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
15 KiB
15 KiB
| 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 |
| 4 | 3 | 3 | 2223 | 6.704225 | 1381226 | 2222 | 6.704166 | 1381218 | 624369196 | -8 | -0.059000000000253294 | 55.109808014787404 | 8.759497374223619 | -8.518216825284897 | -41.11725046606459 | 10.108488114686867 | 41.956933292858096 | 56.5781364440918 | 1.4683284293043926 | 10.494372367858887 | 1.7348749936352679 | -7.114619255065918 | 1.4035975702189791 | -55.112239837646484 | -13.994989371581894 | 7.423236846923828 | -2.6852512677630394 | 58.080867767333984 | 16.123934474475888 | J6 | 16.123934474475888 | 8.852376616648156 | 2248 | 6.784154 | 1381228 | 624369276 | 10 | 2 | 79.92899999999992 | 55.00252151489258 | -0.10728649989482619 | 8.69005012512207 | -0.06944724910154854 | -8.577027320861816 | -0.05881049557691931 | -40.59286117553711 | 0.5243892905274805 | 10.210430145263672 | 0.1019420305768044 | 41.38724136352539 | -0.5696919293327056 | J6 | 0.5696919293327056 | 0.3239642953120798 |
| 5 | 4 | 4 | 2336 | 7.048266 | 1381269 | 2335 | 7.048148 | 1381261 | 624369540 | -8 | -0.11799999999961841 | 43.65359310453334 | -1.629659559507137 | -17.715753611915318 | 5.995208633582219 | 32.17171770646655 | -22.573973337684023 | 44.479610443115234 | 0.8260173385818916 | 0.07192186266183853 | 1.7015814221689756 | -15.996956825256348 | 1.7187967866589702 | 2.40028715133667 | -3.5949214822455486 | 27.737812042236328 | -4.433905664230224 | -17.672090530395508 | 4.901882807288516 | J6 | 4.901882807288516 | 3.2440556235708993 | 2362 | 7.128175 | 1381271 | 624369620 | 10 | 2 | 79.90899999999979 | 43.72715759277344 | 0.07356448824009476 | -1.6386029720306396 | -0.008943412523502614 | -17.75617218017578 | -0.04041856826046342 | 5.952699661254883 | -0.04250897232733575 | 32.2616081237793 | 0.08989041731274483 | -22.47926902770996 | 0.09470430997406254 | J6 | 0.09470430997406254 | 0.06580474324148583 |
| 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 |
| 7 | 6 | 6 | 2665 | 8.024277 | 1381391 | 2664 | 8.024156 | 1381383 | 624370516 | -8 | -0.12100000000003774 | 60.47948252708421 | 23.068781981390185 | -5.01126420129949 | 36.10685486878251 | 5.525681179628412 | -31.3025636495649 | 60.89759063720703 | 0.418108110122823 | 20.716407775878906 | -2.3523742055112784 | -4.913214206695557 | 0.09804999460393304 | 32.72084045410156 | -3.3860144146809503 | 6.405356407165527 | 0.8796752275371151 | -25.156103134155273 | 6.1464605154096255 | J6 | 6.1464605154096255 | 3.0478405356855083 | 2687 | 8.096181 | 1381392 | 624370588 | 9 | 1 | 71.90399999999997 | 60.54315185546875 | 0.06366932838454176 | 22.99761962890625 | -0.07116235248393465 | -5.037043571472168 | -0.025779370172678284 | 36.056732177734375 | -0.050122691048137824 | 5.545217037200928 | 0.019535857572515525 | -31.12558937072754 | 0.17697427883735983 | J6 | 0.17697427883735983 | 0.08563125303054821 |
| 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 |
