From 3f88b1ccca368d5583dc67285e51c74065b71f7f Mon Sep 17 00:00:00 2001
From: YikaiFu-cart <yikai.fu@nicecart.ai>
Date: Mon, 24 Aug 2026 18:12:29 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20=E6=9B=B4=E6=96=B0=E8=A7=84=E8=8C=83?=
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MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../ik_comparison/episode_0/analysis_2.3.4.md |     6 +-
 .../episode_0/figure_2_11_tracking_error.png  |   Bin 443931 -> 443833 bytes
 .../episode_0/figure_2_11_tracking_error.svg  | 12624 ++++++++--------
 .../figure_2_12_joint_constraints.png         |   Bin 277806 -> 277808 bytes
 .../figure_2_12_joint_constraints.svg         |  8872 +++++------
 .../episode_0/figure_2_13_summary.png         |   Bin 277336 -> 277559 bytes
 .../episode_0/figure_2_13_summary.svg         |  7885 +++++-----
 output/ik_comparison/episode_0/samples.csv    |  8684 +++++------
 output/ik_comparison/episode_0/summary.json   |    20 +-
 9 files changed, 19055 insertions(+), 19036 deletions(-)

diff --git a/output/ik_comparison/episode_0/analysis_2.3.4.md b/output/ik_comparison/episode_0/analysis_2.3.4.md
index 5c73da8..27059c5 100644
--- a/output/ik_comparison/episode_0/analysis_2.3.4.md
+++ b/output/ik_comparison/episode_0/analysis_2.3.4.md
@@ -9,9 +9,9 @@ DLS 扫描的固定阻尼候选为 0.001, 0.003, 0.01, 0.03, 0.1, 0.3，本轨
 
 | 方法 | 位置 RMSE (m) | 姿态 RMSE (rad) | 最大关节速度 (°/s) | 最小归一化裕度 | 平均/最大求解时间 (ms) | 成功率 |
 | --- | ---: | ---: | ---: | ---: | ---: | ---: |
-| Jacobian 伪逆 | 0.260542 | 0.713938 | 30.000 | 0.1509 | 0.138 / 0.885 | 1.17% |
-| DLS | 0.005845 | 0.011201 | 49.999 | 0.0607 | 0.389 / 1.864 | 100.00% |
-| 优化 QP | 0.004929 | 0.011075 | 46.666 | 0.0611 | 0.202 / 1.416 | 100.00% |
+| Jacobian 伪逆 | 0.260542 | 0.713938 | 30.000 | 0.1509 | 0.136 / 1.061 | 1.17% |
+| DLS | 0.005845 | 0.011201 | 49.999 | 0.0607 | 0.391 / 1.942 | 100.00% |
+| 优化 QP | 0.004929 | 0.011075 | 46.666 | 0.0611 | 0.206 / 1.057 | 100.00% |
 
