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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_vs_teach_points.csv Normal file
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trigger_no,waypoint_index,frame_number,sequence,time_relative_s,write_io_value,io_addrs,config_addr,max_error_axis,max_error_deg,rms_error_deg,j1_actual_deg,j1_teach_deg,diff_j1_deg,j2_actual_deg,j2_teach_deg,diff_j2_deg,j3_actual_deg,j3_teach_deg,diff_j3_deg,j4_actual_deg,j4_teach_deg,diff_j4_deg,j5_actual_deg,j5_teach_deg,diff_j5_deg,j6_actual_deg,j6_teach_deg,diff_j6_deg
1,1,1955,1381124,5.888271,10,"[2, 4]","[2, 4]",J6,3.4065268256551553,2.468438977201345,45.8632698059082,48.886810269468405,-3.0235404635602023,2.9724788665771484,2.1989850886957285,0.7734937778814199,-13.609341621398926,-11.021017368511105,-2.588324252887821,-2.1851141452789307,0.4102097980549552,-2.5953239433338857,7.582361221313477,6.248381265333557,1.3339799559799195,5.701517581939697,2.294990756284542,3.4065268256551553
2,2,2151,1381198,6.480252,14,"[2, 3, 4]","[3, 4, 2]",J4,2.8167225076858244,1.6562461612538633,56.34336471557617,55.34775509527405,0.995609620302119,11.66723918914795,11.807039833001637,-0.13980064385368784,-6.600923538208008,-7.0090952672806885,0.40817172907268073,-68.1976089477539,-71.01433145543973,2.8167225076858244,6.058437347412109,6.012065051914967,0.04637229549714217,71.5392837524414,74.24953191606797,-2.7102481636265594
3,3,2223,1381226,6.704225,14,"[2, 3, 4]","[3, 4, 2]",J6,11.130744251720401,5.955607695749779,53.50831985473633,55.109808014787404,-1.6014881600510762,7.412222862243652,8.759497374223619,-1.3472745119799665,-9.629739761352539,-8.518216825284897,-1.111522936067642,-32.30571365356445,-41.11725046606459,8.811536812500137,12.488306045532227,10.108488114686867,2.379817930845359,30.826189041137695,41.956933292858096,-11.130744251720401
4,4,2336,1381269,7.048266,10,"[2, 4]","[4, 2]",J6,2.3116842904428125,1.3731583485126422,44.433006286621094,43.65359310453334,0.779413182087751,-2.1156294345855713,-1.629659559507137,-0.48596987507843425,-18.39777374267578,-17.715753611915318,-0.6820201307604634,4.8371992111206055,5.995208633582219,-1.158009422461613,33.99372482299805,32.17171770646655,1.8220071165314948,-20.26228904724121,-22.573973337684023,2.3116842904428125
5,5,2477,1381321,7.464289,10,"[2, 4]","[4, 2]",J5,2.171828177649214,1.404704060246151,65.84967041015625,64.58244475717193,1.2672256529843224,5.695003032684326,4.262979315506351,1.4320237171779748,-14.563636779785156,-15.669217122643433,1.1055803428582767,-28.69342613220215,-29.952927185666542,1.259501053464394,27.678611755371094,29.850439933020308,-2.171828177649214,46.437156677246094,45.62652743544272,0.810629241803376
6,6,2665,1381391,8.024277,12,"[3, 4]","[3, 4]",J2,1.408993592340284,0.8424031169595625,60.847530364990234,60.47948252708421,0.36804783790602613,24.47777557373047,23.068781981390185,1.408993592340284,-5.617043972015381,-5.01126420129949,-0.6057797707158912,34.8044319152832,36.10685486878251,-1.3024229534993097,5.786255359649658,5.525681179628412,0.260574180021246,-31.2253475189209,-31.3025636495649,0.07721613064400046
7,7,2811,1381447,8.472317,12,"[3, 4]","[3, 4]",J6,7.1941073647892395,4.618545262978315,70.8250503540039,70.47583707168602,0.3492132823178906,10.95259952545166,16.39384887825908,-5.4412493528074215,-13.136046409606934,-13.456948007467595,0.3209015978606615,-34.68459701538086,-27.892318852946243,-6.7922781624346165,14.022420883178711,14.53566195089614,-0.5132410677174288,38.90604019165039,31.71193282686115,7.1941073647892395
8,8,2908,1381483,8.760361,10,"[2, 4]","[4, 2]",J6,5.93988407546847,3.533132924843701,69.40516662597656,69.58246408878419,-0.1772974628076298,-20.066781997680664,-17.10571341532583,-2.9610685823548337,-8.152935981750488,-8.710589696831251,0.5576537150807628,-63.93235397338867,-58.47569441890704,-5.456659554481632,6.775912284851074,7.63059003611043,-0.8546777512593557,70.37761688232422,64.43773280685575,5.93988407546847