| 10 | 9 | 9 | 3112 | 9.384332 | 1381561 | 3111 | 9.384204 | 1381553 | 624371876 | -8 | -0.128000000000128 | 73.57125874861414 | -6.42984524964374 | -9.628579811400881 | -128.80864727564332 | 14.671082817606491 | 140.00204816414424 | 72.96144104003906 | -0.6098177085750791 | -6.3001484870910645 | 0.12969676255267526 | -10.035088539123535 | -0.40650872772265423 | -123.29313659667969 | 5.515510678963636 | 13.165532112121582 | -1.505550705484909 | 134.41644287109375 | -5.585605293050492 | J6 | 5.585605293050492 | 3.277206017832995 | 3134 | 9.456205 | 1381562 | 624371948 | 9 | 1 | 71.87300000000008 | 73.55095672607422 | -0.02030202253992286 | -6.441007614135742 | -0.011162364492002474 | -9.614203453063965 | 0.014376358336916084 | -128.65638732910156 | 0.15225994654176134 | 14.635379791259766 | -0.03570302634672551 | 139.8520965576172 | -0.14995160652705408 | J4 | 0.15225994654176134 | 0.089150370994325 |
| 11 | 10 | 10 | 3170 | 9.560358 | 1381583 | 3169 | 9.56025 | 1381575 | 624372052 | -8 | -0.10800000000088517 | 75.56938603377543 | -14.67930590788221 | -7.294156094303152 | -130.92303342701462 | 17.688361072687904 | 141.89350789658602 | 74.36400604248047 | -1.2053799912949614 | -10.514228820800781 | 4.165077087081428 | -8.236283302307129 | -0.9421272080039769 | -132.6507110595703 | -1.7276776325556966 | 16.38176155090332 | -1.3065995217845838 | 143.5712890625 | 1.6777811659139843 | J2 | 4.165077087081428 | 2.128983861449047 | 3196 | 9.640214 | 1381585 | 624372132 | 10 | 2 | 79.85599999999948 | 75.62290954589844 | 0.05352351212300732 | -14.662798881530762 | 0.016507026351447962 | -7.297325611114502 | -0.003169516811349915 | -130.88812255859375 | 0.03491086842086588 | 17.726865768432617 | 0.03850469574471305 | 141.820068359375 | -0.0734395372110157 | J6 | 0.0734395372110157 | 0.043285948566531826 |
| 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 |
| 14 | 13 | 13 | 3627 | 10.944371 | 1381756 | 3626 | 10.944251 | 1381748 | 624373436 | -8 | -0.12000000000078614 | 79.75708299218505 | 4.6402310571176475 | -15.311185536748695 | -56.03531247084017 | 26.13313788666632 | 52.152257172101606 | 72.04009246826172 | -7.716990523923329 | 4.5515007972717285 | -0.08873025984591898 | -11.385177612304688 | 3.926007924444008 | -64.18782043457031 | -8.152507963730145 | 22.412456512451172 | -3.7206813742151468 | 54.39056396484375 | 2.2383067927421436 | J4 | 8.152507963730145 | 5.168659196117862 | 3651 | 11.016226 | 1381757 | 624373508 | 9 | 1 | 71.85499999999934 | 79.90262603759766 | 0.14554304541260876 | 4.62429666519165 | -0.015934391925997105 | -15.370849609375 | -0.05966407262630469 | -55.99199676513672 | 0.043315705703449225 | 26.182939529418945 | 0.04980164275262666 | 52.15596008300781 | 0.003702910906206114 | J1 | 0.14554304541260876 | 0.0699602863618738 |
| 15 | 14 | 14 | 3710 | 11.192339 | 1381787 | 3709 | 11.19225 | 1381779 | 624373684 | -8 | -0.08900000000089392 | 108.95555081237923 | 1.3707600427061273 | -33.59442519685133 | -48.36736100282485 | 43.963403989432074 | 85.03926111958742 | 102.20675659179688 | -6.748794220582354 | 2.5045764446258545 | 1.1338164019197272 | -29.148040771484375 | 4.446384425366958 | -48.76271438598633 | -0.3953533831614777 | 39.65629959106445 | -4.3071043983676205 | 74.63484191894531 | -10.40441920064211 | J6 | 10.40441920064211 | 5.679810575214033 | 3735 | 11.272261 | 1381789 | 624373764 | 10 | 2 | 79.92199999999983 | 108.94917297363281 | -0.006377838746416842 | 1.3447811603546143 | -0.025978882351513022 | -33.561458587646484 | 0.032966609204848396 | -48.376487731933594 | -0.009126729108743348 | 44.02882766723633 | 0.06542367780425451 | 85.1587142944336 | 0.11945317484617135 | J6 | 0.11945317484617135 | 0.05835950688086092 |