 图 2-11 三种逆运动学方法的末端位置与姿态跟踪误差。纵轴采用对数坐标以同时显示不同
 数量级的误差，叉号稀疏标记数值求解失败并保持上一安全关节状态的周期。
diff --git a/output/ik_comparison/episode_0/figure_2_11_tracking_error.png b/output/ik_comparison/episode_0/figure_2_11_tracking_error.png
index cbf0e94e9663d3c07990f44ca760903b28d419ac..64e8dd58c3e6e5182a183b12cbd8cffff237b93a 100644
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diff --git a/output/ik_comparison/episode_0/samples.csv b/output/ik_comparison/episode_0/samples.csv
index a5de932..9a7211c 100644
--- a/output/ik_comparison/episode_0/samples.csv
+++ b/output/ik_comparison/episode_0/samples.csv
@@ -1,4342 +1,4342 @@
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+qp,16.055302349118257,-0.39493450299711685,-0.03335187019871001,0.3488671197004193,0.0927444389384997,-0.7877210898097835,0.24042498831617648,0.5595442598294049,-0.3954587089453994,-0.035474891852250355,0.34627352760183205,0.09626522094627911,-0.7901820602098272,0.24305343638150523,0.5543197146249254,0.0033924523270740434,0.014513045737634872,-2.117189768750827,0.18845133659173638,-1.775642517537599,1.9543729738671294,-1.5676953076683364,-1.2834898731798894,-1.5600900712406665,0.2908836211715847,0.29780637403245735,-0.5235905181088526,0.2908836211715848,0.40723706964021866,-0.2908836211715848,-0.2908836211715848,0.08523493763431038,0.2257835,True,True
+qp,16.066413285,-0.3950147032737732,-0.0334802083671093,0.34908339381217957,0.09274443893849968,-0.7877210898097834,0.24042498831617645,0.5595442598294048,-0.39535758829509193,-0.035891011133291024,0.346439292986607,0.09646686934571344,-0.7896378441355644,0.24309220706088866,0.5550426984420579,0.003594552724758378,0.013402792858794211,-2.1133113816341633,0.19111384626600797,-1.7808137003598175,1.9569585652782386,-1.5638169205516725,-1.2860754645909986,-1.5626756626517757,0.3490603454059017,0.2396296497981404,-0.46541379387453563,0.23270689693726782,0.3490603454059017,-0.23270689693726782,-0.23270689693726782,0.08468621280173201,0.22757580000000002,True,True
diff --git a/output/ik_comparison/episode_0/summary.json b/output/ik_comparison/episode_0/summary.json
index 7a826cc..9874ab7 100644
--- a/output/ik_comparison/episode_0/summary.json
+++ b/output/ik_comparison/episode_0/summary.json
@@ -1,6 +1,6 @@
 {
   "source_episode": "/home/robot/ACT_Data/tomato_pick/episode_0.hdf5",
-  "git_commit": "d7ff769109d070c19388cea2a04f7db822fe3986",
+  "git_commit": "f30aac547b6fe84703044c66b30b70720ee4d40a",
   "sample_rate_hz": 90.00141938026849,
   "selected_dls_damping": 0.3,
   "methods": {
@@ -12,8 +12,8 @@
       "orientation_rmse_rad": 0.713938311140316,
       "max_joint_speed_deg_s": 29.999526880705357,
       "min_joint_margin": 0.15094435580838983,
-      "mean_solve_ms": 0.13831137463718035,
-      "max_solve_ms": 0.884632,
+      "mean_solve_ms": 0.13594157401520388,
+      "max_solve_ms": 1.061404,
       "failure_count": 1430,
       "longest_failure_streak": 1430,
       "command_limited_count": 17
@@ -26,8 +26,8 @@
       "orientation_rmse_rad": 0.011200514621088859,
       "max_joint_speed_deg_s": 49.999211467842265,
       "min_joint_margin": 0.060689206887586424,
-      "mean_solve_ms": 0.3890266415342087,
-      "max_solve_ms": 1.8641139999999998,
+      "mean_solve_ms": 0.39115279765031097,
+      "max_solve_ms": 1.94196,
       "failure_count": 0,
       "longest_failure_streak": 0,
       "command_limited_count": 1282
@@ -36,12 +36,12 @@
       "method": "qp",
       "damping": null,
       "success_rate": 1.0,
-      "position_rmse_m": 0.004929449798158346,
-      "orientation_rmse_rad": 0.011074963814769237,
+      "position_rmse_m": 0.004929450681893051,
+      "orientation_rmse_rad": 0.01107496419458487,
       "max_joint_speed_deg_s": 46.66593070331945,
-      "min_joint_margin": 0.06105232709255457,
-      "mean_solve_ms": 0.20213752494816864,
-      "max_solve_ms": 1.416442,
+      "min_joint_margin": 0.06105232712172298,
+      "mean_solve_ms": 0.20632571050449205,
+      "max_solve_ms": 1.057197,
       "failure_count": 0,
       "longest_failure_streak": 0,
       "command_limited_count": 1267