9,9,3112,1381561,9.384332,10,"[2, 4]","[4, 2]",J4,2.5240706198644887,1.630593251762862,73.90592956542969,73.57125874861414,0.3346708168155459,-8.016124725341797,-6.42984524964374,-1.5862794756980572,-9.002426147460938,-9.628579811400881,0.6261536639399434,-131.3327178955078,-128.80864727564332,-2.5240706198644887,15.526206970214844,14.671082817606491,0.8551241526083526,142.41668701171875,140.00204816414424,2.4146388475745084
10,10,3170,1381583,9.560358,10,"[2, 4]","[4, 2]",J4,3.3929965007450846,2.1059862266772753,76.72688293457031,75.56938603377543,1.1574969007948823,-16.518726348876953,-14.67930590788221,-1.8394204409947434,-7.15147066116333,-7.294156094303152,0.14268543313982196,-127.53003692626953,-130.92303342701462,3.3929965007450846,18.53788948059082,17.688361072687904,0.8495284079029162,138.7897491455078,141.89350789658602,-3.103758751078203
11,11,3350,1381651,10.104322,10,"[2, 4]","[4, 2]",J6,2.9848240516596434,2.0134925384056306,83.71662139892578,86.0934977330502,-2.376876334124418,-13.186573028564453,-14.498333177585573,1.3117601490211204,-13.738808631896973,-13.681510793859989,-0.05729783803698396,-72.70317840576172,-69.8682955440411,-2.834882861720615,26.66758918762207,26.742681901805224,-0.07509271418315322,91.98423767089844,88.9994136192388,2.9848240516596434
12,12,3470,1381697,10.472333,10,"[2, 4]","[4, 2]",J6,4.000958239175844,1.9902461373621054,59.78955841064453,61.720732564877665,-1.9311741542331333,-2.7094168663024902,-4.2327893098442155,1.5233724435417253,-8.933828353881836,-9.784423185760874,0.8505948318790377,-108.24857330322266,-108.38408270751574,0.13550940429308866,21.177492141723633,22.16077221865394,-0.9832800769303063,114.14110565185547,118.14206389103131,-4.000958239175844
13,13,3627,1381756,10.944371,12,"[3, 4]","[4, 3]",J1,6.656208938967296,4.109282348845555,86.41329193115234,79.75708299218505,6.656208938967296,4.266173362731934,4.6402310571176475,-0.3740576943857139,-19.15987777709961,-15.311185536748695,-3.848692240350914,-52.24028015136719,-56.03531247084017,3.7950323194729805,29.853723526000977,26.13313788666632,3.720585639334658,55.86907196044922,52.152257172101606,3.7168147883476124
14,14,3710,1381787,11.192339,10,"[2, 4]","[4, 2]",J6,2.93518040873289,1.5679827735552678,110.7523193359375,108.95555081237923,1.7967685235582707,0.8751887679100037,1.3707600427061273,-0.4955712747961236,-34.756534576416016,-33.59442519685133,-1.1621093795646829,-48.14332580566406,-48.36736100282485,0.2240351971607879,45.0865592956543,43.963403989432074,1.1231553062222233,87.97444152832031,85.03926111958742,2.93518040873289
15,15,3796,1381820,11.456361,10,"[2, 4]","[4, 2]",J4,2.573146734494266,1.686689503314435,111.79177856445312,110.58484797608095,1.206930588372174,-6.225440502166748,-3.860899593758653,-2.364540908408095,-31.958988189697266,-32.39640711653168,0.4374189268344111,-53.68573760986328,-51.112590875369015,-2.573146734494266,44.76150894165039,44.2291595765054,0.532349365144988,89.33454895019531,87.62399978413751,1.7105491660578025
16,16,3870,1381848,11.680362,10,"[2, 4]","[4, 2]",J6,3.8105220440607894,2.197782779718695,117.87474060058594,118.09595224767921,-0.2212116470932699,-19.607177734375,-17.37638727211256,-2.2307904622624406,-30.329103469848633,-31.06900084212659,0.7398973722779587,-56.600250244140625,-59.56053843778568,2.960288193645056,49.08655548095703,48.73257576059714,0.353979720359888,90.32424926757812,94.13477131163891,-3.8105220440607894
17,18,4138,1381950,12.496365,12,"[3, 4]","[4, 3]",J4,6.848522435693766,4.03614029285736,59.93589401245117,60.28248244838438,-0.34658843593320654,-21.102140426635742,-22.938080568038327,1.8359401414025847,-9.684239387512207,-10.333247998560786,0.6490086110485791,70.64311981201172,77.49164224770549,-6.848522435693766,32.941307067871094,35.58337770883919,-2.642070640968093,-63.34855651855469,-69.66898071584893,6.320424197294244
