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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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18
analysis/2026042802-1/2026042802-1_trigger_manual_compare.csv Normal file
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trigger_no,waypoint_index,trigger_command_sequence,trigger_command_frame,trigger_command_time_relative_s,trigger_current_status_sequence,trigger_current_status_frame,trigger_current_status_time_relative_s,command_leads_status_cycles,trigger_current_status_max_error_axis,trigger_current_status_max_error_deg,trigger_current_status_rms_error_deg,best_status_sequence,best_status_frame,best_status_time_relative_s,best_status_delay_from_current_status_cycles,best_status_delay_from_trigger_command_cycles,best_status_delay_from_trigger_command_ms,best_status_max_error_axis,best_status_max_error_deg,best_status_rms_error_deg
1,1,1381124,1955,5.888271,1381116,1954,5.888166,8,J1,6.588241610414407,3.8225443630072706,1381126,1981,5.968124,10,2,79.85300000000083,J6,0.20758988641565335,0.12239685259209541
2,2,1381198,2151,6.480252,1381190,2150,6.480138,8,J1,2.33531536749085,1.3827543088729335,1381199,2172,6.552164,9,1,71.9120000000002,J1,0.08213390997131853,0.04616054814443023
3,3,1381226,2223,6.704225,1381218,2222,6.704166,8,J6,16.123934474475888,8.852376616648156,1381228,2248,6.784154,10,2,79.92899999999992,J6,0.5696919293327056,0.3239642953120798
4,4,1381269,2336,7.048266,1381261,2335,7.048148,8,J6,4.901882807288516,3.2440556235708993,1381271,2362,7.128175,10,2,79.90899999999979,J6,0.09470430997406254,0.06580474324148583
5,5,1381321,2477,7.464289,1381313,2476,7.464178,8,J6,9.21943820204428,4.621321121191458,1381323,2502,7.544122,10,2,79.83299999999983,J5,0.056622412878706285,0.03357478517689402
6,6,1381391,2665,8.024277,1381383,2664,8.024156,8,J6,6.1464605154096255,3.0478405356855083,1381392,2687,8.096181,9,1,71.90399999999997,J6,0.17697427883735983,0.08563125303054821
7,7,1381447,2811,8.472317,1381439,2810,8.472208,8,J6,13.15171783052326,7.78202379046887,1381448,2834,8.54419,9,1,71.87300000000008,J6,0.30658691011310424,0.18210669390591905
8,8,1381483,2908,8.760361,1381475,2907,8.760245,8,J6,7.436279407197546,5.127041386597523,1381484,2929,8.832199,9,1,71.83799999999962,J2,0.06074767130727565,0.02750705896232285
9,9,1381561,3112,9.384332,1381553,3111,9.384204,8,J6,5.585605293050492,3.277206017832995,1381562,3134,9.456205,9,1,71.87300000000008,J4,0.15225994654176134,0.089150370994325
10,10,1381583,3170,9.560358,1381575,3169,9.56025,8,J2,4.165077087081428,2.128983861449047,1381585,3196,9.640214,10,2,79.85599999999948,J6,0.0734395372110157,0.043285948566531826
11,11,1381651,3350,10.104322,1381643,3349,10.104215,8,J2,1.8309533977318093,1.169340011162825,1381652,3373,10.17622,9,1,71.8980000000009,J6,0.07766831894582538,0.04246508921571141
12,12,1381697,3470,10.472333,1381689,3469,10.472191,8,J4,4.822353276363401,2.8611252897135864,1381698,3493,10.544283,9,1,71.94999999999929,J1,0.021077280093038553,0.014935517911187784
13,13,1381756,3627,10.944371,1381748,3626,10.944251,8,J4,8.152507963730145,5.168659196117862,1381757,3651,11.016226,9,1,71.85499999999934,J1,0.14554304541260876,0.0699602863618738
14,14,1381787,3710,11.192339,1381779,3709,11.19225,8,J6,10.40441920064211,5.679810575214033,1381789,3735,11.272261,10,2,79.92199999999983,J6,0.11945317484617135,0.05835950688086092
15,15,1381820,3796,11.456361,1381812,3795,11.456253,8,J2,2.6161077284098373,1.5911754635072362,1381822,3821,11.536287,10,2,79.92600000000039,J2,0.14980253942005772,0.08716897465096986
16,16,1381848,3870,11.680362,1381840,3869,11.680263,8,J2,4.682473812334727,2.2067399623329567,1381850,3895,11.760326,10,2,79.96399999999859,J6,0.17295643126782068,0.10419421346699378
