10)
    time.sleep(2)
    if ret != 0:
        print("Z轴正方向示教失败：" + str(ret))
        sys.exit()

    ret = robot.Teach_Stop_Cmd()
    if ret != 0:
        print("停止示教失败：" + str(ret))
        sys.exit()

    # 切换示教坐标系为工具坐标系
    robot.Set_Teach_Frame(1)

    #   位置示教
    ret = robot.Pos_Teach_Cmd(2, 1, 20)
    time.sleep(2)
    if ret != 0:
        print("Z轴正方向示教失败：" + str(ret))
        sys.exit()

    ret = robot.Teach_Stop_Cmd()
    if ret != 0:
        print("停止示教失败：" + str(ret))
        sys.exit()

    print("Z轴位置示教成功")


# 透传
def demo5(robot):
    # 读取文件内容，文件中的点位为拖动示教所得
    with open('output-65.txt', 'r') as f:
        lines = f.readlines()

    # 转换为浮点数列表
    point = []
    for line in lines:
        nums = line.strip().split(',')
        point.append([float(num) for num in nums])

    # 运动到透传的第一个点位
    num_lines = len(point)
    robot.Movej_Cmd(point[0], 20, 0, 0, True)

    # 低跟随透传

    for i in range(num_lines):
        robot.Movej_CANFD(point[i], False)
        time.sleep(0.005)

    print("透传结束")


# 力位混合控制透传（需为六维力版本机械臂）
def demo6(robot):
    # 读取文件内容
    with open('output-65.txt', 'r') as f:
        lines = f.readlines()

    # 转换为浮点数列表
    zero = []
    for line in lines:
        nums = line.strip().split(',')
        zero.append([float(num) for num in nums])

    # 使用文件行数
    num_lines = len(zero)
    robot.Movej_Cmd(zero[0], 20, 0, True)

    # 开启透传力位混合控制补偿模式
    robot.Start_Force_Position_Move()
    time.sleep(1)

    for i in range(num_lines):
        robot.Force_Position_Move_Joint(zero[i], 1, 0, 2, 2, False)
        # print(zero[i])
        time.sleep(0.001)

    robot.Stop_Force_Position_Move()


# 连接机械臂使用正逆解示例
def demo7(robot):
    #   初始位置
    joint = [0, 0, -90, 0, -90, 0]
    ret = robot.Movej_Cmd(joint, 20, 0)
    print("Movej_Cmd ret:" + str(ret))
    time.sleep(1)

    #   正解
    compute_pose = Arm.Algo_Forward_Kinematics(joint)

    print(f'正解结果：{compute_pose}')

    #   逆解
    compute_pose[0] += 0.1
    res = Arm.Algo_Inverse_Kinematics(joint, compute_pose, 1)
    print(f'逆解：{res}')


# 未连接机械臂使用正逆解示例
def demo8():
    mode = RobotType.RM65

    sensor_type = SensorType.B

    Arm.Algo_Init_Sys_Data(mode, sensor_type)

    # 设置算法的安装角度为Y轴90°
    Arm.Algo_Set_Angle(0, 90, 0)

    print("当前算法安装角度： ", Arm.Algo_Get_Angle())

    # 设置算法的工作坐标系
    coord_work = FRAME()

    coord_work.pose.position.x = 0

    coord_work.pose.position.y = 0

    coord_work.pose.position.z = 0

    coord_work.pose.euler.rx = 0

    coord_work.pose.euler.ry = 0

    coord_work.pose.euler.rz = 3.14

    Arm.Algo_Set_WorkFrame(coord_work)

    curr_pose = Arm.Algo_Get_Curr_WorkFrame()

    print(
        f"当前工作坐标系：{curr_pose.frame_name.name, curr_pose.pose.position.x, curr_pose.pose.position.y, curr_pose.pose.position.z, curr_pose.pose.euler.rx, curr_pose.pose.euler.ry, curr_pose.pose.euler.rz}")

    # 计算正解结果

    joint = [0, 0, 90, 0, 90, 0]

    compute_pose = Arm.Algo_Forward_Kinematics(joint)

    print(f'正解：{compute_pose}')

    # 计算逆解
    q_out = Arm.Algo_Inverse_Kinematics(joint, compute_pose, 1)

    print(f'逆解：{q_out}')


def MCallback(data):
    """
    机械臂实时推送状态数据回调函数
    """
    print("推送数据的机械臂IP: ", data.arm_ip)
    print("机械臂错误码: ", data.arm_err)
    print("系统错误码: ", data.sys_err)
    print("机械臂当前角度: ", list(data.joint_status.joint_position))
    print("机械臂当前位姿： ", data.waypoint.position.x, data.waypoint.position.y, data.waypoint.position.z,
          data.waypoint.euler.rx, data.waypoint.euler.ry, data.waypoint.euler.rz)


if __name__ == "__main__":
    # 连接机械臂，注册回调函数
    robot = Arm(RM65, "192.168.1.18")

    # API版本信息
    print(robot.API_Version())

    # 机械臂实时状态推送回调函数注册（如需实时获取机械臂状态可打开注册回调函数）
    # callback = RealtimePush_Callback(MCallback)
    # robot.Realtime_Arm_Joint_State(callback)

    # 运行示例
    # demo1(robot)

    # po1 = [-0.307561, -0.057827, 0.140142, 3.141, 0, 1.569]
    
    po1 = [0.022188, -0.349172, 0.177573, 3.141, 0, 1.569]
    
    # po1 = [0.022188, 0.080729623, 0.065676491, 3.141, 0, 1.569]

    # po2 = [-0.357561, -0.157827, 0.240142, 3.141, 0, 1.569]

    # po3 = [0.057561, -0.157827, 0.240142, 3.141, 0, 1.569]

    ret = robot.Movej_P_Cmd(po1, 20, 0)
    # time.sleep(2)
    # ret = robot.Movej_P_Cmd(po2, 20, 0)
    # time.sleep(2)  
    # ret = robot.Movej_P_Cmd(po3, 20, 0)
    # callback = RealtimePush_Callback(MCallback)
    # robot.Realtime_Arm_Joint_State(callback)
    time.sleep(10)
    # 断开连接
    robot.RM_API_UnInit()
    robot.Arm_Socket_Close()

出现的错误如下：

2025-05-02 15:03:21 - robotic_arm_package.robotic_arm - INFO: 开始进行机械臂API初始化完毕
2025-05-02 15:03:21 - robotic_arm_package.robotic_arm - INFO: API_Version:4.3.3
2025-05-02 15:03:22 - robotic_arm_package.robotic_arm - INFO: 连接机械臂成功，句柄为:764
2025-05-02 15:03:57 - robotic_arm_package.robotic_arm - INFO: API_Version:4.3.3
2025-05-02 15:03:57 - robotic_arm_package.robotic_arm - INFO: API_Version:4.3.3
4.3.3
2025-05-02 15:04:17 - robotic_arm_package.robotic_arm - INFO: Movej_P_Cmd执行结果:14: ARM_ABNORMAL_STOP
2025-05-02 15:04:33 - robotic_arm_package.robotic_arm - INFO: API反初始化 释放资源
2025-05-02 15:04:34 - robotic_arm_package.robotic_arm - INFO: 关闭与机械臂的Socket连接