| 16 | 15 | 15 | 3796 | 11.456361 | 1381820 | 3795 | 11.456253 | 1381812 | 624373948 | -8 | -0.10799999999910881 | 110.58484797608095 | -3.860899593758653 | -32.39640711653168 | -51.112590875369015 | 44.2291595765054 | 87.62399978413751 | 110.58193969726562 | -0.002908278815326071 | -1.244791865348816 | 2.6161077284098373 | -33.74542999267578 | -1.3490228761441045 | -48.585723876953125 | 2.5268669984158905 | 44.58126449584961 | 0.35210491934420673 | 87.75857543945312 | 0.134575655315615 | J2 | 2.6161077284098373 | 1.5911754635072362 | 3821 | 11.536287 | 1381822 | 624374028 | 10 | 2 | 79.92600000000039 | 110.67292022705078 | 0.08807225096983018 | -4.010702133178711 | -0.14980253942005772 | -32.37457275390625 | 0.021834362625426706 | -51.22603225708008 | -0.11344138171106266 | 44.249629974365234 | 0.020470397859831735 | 87.66435241699219 | 0.040352632854677495 | J2 | 0.14980253942005772 | 0.08716897465096986 |
| 17 | 16 | 16 | 3870 | 11.680362 | 1381848 | 3869 | 11.680263 | 1381840 | 624374172 | -8 | -0.09900000000051534 | 118.09595224767921 | -17.37638727211256 | -31.06900084212659 | -59.56053843778568 | 48.73257576059714 | 94.13477131163891 | 115.98970031738281 | -2.106251930296395 | -12.693913459777832 | 4.682473812334727 | -31.563575744628906 | -0.49457490250231473 | -59.300933837890625 | 0.2596045998950558 | 47.15116500854492 | -1.5814107520522214 | 94.34331512451172 | 0.20854381287280432 | J2 | 4.682473812334727 | 2.2067399623329567 | 3895 | 11.760326 | 1381850 | 624374252 | 10 | 2 | 79.96399999999859 | 118.06391906738281 | -0.0320331802963949 | -17.536325454711914 | -0.15993818259935466 | -31.00341796875 | 0.06558287337659152 | -59.507286071777344 | 0.05325236600833705 | 48.77106475830078 | 0.038488997703638006 | 93.9618148803711 | -0.17295643126782068 | J6 | 0.17295643126782068 | 0.10419421346699378 |
| 18 | 17 | 18 | 4138 | 12.496365 | 1381950 | 4137 | 12.496271 | 1381942 | 624374988 | -8 | -0.09400000000070463 | 60.28248244838438 | -22.938080568038327 | -10.333247998560786 | 77.49164224770549 | 35.58337770883919 | -69.66898071584893 | 61.48033142089844 | 1.197848972514059 | -23.1823787689209 | -0.2442982008825716 | -10.346473693847656 | -0.01322569528687012 | 79.24906921386719 | 1.7574269661617024 | 35.91868591308594 | 0.33530820424675056 | -71.48294067382812 | -1.8139599579791934 | J6 | 1.8139599579791934 | 1.1536991630766555 | 4159 | 12.568313 | 1381951 | 624375060 | 9 | 1 | 71.94799999999901 | 60.27695846557617 | -0.00552398280820654 | -22.918088912963867 | 0.019991655074459658 | -10.347146987915039 | -0.013898989354252933 | 77.54158782958984 | 0.0499455818843586 | 35.57386016845703 | -0.009517540382155687 | -69.74390411376953 | -0.07492339792059965 | J6 | 0.07492339792059965 | 0.03834497543010648 |