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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_trigger_status_feedback_vs_teach_points.csv Normal file
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trigger_no,waypoint_index,trigger_frame_number,trigger_time_relative_s,trigger_sequence,paired_status_frame_number,paired_status_time_relative_s,paired_status_sequence,paired_status_timestamp,paired_status_to_trigger_sequence_delta,paired_status_to_trigger_time_ms,teach_j1_deg,teach_j2_deg,teach_j3_deg,teach_j4_deg,teach_j5_deg,teach_j6_deg,paired_status_j1_actual_deg,paired_status_diff_j1_deg,paired_status_j2_actual_deg,paired_status_diff_j2_deg,paired_status_j3_actual_deg,paired_status_diff_j3_deg,paired_status_j4_actual_deg,paired_status_diff_j4_deg,paired_status_j5_actual_deg,paired_status_diff_j5_deg,paired_status_j6_actual_deg,paired_status_diff_j6_deg,paired_status_max_error_axis,paired_status_max_error_deg,paired_status_rms_error_deg,best_status_frame_number,best_status_time_relative_s,best_status_sequence,best_status_timestamp,best_status_delta_from_paired_cycles,best_status_delta_from_trigger_sequence,best_status_time_after_trigger_ms,best_status_j1_actual_deg,best_status_diff_j1_deg,best_status_j2_actual_deg,best_status_diff_j2_deg,best_status_j3_actual_deg,best_status_diff_j3_deg,best_status_j4_actual_deg,best_status_diff_j4_deg,best_status_j5_actual_deg,best_status_diff_j5_deg,best_status_j6_actual_deg,best_status_diff_j6_deg,best_status_max_error_axis,best_status_max_error_deg,best_status_rms_error_deg
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1 trigger_no waypoint_index trigger_frame_number trigger_time_relative_s trigger_sequence paired_status_frame_number paired_status_time_relative_s paired_status_sequence paired_status_timestamp paired_status_to_trigger_sequence_delta paired_status_to_trigger_time_ms teach_j1_deg teach_j2_deg teach_j3_deg teach_j4_deg teach_j5_deg teach_j6_deg paired_status_j1_actual_deg paired_status_diff_j1_deg paired_status_j2_actual_deg paired_status_diff_j2_deg paired_status_j3_actual_deg paired_status_diff_j3_deg paired_status_j4_actual_deg paired_status_diff_j4_deg paired_status_j5_actual_deg paired_status_diff_j5_deg paired_status_j6_actual_deg paired_status_diff_j6_deg paired_status_max_error_axis paired_status_max_error_deg paired_status_rms_error_deg best_status_frame_number best_status_time_relative_s best_status_sequence best_status_timestamp best_status_delta_from_paired_cycles best_status_delta_from_trigger_sequence best_status_time_after_trigger_ms best_status_j1_actual_deg best_status_diff_j1_deg best_status_j2_actual_deg best_status_diff_j2_deg best_status_j3_actual_deg best_status_diff_j3_deg best_status_j4_actual_deg best_status_diff_j4_deg best_status_j5_actual_deg best_status_diff_j5_deg best_status_j6_actual_deg best_status_diff_j6_deg best_status_max_error_axis best_status_max_error_deg best_status_rms_error_deg
2 1 1 1955 5.888271 1381124 1954 5.888166 1381116 624368380 -8 -0.10499999999957765 48.886810269468405 2.1989850886957285 -11.021017368511105 0.4102097980549552 6.248381265333557 2.294990756284542 55.47505187988281 6.588241610414407 1.2506256103515625 -0.948359478344166 -5.400295734405518 5.620721634105587 0.5259769558906555 0.1157671578357003 3.3612561225891113 -2.8871251427444458 0.44421958923339844 -1.8507711670511435 J1 6.588241610414407 3.8225443630072706 1981 5.968124 1381126 624368460 10 2 79.85300000000083 48.76339340209961 -0.12341686736879609 2.256481647491455 0.05749655879572657 -11.157909393310547 -0.13689202479944207 0.37860527634620667 -0.031604521708748556 6.3406662940979 0.0922850287643433 2.5025806427001953 0.20758988641565335 J6 0.20758988641565335 0.12239685259209541
3 2 2 2151 6.480252 1381198 2150 6.480138 1381190 624368972 -8 -0.11399999999994748 55.34775509527405 11.807039833001637 -7.0090952672806885 -71.01433145543973 6.012065051914967 74.24953191606797 53.0124397277832 -2.33531536749085 11.506516456604004 -0.30052337639763316 -8.466276168823242 -1.4571809015425536 -69.63382720947266 1.3805042459670744 6.426647663116455 0.41458261120148787 72.93537902832031 -1.3141528877476532 J1 2.33531536749085 1.3827543088729335 2172 6.552164 1381199 624369044 9 1 71.9120000000002 55.265621185302734 -0.08213390997131853 11.803675651550293 -0.003364181451344095 -7.050373554229736 -0.04127828694904778 -71.06609344482422 -0.05176198938448806 6.026607990264893 0.014542938349925372 74.28738403320312 0.03785211713515935 J1 0.08213390997131853 0.04616054814443023
