clean: 移除调试输出，保持代码整洁

移除临时调试信息:
- main_window.py: 移除第一阶段坐标对比调试输出
- path_executor.py: 移除waypoint执行过程调试信息

保留核心功能修复:
- RRT*精度改进 (GOAL_TOLERANCE)
- 路径执行仿真步进优化 (10x simulation steps)

🤖 Generated with [Claude Code](https://claude.ai/code)

Co-Authored-By: Claude <noreply@anthropic.com>

src/gui/main_window.py

@@ -575,6 +575,7 @@ class MainWindow:
             # Stage 1: Current position to object (independent planning & execution)
             self.update_status("Stage 1: Planning path to object...")
             current_config = self.arm_controller.get_current_joint_positions()
+            
             config_object = self.arm_controller.inverse_kinematics(object_position, seed_angles=current_config)
             if config_object is None:
                 raise RuntimeError("Cannot find joint configuration for object position")

src/planning/path_executor.py

@@ -114,11 +114,6 @@ class PathExecutor:
                 np.array(target_config) - np.array(final_config)
             )
             if final_distance <= self.position_tolerance:
-                # 输出成功到达的调试信息
-                target_pos, _ = self.arm_controller.forward_kinematics(target_config)
-                actual_pos, _ = self.arm_controller.get_current_pose()
-                pos_error = np.linalg.norm(np.array(target_pos) - np.array(actual_pos))
-                print(f"waypoint {getattr(self, '_current_waypoint', 'N')} 成功: 关节误差{final_distance:.4f}, 末端位置误差{pos_error:.4f}m")
                 return True
             # 执行多次仿真步进让机械臂继续收敛
             for _ in range(10):
@@ -127,13 +122,6 @@ class PathExecutor:
 
         final_config = self.arm_controller.get_current_joint_positions()
         final_distance = np.linalg.norm(np.array(target_config) - np.array(final_config))
-        
-        # 输出调试信息
-        target_pos, _ = self.arm_controller.forward_kinematics(target_config)
-        actual_pos, _ = self.arm_controller.get_current_pose()
-        pos_error = np.linalg.norm(np.array(target_pos) - np.array(actual_pos))
-        print(f"waypoint {getattr(self, '_current_waypoint', 'X')} 失败: 关节误差{final_distance:.4f}, 末端位置误差{pos_error:.4f}m")
-            
         raise RuntimeError(f"Failed to reach target, error: {final_distance}")
     
     def _close_gripper(self):