17,18,1381950,4138,12.496365,1381942,4137,12.496271,8,J6,1.8139599579791934,1.1536991630766555,1381951,4159,12.568313,9,1,71.94799999999901,J6,0.07492339792059965,0.03834497543010648
1 trigger_no waypoint_index trigger_command_sequence trigger_command_frame trigger_command_time_relative_s trigger_current_status_sequence trigger_current_status_frame trigger_current_status_time_relative_s command_leads_status_cycles trigger_current_status_max_error_axis trigger_current_status_max_error_deg trigger_current_status_rms_error_deg best_status_sequence best_status_frame best_status_time_relative_s best_status_delay_from_current_status_cycles best_status_delay_from_trigger_command_cycles best_status_delay_from_trigger_command_ms best_status_max_error_axis best_status_max_error_deg best_status_rms_error_deg
2 1 1 1381124 1955 5.888271 1381116 1954 5.888166 8 J1 6.588241610414407 3.8225443630072706 1381126 1981 5.968124 10 2 79.85300000000083 J6 0.20758988641565335 0.12239685259209541
3 2 2 1381198 2151 6.480252 1381190 2150 6.480138 8 J1 2.33531536749085 1.3827543088729335 1381199 2172 6.552164 9 1 71.9120000000002 J1 0.08213390997131853 0.04616054814443023
4 3 3 1381226 2223 6.704225 1381218 2222 6.704166 8 J6 16.123934474475888 8.852376616648156 1381228 2248 6.784154 10 2 79.92899999999992 J6 0.5696919293327056 0.3239642953120798
5 4 4 1381269 2336 7.048266 1381261 2335 7.048148 8 J6 4.901882807288516 3.2440556235708993 1381271 2362 7.128175 10 2 79.90899999999979 J6 0.09470430997406254 0.06580474324148583
6 5 5 1381321 2477 7.464289 1381313 2476 7.464178 8 J6 9.21943820204428 4.621321121191458 1381323 2502 7.544122 10 2 79.83299999999983 J5 0.056622412878706285 0.03357478517689402
7 6 6 1381391 2665 8.024277 1381383 2664 8.024156 8 J6 6.1464605154096255 3.0478405356855083 1381392 2687 8.096181 9 1 71.90399999999997 J6 0.17697427883735983 0.08563125303054821
8 7 7 1381447 2811 8.472317 1381439 2810 8.472208 8 J6 13.15171783052326 7.78202379046887 1381448 2834 8.54419 9 1 71.87300000000008 J6 0.30658691011310424 0.18210669390591905
9 8 8 1381483 2908 8.760361 1381475 2907 8.760245 8 J6 7.436279407197546 5.127041386597523 1381484 2929 8.832199 9 1 71.83799999999962 J2 0.06074767130727565 0.02750705896232285
10 9 9 1381561 3112 9.384332 1381553 3111 9.384204 8 J6 5.585605293050492 3.277206017832995 1381562 3134 9.456205 9 1 71.87300000000008 J4 0.15225994654176134 0.089150370994325
11 10 10 1381583 3170 9.560358 1381575 3169 9.56025 8 J2 4.165077087081428 2.128983861449047 1381585 3196 9.640214 10 2 79.85599999999948 J6 0.0734395372110157 0.043285948566531826
12 11 11 1381651 3350 10.104322 1381643 3349 10.104215 8 J2 1.8309533977318093 1.169340011162825 1381652 3373 10.17622 9 1 71.8980000000009 J6 0.07766831894582538 0.04246508921571141
13 12 12 1381697 3470 10.472333 1381689 3469 10.472191 8 J4 4.822353276363401 2.8611252897135864 1381698 3493 10.544283 9 1 71.94999999999929 J1 0.021077280093038553 0.014935517911187784
14 13 13 1381756 3627 10.944371 1381748 3626 10.944251 8 J4 8.152507963730145 5.168659196117862 1381757 3651 11.016226 9 1 71.85499999999934 J1 0.14554304541260876 0.0699602863618738
15 14 14 1381787 3710 11.192339 1381779 3709 11.19225 8 J6 10.40441920064211 5.679810575214033 1381789 3735 11.272261 10 2 79.92199999999983 J6 0.11945317484617135 0.05835950688086092
16 15 15 1381820 3796 11.456361 1381812 3795 11.456253 8 J2 2.6161077284098373 1.5911754635072362 1381822 3821 11.536287 10 2 79.92600000000039 J2 0.14980253942005772 0.08716897465096986
17 16 16 1381848 3870 11.680362 1381840 3869 11.680263 8 J2 4.682473812334727 2.2067399623329567 1381850 3895 11.760326 10 2 79.96399999999859 J6 0.17295643126782068 0.10419421346699378
18 17 18 1381950 4138 12.496365 1381942 4137 12.496271 8 J6 1.8139599579791934 1.1536991630766555 1381951 4159 12.568313 9 1 71.94799999999901 J6 0.07492339792059965 0.03834497543010648