cbb
b32d44efe0
重构 2955 行的单文件查看器必须有"行为没变"的可判据，否则改到什么程度全靠感觉。
tests/ik_baseline.mjs 在 Node 里直接跑求解器（它本就是 UMD，带 module.exports 分支，
不需要浏览器），输出分两段：
exact —— 件数/顶点/三角、TCP 推断、限位、固定 FK/fkChain/orient、固定目标的
solveDyn 解向量、selfTest/poseSelfTest 的误差与命中数。selfTest 内部走
Math.random，这里锁成定 LCG，所以 exact 跨进程逐字节可复现。
timing —— solveDyn 中位耗时（9 次去头 3 次预热）。本机进程间抖动实测约 ±28%，
因此只按 ±10% 报 WARN，不当硬门。
关卡灵敏度已验：指向 scratch/arm-ik-solver_before.js 时报 5 处 exact 差异并 FAIL。
docs/shots/ 里 92 张是 10-09 生成的，早于 10-14 的重建，属过期基线；重跑 96 视图
全部 OK、0 FAIL。另发现既有非幂等问题：committed 的 mesh 是"端到端构建后再单跑一次
screw_mesh.py"的产物（螺钉 idx 118..214、ENV 件排在第 19 位），端到端构建则为
20..116、ENV 排在末尾，两者零件集合相同但顺序不同，导致 2 张线束透视图的透明排序
像素级不同。本提交以端到端构建为准。
229 lines
2.7 KiB
JSON
229 lines
2.7 KiB
JSON
{
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"meta": {
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"solver": "web/arm-ik-solver.js",
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"mesh": "web/mesh_arm.json"
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},
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"exact": {
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"counts": {
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"parts": 117,
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"verts": 367118,
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"tris": 351491,
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"printed": 13,
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"env": 1,
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"joints": 6
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},
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"tcpZ": 93,
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"TCP0": [
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19.5,
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128,
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93
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],
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"motorTravel": 360,
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"noAdjAxes": [],
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"caps": 1936,
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"lim": {
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"J1": [
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-180,
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180,
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true
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],
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"J2": [
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-93,
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126,
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false
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],
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"J3": [
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-180,
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180,
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true
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],
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"J4": [
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-113,
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113,
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false
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],
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"J5": [
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-94,
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89,
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false
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],
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"J6": [
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-180,
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180,
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true
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]
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},
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"fkQ0": [
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106.498451,
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235.370133,
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140.165364
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],
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"fkChainQ0": [
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106.498451,
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235.370133,
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140.165364
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],
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"orientQ0": [
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0.595153,
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0.645892,
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-0.478139,
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-0.757749,
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0.649173,
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-0.06626,
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0.267598,
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0.401744,
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0.875781
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],
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"solveDyn": [
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{
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"T": [
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150,
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128,
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260
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],
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"ok": true,
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"err": 0,
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"q": [
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0.041,
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5.809,
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0.094,
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-94,
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0
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]
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},
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{
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"T": [
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180,
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128,
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300
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],
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"ok": true,
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"err": 0,
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"q": [
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0.094,
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0
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]
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},
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{
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"T": [
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120,
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-150,
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320
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],
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"ok": true,
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"err": 0,
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"q": [
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-43.713,
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6.027,
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0.239,
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-0.279,
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-89.002,
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0
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]
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},
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{
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"T": [
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60,
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128,
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420
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],
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"ok": true,
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"err": 0,
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"q": [
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38.165,
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0.129,
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70.062,
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-89.578,
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-80.719,
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0
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]
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}
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],
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"selfTest": {
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"maxFkErr": 4.689582056016661e-13,
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"maxIkErr": 7.082653493385528e-13,
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"ikHit": 200,
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"ikTried": 200,
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"structWarn": [],
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"poseHit": 8,
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"poseTried": 8,
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"poseErr": 0.0000017075472925031877,
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"K": {
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"X0": 19.5,
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"Y0": 128,
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"Z1": 610,
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"Z2": 490,
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"Z3": 445,
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"Z4": 332,
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"Z5": 222,
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"TCP0": [
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19.5,
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128,
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93
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],
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"ax": [
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0,
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0,
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-1
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],
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"C0": -120,
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"A43": -113,
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"A32": -45,
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"A54": -110,
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"L5": 129
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},
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"LIM": {
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"J1": {
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"lo": -180,
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"hi": 180,
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"cont": true
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},
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"J2": {
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"lo": -93,
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"hi": 126,
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"cont": false
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},
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"J3": {
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"lo": -180,
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"hi": 180,
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"cont": true
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},
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"J4": {
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"lo": -113,
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"hi": 113,
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"cont": false
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},
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"J5": {
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"lo": -94,
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"hi": 89,
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"cont": false
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},
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"J6": {
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"lo": -180,
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"hi": 180,
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"cont": true
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}
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}
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},
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"poseSelfTest": {
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"poseHit": 8,
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"poseTried": 8,
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"poseErr": 0.0000012074182697257333
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}
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},
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"timing": {
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"solveDynMedianMs": [
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252.53,
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239.83,
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192.01,
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192.92
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],
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"poseSelfTestAvgMs": 93.48
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}
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}
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