From af0ff56848743054f383ea44282c712870011b7b Mon Sep 17 00:00:00 2001
From: qing <1776177662@qq.com>
Date: Fri, 14 Aug 2026 06:26:25 +0000
Subject: [PATCH] =?UTF-8?q?feat(pybot):=20=E5=BD=95=E5=88=B6=E8=84=9A?=
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基于 std.mt 扩展：@Camera 640x480 + MPU6050 绑定 + 5 行 @Action(delay=200)
生成 81 步 actpred 格式 episode（首行不分解 + 4×20 微步插值）
---
 bot4cj/scripts/record_stand.mt | 56 ++++++++++++++++++++++++++++++++++
 1 file changed, 56 insertions(+)
 create mode 100644 bot4cj/scripts/record_stand.mt

diff --git a/bot4cj/scripts/record_stand.mt b/bot4cj/scripts/record_stand.mt
new file mode 100644
index 0000000..824f134
--- /dev/null
+++ b/bot4cj/scripts/record_stand.mt
@@ -0,0 +1,56 @@
+# 录制用脚本：stand → 多姿态序列（微动作分解 + 合成帧 + IMU 占位）
+# 首行不分解（1 步），后续 4 行 delay=200 → 各 20 微步，共 81 步
+@Alias
+name      alias;
+   A      angle;
+   F  frequency;
+@
+
+@I2C
+ name        path;
+i2c-0  /dev/i2c-0;
+i2c-1  /dev/i2c-1;
+@
+
+@PCA9685
+     name    I2C   address;
+pca9685-0  i2c-1   0x40;
+@
+
+@MPU6050_BIND
+     name    I2C   addr;
+mpu6050-0  i2c-1   0x68;
+@
+
+@Speaker
+name  channels  sample_rate  volumn  max_f  min_f;
+ spk         2        48000     0.6   5000      -;
+@
+
+@Servo
+ name   max  min  offset  controller  channel;
+  s1    90     -       -   pca9685-0        0;	# rb0
+  s2   180     -       -           -        1;	# rb1
+  s3   -90     -       -           -        2;	# lb0
+  s4  -180     -       -           -        3;	# lb1
+  s5    90     -       -           -        4;	# lf0
+  s6   180     -       -           -        5;	# lf1
+  s7   -90     -       -           -        6;	# rf0
+  s8  -180     -       -           -        7;	# rf1
+  s9   180     -       -           -        8;	# cam0
+ s10   180     -       -           -        9;	# cam1
+@
+
+@Camera
+ name  width  height  framerate  capacity;
+ cam0    640      480        30         8;
+@
+
+@Action
+s1.A  s2.A  s3.A  s4.A  s5.A  s6.A  s7.A  s8.A  s9.A  s10.A  spk.F  spk.delay;
+  45     -    45     -    45     -    45     -    90     90     10        200;
+  60     -    60     -    60     -    60     -    90     90      -        200;
+  45     -    45     -    45     -    45     -    90     90      -        200;
+  30     -    30     -    30     -    30     -    90     90      -        200;
+  45     -    45     -    45     -    45     -    90     90      -        200;
+@