
SIPA v2.4 Industrial Solver Audit
Robot: Generic 6-Axis Industrial Arm

Frames: 19
Input Format: robodk_instruction_csv
Time Base: fixed_dt
Joint Profile: 6DoF
TCP Source: csv_xyz

TCP Z Jitter
------------
Std amplitude: 29.30 mm

TCP Jump Events
---------------
18
Frame 0 Jump 665.19 mm
Frame 1 Jump 30.00 mm
Frame 2 Jump 30.00 mm
Frame 3 Jump 100.00 mm
Frame 4 Jump 30.00 mm

Diagnosis: micro oscillation detected
Possible solver divergence

Sampling Density Check
----------------------
Median TCP step: 30.00 mm
Median dt: 0.0100 s
Gap threshold: 120.00 mm
Flagged gap frames: 0
Warning: Large waypoint gap detected. This jump may be influenced by instruction-level sparsity. Suggest re-exporting with a 2ms time-step.

RoboDK Joint-Space Associator
---------------------------
Peak frame: 5
Peak normalized score: 16.4895
Alert threshold: 7.8025
Critical associator events: 2
Score scale: unknown
Interpretation: hidden wrist-flip / singularity-neighborhood continuity risk may exist even if TCP looks smooth.