1 trigger_no waypoint_index frame_number sequence time_relative_s write_io_value io_addrs config_addr max_error_axis max_error_deg rms_error_deg j1_actual_deg j1_teach_deg diff_j1_deg j2_actual_deg j2_teach_deg diff_j2_deg j3_actual_deg j3_teach_deg diff_j3_deg j4_actual_deg j4_teach_deg diff_j4_deg j5_actual_deg j5_teach_deg diff_j5_deg j6_actual_deg j6_teach_deg diff_j6_deg
2 1 1 1955 1381124 5.888271 10 [2, 4] [2, 4] J6 3.4065268256551553 2.468438977201345 45.8632698059082 48.886810269468405 -3.0235404635602023 2.9724788665771484 2.1989850886957285 0.7734937778814199 -13.609341621398926 -11.021017368511105 -2.588324252887821 -2.1851141452789307 0.4102097980549552 -2.5953239433338857 7.582361221313477 6.248381265333557 1.3339799559799195 5.701517581939697 2.294990756284542 3.4065268256551553
3 2 2 2151 1381198 6.480252 14 [2, 3, 4] [3, 4, 2] J4 2.8167225076858244 1.6562461612538633 56.34336471557617 55.34775509527405 0.995609620302119 11.66723918914795 11.807039833001637 -0.13980064385368784 -6.600923538208008 -7.0090952672806885 0.40817172907268073 -68.1976089477539 -71.01433145543973 2.8167225076858244 6.058437347412109 6.012065051914967 0.04637229549714217 71.5392837524414 74.24953191606797 -2.7102481636265594
4 3 3 2223 1381226 6.704225 14 [2, 3, 4] [3, 4, 2] J6 11.130744251720401 5.955607695749779 53.50831985473633 55.109808014787404 -1.6014881600510762 7.412222862243652 8.759497374223619 -1.3472745119799665 -9.629739761352539 -8.518216825284897 -1.111522936067642 -32.30571365356445 -41.11725046606459 8.811536812500137 12.488306045532227 10.108488114686867 2.379817930845359 30.826189041137695 41.956933292858096 -11.130744251720401
5 4 4 2336 1381269 7.048266 10 [2, 4] [4, 2] J6 2.3116842904428125 1.3731583485126422 44.433006286621094 43.65359310453334 0.779413182087751 -2.1156294345855713 -1.629659559507137 -0.48596987507843425 -18.39777374267578 -17.715753611915318 -0.6820201307604634 4.8371992111206055 5.995208633582219 -1.158009422461613 33.99372482299805 32.17171770646655 1.8220071165314948 -20.26228904724121 -22.573973337684023 2.3116842904428125
6 5 5 2477 1381321 7.464289 10 [2, 4] [4, 2] J5 2.171828177649214 1.404704060246151 65.84967041015625 64.58244475717193 1.2672256529843224 5.695003032684326 4.262979315506351 1.4320237171779748 -14.563636779785156 -15.669217122643433 1.1055803428582767 -28.69342613220215 -29.952927185666542 1.259501053464394 27.678611755371094 29.850439933020308 -2.171828177649214 46.437156677246094 45.62652743544272 0.810629241803376
7 6 6 2665 1381391 8.024277 12 [3, 4] [3, 4] J2 1.408993592340284 0.8424031169595625 60.847530364990234 60.47948252708421 0.36804783790602613 24.47777557373047 23.068781981390185 1.408993592340284 -5.617043972015381 -5.01126420129949 -0.6057797707158912 34.8044319152832 36.10685486878251 -1.3024229534993097 5.786255359649658 5.525681179628412 0.260574180021246 -31.2253475189209 -31.3025636495649 0.07721613064400046
8 7 7 2811 1381447 8.472317 12 [3, 4] [3, 4] J6 7.1941073647892395 4.618545262978315 70.8250503540039 70.47583707168602 0.3492132823178906 10.95259952545166 16.39384887825908 -5.4412493528074215 -13.136046409606934 -13.456948007467595 0.3209015978606615 -34.68459701538086 -27.892318852946243 -6.7922781624346165 14.022420883178711 14.53566195089614 -0.5132410677174288 38.90604019165039 31.71193282686115 7.1941073647892395
9 8 8 2908 1381483 8.760361 10 [2, 4] [4, 2] J6 5.93988407546847 3.533132924843701 69.40516662597656 69.58246408878419 -0.1772974628076298 -20.066781997680664 -17.10571341532583 -2.9610685823548337 -8.152935981750488 -8.710589696831251 0.5576537150807628 -63.93235397338867 -58.47569441890704 -5.456659554481632 6.775912284851074 7.63059003611043 -0.8546777512593557 70.37761688232422 64.43773280685575 5.93988407546847
