yunxiao.zhu
f7e2bb0e7b
* 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
3.0 KiB
3.0 KiB
| 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 |