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
7.5 KiB
7.5 KiB
| 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 |