10 9 9 3112 1381561 9.384332 10 [2, 4] [4, 2] J4 2.5240706198644887 1.630593251762862 73.90592956542969 73.57125874861414 0.3346708168155459 -8.016124725341797 -6.42984524964374 -1.5862794756980572 -9.002426147460938 -9.628579811400881 0.6261536639399434 -131.3327178955078 -128.80864727564332 -2.5240706198644887 15.526206970214844 14.671082817606491 0.8551241526083526 142.41668701171875 140.00204816414424 2.4146388475745084
11 10 10 3170 1381583 9.560358 10 [2, 4] [4, 2] J4 3.3929965007450846 2.1059862266772753 76.72688293457031 75.56938603377543 1.1574969007948823 -16.518726348876953 -14.67930590788221 -1.8394204409947434 -7.15147066116333 -7.294156094303152 0.14268543313982196 -127.53003692626953 -130.92303342701462 3.3929965007450846 18.53788948059082 17.688361072687904 0.8495284079029162 138.7897491455078 141.89350789658602 -3.103758751078203
12 11 11 3350 1381651 10.104322 10 [2, 4] [4, 2] J6 2.9848240516596434 2.0134925384056306 83.71662139892578 86.0934977330502 -2.376876334124418 -13.186573028564453 -14.498333177585573 1.3117601490211204 -13.738808631896973 -13.681510793859989 -0.05729783803698396 -72.70317840576172 -69.8682955440411 -2.834882861720615 26.66758918762207 26.742681901805224 -0.07509271418315322 91.98423767089844 88.9994136192388 2.9848240516596434
13 12 12 3470 1381697 10.472333 10 [2, 4] [4, 2] J6 4.000958239175844 1.9902461373621054 59.78955841064453 61.720732564877665 -1.9311741542331333 -2.7094168663024902 -4.2327893098442155 1.5233724435417253 -8.933828353881836 -9.784423185760874 0.8505948318790377 -108.24857330322266 -108.38408270751574 0.13550940429308866 21.177492141723633 22.16077221865394 -0.9832800769303063 114.14110565185547 118.14206389103131 -4.000958239175844
14 13 13 3627 1381756 10.944371 12 [3, 4] [4, 3] J1 6.656208938967296 4.109282348845555 86.41329193115234 79.75708299218505 6.656208938967296 4.266173362731934 4.6402310571176475 -0.3740576943857139 -19.15987777709961 -15.311185536748695 -3.848692240350914 -52.24028015136719 -56.03531247084017 3.7950323194729805 29.853723526000977 26.13313788666632 3.720585639334658 55.86907196044922 52.152257172101606 3.7168147883476124
15 14 14 3710 1381787 11.192339 10 [2, 4] [4, 2] J6 2.93518040873289 1.5679827735552678 110.7523193359375 108.95555081237923 1.7967685235582707 0.8751887679100037 1.3707600427061273 -0.4955712747961236 -34.756534576416016 -33.59442519685133 -1.1621093795646829 -48.14332580566406 -48.36736100282485 0.2240351971607879 45.0865592956543 43.963403989432074 1.1231553062222233 87.97444152832031 85.03926111958742 2.93518040873289
16 15 15 3796 1381820 11.456361 10 [2, 4] [4, 2] J4 2.573146734494266 1.686689503314435 111.79177856445312 110.58484797608095 1.206930588372174 -6.225440502166748 -3.860899593758653 -2.364540908408095 -31.958988189697266 -32.39640711653168 0.4374189268344111 -53.68573760986328 -51.112590875369015 -2.573146734494266 44.76150894165039 44.2291595765054 0.532349365144988 89.33454895019531 87.62399978413751 1.7105491660578025
17 16 16 3870 1381848 11.680362 10 [2, 4] [4, 2] J6 3.8105220440607894 2.197782779718695 117.87474060058594 118.09595224767921 -0.2212116470932699 -19.607177734375 -17.37638727211256 -2.2307904622624406 -30.329103469848633 -31.06900084212659 0.7398973722779587 -56.600250244140625 -59.56053843778568 2.960288193645056 49.08655548095703 48.73257576059714 0.353979720359888 90.32424926757812 94.13477131163891 -3.8105220440607894
18 17 18 4138 1381950 12.496365 12 [3, 4] [4, 3] J4 6.848522435693766 4.03614029285736 59.93589401245117 60.28248244838438 -0.34658843593320654 -21.102140426635742 -22.938080568038327 1.8359401414025847 -9.684239387512207 -10.333247998560786 0.6490086110485791 70.64311981201172 77.49164224770549 -6.848522435693766 32.941307067871094 35.58337770883919 -2.642070640968093 -63.34855651855469 -69.66898071584893 6.320424197294244