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6 5 5 2477 7.464289 1381321 2476 7.464178 1381313 624369956 -8 -0.11099999999952814 64.58244475717193 4.262979315506351 -15.669217122643433 -29.952927185666542 29.850439933020308 45.62652743544272 60.830230712890625 -3.7522140442813026 1.8808640241622925 -2.382115291344059 -17.297021865844727 -1.6278047432012936 -26.684900283813477 3.268026901853066 33.02191925048828 3.1714793174679734 36.40708923339844 -9.21943820204428 J6 9.21943820204428 4.621321121191458 2502 7.544122 1381323 624370036 10 2 79.83299999999983 64.5761947631836 -0.006249993988333813 4.283629417419434 0.020650101913082253 -15.615406036376953 0.05381108626647979 -29.94143295288086 0.011494232785683067 29.7938175201416 -0.056622412878706285 45.61851119995117 -0.008016235491545842 J5 0.056622412878706285 0.03357478517689402
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8 7 7 2811 8.472317 1381447 2810 8.472208 1381439 624370964 -8 -0.10900000000013677 70.47583707168602 16.39384887825908 -13.456948007467595 -27.892318852946243 14.53566195089614 31.71193282686115 69.13842010498047 -1.3374169667055469 22.202428817749023 5.808579939489942 -12.907807350158691 0.5491406573089037 -15.469873428344727 12.422445424601516 14.040997505187988 -0.4946644457081515 18.56021499633789 -13.15171783052326 J6 13.15171783052326 7.78202379046887 2834 8.54419 1381448 624371036 9 1 71.87300000000008 70.3967514038086 -0.07908566787742188 16.456680297851562 0.06283141959248084 -13.330730438232422 0.12621756923517324 -27.611600875854492 0.2807179770917507 14.542427062988281 0.006765112092141479 31.405345916748047 -0.30658691011310424 J6 0.30658691011310424 0.18210669390591905
9 8 8 2908 8.760361 1381483 2907 8.760245 1381475 624371252 -8 -0.11600000000022703 69.58246408878419 -17.10571341532583 -8.710589696831251 -58.47569441890704 7.63059003611043 64.43773280685575 70.10379791259766 0.5213338238134639 -10.075156211853027 7.030557203472803 -9.98978042602539 -1.2791907291941396 -51.5866584777832 6.889035941123836 9.534638404846191 1.9040483687357614 57.0014533996582 -7.436279407197546 J6 7.436279407197546 5.127041386597523 2929 8.832199 1381484 624371324 9 1 71.83799999999962 69.59716033935547 0.014696250571276437 -17.044965744018555 0.06074767130727565 -8.703485488891602 0.007104207939649498 -58.473426818847656 0.0022676000593833123 7.6463942527771 0.015804216666669646 64.45584869384766 0.01811588699190736 J2 0.06074767130727565 0.02750705896232285
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12 11 11 3350 10.104322 1381651 3349 10.104215 1381643 624372596 -8 -0.10699999999985721 86.0934977330502 -14.498333177585573 -13.681510793859989 -69.8682955440411 26.742681901805224 88.9994136192388 87.81878662109375 1.7252888880435506 -16.329286575317383 -1.8309533977318093 -13.073507308959961 0.6080034849000278 -70.97254180908203 -1.1042462650409277 26.366661071777344 -0.3760208300278798 89.37981414794922 0.3804005287104246 J2 1.8309533977318093 1.169340011162825 3373 10.17622 1381652 624372668 9 1 71.8980000000009 86.11857604980469 0.025078316754488128 -14.53605842590332 -0.03772524831774682 -13.651655197143555 0.029855596716434007 -69.8272933959961 0.04100214804500979 26.72992706298828 -0.012754838816942282 88.92174530029297 -0.07766831894582538 J6 0.07766831894582538 0.04246508921571141
13 12 12 3470 10.472333 1381697 3469 10.472191 1381689 624372964 -8 -0.14200000000030855 61.720732564877665 -4.2327893098442155 -9.784423185760874 -108.38408270751574 22.16077221865394 118.14206389103131 65.91849517822266 4.197762613344992 -6.331206798553467 -2.0984174887092513 -11.008773803710938 -1.2243506179500638 -103.56172943115234 4.822353276363401 23.532543182373047 1.3717709637191078 117.46694946289062 -0.675114428140688 J4 4.822353276363401 2.8611252897135864 3493 10.544283 1381698 624373036 9 1 71.94999999999929 61.7418098449707 0.021077280093038553 -4.212831497192383 0.019957812651832718 -9.789913177490234 -0.00548999172936071 -108.36312103271484 0.020961674800901164 22.163673400878906 0.002901182224967158 118.13783264160156 -0.0042312494297505054 J1 0.021077280093038553 0.014935517911187784
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