✨ feat(*): 添加触发样本偏移与实发轨迹分析导出

* 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
2026-05-09 11:12:31 +08:00
parent 1779067b5c
commit f7e2bb0e7b
35 changed files with 5772 additions and 55 deletions
--- a/analysis/2026042802-1/2026042802-1_trigger_offset_6_7_8_summary.json
+++ b/analysis/2026042802-1/2026042802-1_trigger_offset_6_7_8_summary.json
@@ -0,0 +1,18 @@
+{
+  "rows": 17,
+  "best_offset_win_counts": {
+    "6": 17,
+    "7": 0,
+    "8": 0
+  },
+  "average_max_error_deg": {
+    "6": 4.241583591714439,
+    "7": 5.068092118561757,
+    "8": 5.9316839578472145
+  },
+  "average_rms_error_deg": {
+    "6": 2.5406136706026206,
+    "7": 3.021296972079456,
+    "8": 3.5201758351699857
+  }
+}