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✨ feat(*): 添加触发样本偏移与实发轨迹分析导出

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* 为 RobotConfig 增加 trigger_sample_index_offset_cycles 配置
  * 让 DO 事件携带示教点关节角并按最接近 sample 绑定触发
  * 调整运行时 IO 地址位掩码映射并补充 ShotEvents 导出
  * 新增 2026042802-1 抓包分析脚本、数据产物与结论文档
  * 补齐配置兼容、规划绑定和运行时触发相关测试
This commit is contained in:
yunxiao.zhu
2026-05-09 11:12:31 +08:00
parent 1779067b5c
commit f7e2bb0e7b
35 changed files with 5772 additions and 55 deletions
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analysis/2026042802-1/2026042802-1_j519_trigger_frames.csv Normal file
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frame_number,time_relative_s,sequence,last_data,write_io_type,write_io_index,write_io_mask,write_io_value,io_addrs,j1_deg,j2_deg,j3_deg,j4_deg,j5_deg,j6_deg,ext1_deg,ext2_deg,ext3_deg
1955,5.888271,1381124,0,2,1,10,10,"[2, 4]",45.8632698059082,2.9724788665771484,-13.609341621398926,-2.1851141452789307,7.582361221313477,5.701517581939697,0.0,0.0,0.0
2151,6.480252,1381198,0,2,1,14,14,"[2, 3, 4]",56.34336471557617,11.66723918914795,-6.600923538208008,-68.1976089477539,6.058437347412109,71.5392837524414,0.0,0.0,0.0
2223,6.704225,1381226,0,2,1,14,14,"[2, 3, 4]",53.50831985473633,7.412222862243652,-9.629739761352539,-32.30571365356445,12.488306045532227,30.826189041137695,0.0,0.0,0.0
2336,7.048266,1381269,0,2,1,10,10,"[2, 4]",44.433006286621094,-2.1156294345855713,-18.39777374267578,4.8371992111206055,33.99372482299805,-20.26228904724121,0.0,0.0,0.0
2477,7.464289,1381321,0,2,1,10,10,"[2, 4]",65.84967041015625,5.695003032684326,-14.563636779785156,-28.69342613220215,27.678611755371094,46.437156677246094,0.0,0.0,0.0
2665,8.024277,1381391,0,2,1,12,12,"[3, 4]",60.847530364990234,24.47777557373047,-5.617043972015381,34.8044319152832,5.786255359649658,-31.2253475189209,0.0,0.0,0.0
2811,8.472317,1381447,0,2,1,12,12,"[3, 4]",70.8250503540039,10.95259952545166,-13.136046409606934,-34.68459701538086,14.022420883178711,38.90604019165039,0.0,0.0,0.0
2908,8.760361,1381483,0,2,1,10,10,"[2, 4]",69.40516662597656,-20.066781997680664,-8.152935981750488,-63.93235397338867,6.775912284851074,70.37761688232422,0.0,0.0,0.0
3112,9.384332,1381561,0,2,1,10,10,"[2, 4]",73.90592956542969,-8.016124725341797,-9.002426147460938,-131.3327178955078,15.526206970214844,142.41668701171875,0.0,0.0,0.0
3170,9.560358,1381583,0,2,1,10,10,"[2, 4]",76.72688293457031,-16.518726348876953,-7.15147066116333,-127.53003692626953,18.53788948059082,138.7897491455078,0.0,0.0,0.0
3350,10.104322,1381651,0,2,1,10,10,"[2, 4]",83.71662139892578,-13.186573028564453,-13.738808631896973,-72.70317840576172,26.66758918762207,91.98423767089844,0.0,0.0,0.0
3470,10.472333,1381697,0,2,1,10,10,"[2, 4]",59.78955841064453,-2.7094168663024902,-8.933828353881836,-108.24857330322266,21.177492141723633,114.14110565185547,0.0,0.0,0.0
3627,10.944371,1381756,0,2,1,12,12,"[3, 4]",86.41329193115234,4.266173362731934,-19.15987777709961,-52.24028015136719,29.853723526000977,55.86907196044922,0.0,0.0,0.0
3710,11.192339,1381787,0,2,1,10,10,"[2, 4]",110.7523193359375,0.8751887679100037,-34.756534576416016,-48.14332580566406,45.0865592956543,87.97444152832031,0.0,0.0,0.0
3796,11.456361,1381820,0,2,1,10,10,"[2, 4]",111.79177856445312,-6.225440502166748,-31.958988189697266,-53.68573760986328,44.76150894165039,89.33454895019531,0.0,0.0,0.0
