: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour单帧航向变化超出物理边界。, stack:
   at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
   at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
   at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
   at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592

  *p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour单帧航向变化超出物理边界。, stack:
   at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 401
   at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
   at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112


: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.130m，航向误差=0.08°。, stack:
   at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
   at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 264
   at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592

  *p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.130m，航向误差=0.08°。, stack:
   at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 419
   at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112


: * (Exception):DriveTask failed, msg=原地自转完成后Detour位置在限定时间内未恢复。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.187m，航向1.34°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
   at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
   at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
   at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
   at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592

  *p.InnerException * (InvalidOperationException):原地自转完成后Detour位置在限定时间内未恢复。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.187m，航向1.34°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
   at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 282
   at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112

: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.240m，航向误差=0.24°。, stack:
   at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
   at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 264
   at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592

  *p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.240m，航向误差=0.24°。, stack:
   at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 419
   at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112