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
3.6 KiB
3.6 KiB
| 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 |