Frank14f 04c2bc75ea feat(obs): unified zero_obs control and time-normalised readback ... - Replace split zero_force_segment / zero_sensor_segment with unified zero_obs_async() — a single memset covers all three obs segments (force, torque, sensor), resetting the step accumulator. - Add _obs_accum_steps counter so read_*(normalize=True) returns the physically meaningful per-step average for all telemetry fields. - Sensor now always applies area-normalisation internally; the normalize parameter only controls the additional time-normalisation step. - run() gains zero_obs=True parameter (default) to control reset-on-step. - 7 new integration tests covering accumulation, zeroing, and normalise. - Fix bug in test_sensor_accuracy.py (undefined loop variable i). - Bump version to 0.4.0 for the API change. Co-authored-by: Cursor <cursoragent@cursor.com>		2026-06-21 00:50:20 +08:00
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run_kan99b_rotating_cylinder.py	feat(obs): unified zero_obs control and time-normalised readback	2026-06-21 00:50:20 +08:00
run_perf_baseline.py	重构body api，性能分析，项目整理	2026-05-31 01:42:58 +08:00
run_sah04_st_matrix.py	feat(obs): unified zero_obs control and time-normalised readback	2026-06-21 00:50:20 +08:00
test_sensor_accuracy.py	feat(obs): unified zero_obs control and time-normalised readback	2026-06-21 00:50:20 +08:00