fix: 更新规范化逆运动学实验产物

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。

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