3870,11.680362,1381848,0,2,1,10,10,"[2, 4]",117.87474060058594,-19.607177734375,-30.329103469848633,-56.600250244140625,49.08655548095703,90.32424926757812,0.0,0.0,0.0
4138,12.496365,1381950,0,2,1,12,12,"[3, 4]",59.93589401245117,-21.102140426635742,-9.684239387512207,70.64311981201172,32.941307067871094,-63.34855651855469,0.0,0.0,0.0
1 frame_number time_relative_s sequence last_data write_io_type write_io_index write_io_mask write_io_value io_addrs j1_deg j2_deg j3_deg j4_deg j5_deg j6_deg ext1_deg ext2_deg ext3_deg
2 1955 5.888271 1381124 0 2 1 10 10 [2, 4] 45.8632698059082 2.9724788665771484 -13.609341621398926 -2.1851141452789307 7.582361221313477 5.701517581939697 0.0 0.0 0.0
3 2151 6.480252 1381198 0 2 1 14 14 [2, 3, 4] 56.34336471557617 11.66723918914795 -6.600923538208008 -68.1976089477539 6.058437347412109 71.5392837524414 0.0 0.0 0.0
4 2223 6.704225 1381226 0 2 1 14 14 [2, 3, 4] 53.50831985473633 7.412222862243652 -9.629739761352539 -32.30571365356445 12.488306045532227 30.826189041137695 0.0 0.0 0.0
5 2336 7.048266 1381269 0 2 1 10 10 [2, 4] 44.433006286621094 -2.1156294345855713 -18.39777374267578 4.8371992111206055 33.99372482299805 -20.26228904724121 0.0 0.0 0.0
6 2477 7.464289 1381321 0 2 1 10 10 [2, 4] 65.84967041015625 5.695003032684326 -14.563636779785156 -28.69342613220215 27.678611755371094 46.437156677246094 0.0 0.0 0.0
7 2665 8.024277 1381391 0 2 1 12 12 [3, 4] 60.847530364990234 24.47777557373047 -5.617043972015381 34.8044319152832 5.786255359649658 -31.2253475189209 0.0 0.0 0.0
8 2811 8.472317 1381447 0 2 1 12 12 [3, 4] 70.8250503540039 10.95259952545166 -13.136046409606934 -34.68459701538086 14.022420883178711 38.90604019165039 0.0 0.0 0.0
9 2908 8.760361 1381483 0 2 1 10 10 [2, 4] 69.40516662597656 -20.066781997680664 -8.152935981750488 -63.93235397338867 6.775912284851074 70.37761688232422 0.0 0.0 0.0
10 3112 9.384332 1381561 0 2 1 10 10 [2, 4] 73.90592956542969 -8.016124725341797 -9.002426147460938 -131.3327178955078 15.526206970214844 142.41668701171875 0.0 0.0 0.0
11 3170 9.560358 1381583 0 2 1 10 10 [2, 4] 76.72688293457031 -16.518726348876953 -7.15147066116333 -127.53003692626953 18.53788948059082 138.7897491455078 0.0 0.0 0.0
12 3350 10.104322 1381651 0 2 1 10 10 [2, 4] 83.71662139892578 -13.186573028564453 -13.738808631896973 -72.70317840576172 26.66758918762207 91.98423767089844 0.0 0.0 0.0
13 3470 10.472333 1381697 0 2 1 10 10 [2, 4] 59.78955841064453 -2.7094168663024902 -8.933828353881836 -108.24857330322266 21.177492141723633 114.14110565185547 0.0 0.0 0.0
14 3627 10.944371 1381756 0 2 1 12 12 [3, 4] 86.41329193115234 4.266173362731934 -19.15987777709961 -52.24028015136719 29.853723526000977 55.86907196044922 0.0 0.0 0.0
15 3710 11.192339 1381787 0 2 1 10 10 [2, 4] 110.7523193359375 0.8751887679100037 -34.756534576416016 -48.14332580566406 45.0865592956543 87.97444152832031 0.0 0.0 0.0
16 3796 11.456361 1381820 0 2 1 10 10 [2, 4] 111.79177856445312 -6.225440502166748 -31.958988189697266 -53.68573760986328 44.76150894165039 89.33454895019531 0.0 0.0 0.0
17 3870 11.680362 1381848 0 2 1 10 10 [2, 4] 117.87474060058594 -19.607177734375 -30.329103469848633 -56.600250244140625 49.08655548095703 90.32424926757812 0.0 0.0 0.0
18 4138 12.496365 1381950 0 2 1 12 12 [3, 4] 59.93589401245117 -21.102140426635742 -9.684239387512207 70.64311981201172 32.941307067871094 -63.34855651855469 0.0 0.0 0.0