feat(bot4cj/scripts): 12 个 mtc DSL 源声明 Camera——录制免注入

动作脚本统一加入 Camera("cam0",640,480,30,8)（record_stand.py 已有），
编译产物自带 @Camera 块，pybot --record 直接可录，取代 v2 的
"注入式录制"变体方案。手写 .mt 保持不动（bot4cj 共享、美化格式）。

.gitignore

@@ -25,3 +25,6 @@ waf/certs/
 
 # 运行时日志（HailoRT 等）
 hailort.log
+
+# 录制产物（可复现：mtc DSL → 编译 → pybot --record）
+actpred/data_v3

bot4cj/scripts/jump.py

@@ -32,6 +32,9 @@ _SERVOS = [("s1",   90, 0),   # rb0
 for _name, _max, _ch in _SERVOS:
     Servo(_name, _max, 0, 0, "pca9685-0", _ch)
 
+# 录制源（pybot --record 需要 @Camera 块）
+Camera("cam0", 640, 480, 30, 8)
+
 _STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
 
 def stand(dur=10):

bot4cj/scripts/left-hand.py

@@ -32,6 +32,9 @@ _SERVOS = [("s1",   90, 0),   # rb0
 for _name, _max, _ch in _SERVOS:
     Servo(_name, _max, 0, 0, "pca9685-0", _ch)
 
+# 录制源（pybot --record 需要 @Camera 块）
+Camera("cam0", 640, 480, 30, 8)
+
 _STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
 
 def stand(dur=10):

bot4cj/scripts/left-turn.py

@@ -32,6 +32,9 @@ _SERVOS = [("s1",   90, 0),   # rb0
 for _name, _max, _ch in _SERVOS:
     Servo(_name, _max, 0, 0, "pca9685-0", _ch)
 
+# 录制源（pybot --record 需要 @Camera 块）
+Camera("cam0", 640, 480, 30, 8)
+
 _STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
 
 def stand(dur=10):

bot4cj/scripts/lie-down.py

@@ -32,6 +32,9 @@ _SERVOS = [("s1",   90, 0),   # rb0
 for _name, _max, _ch in _SERVOS:
     Servo(_name, _max, 0, 0, "pca9685-0", _ch)
 
+# 录制源（pybot --record 需要 @Camera 块）
+Camera("cam0", 640, 480, 30, 8)
+
 _STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
 
 def stand(dur=10):

bot4cj/scripts/rght-hand.py

@@ -33,6 +33,9 @@ _SERVOS = [("s1",   90, 0),   # rb0
 for _name, _max, _ch in _SERVOS:
     Servo(_name, _max, 0, 0, "pca9685-0", _ch)
 
+# 录制源（pybot --record 需要 @Camera 块）
+Camera("cam0", 640, 480, 30, 8)
+
 _STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
 
 def stand(dur=10):

bot4cj/scripts/std.py

@@ -37,6 +37,9 @@ Servo("s8",  -180, 0, 0, "pca9685-0", 7)   # rf1
 Servo("s9",   180, 0, 0, "pca9685-0", 8)   # cam0
 Servo("s10",  180, 0, 0, "pca9685-0", 9)   # cam1
 
+# 录制源（pybot --record 需要 @Camera 块）
+Camera("cam0", 640, 480, 30, 8)
+
 # stand：10ms（一个栅格步）内到位并保持；首行即目标值，无爬升
 SetTo("s1", 45, 10)
 SetTo("s2", 0, 10)

bot4cj/scripts/stdd.py

@@ -32,6 +32,9 @@ _SERVOS = [("s1",   90, 0),   # rb0
 for _name, _max, _ch in _SERVOS:
     Servo(_name, _max, 0, 0, "pca9685-0", _ch)
 
+# 录制源（pybot --record 需要 @Camera 块）
+Camera("cam0", 640, 480, 30, 8)
+
 _STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
 
 def stand(dur=10):

bot4cj/scripts/t0.py

@@ -26,6 +26,9 @@ _SERVOS = [("s1",   90, 0),   # rb0
 for _name, _max, _ch in _SERVOS:
     Servo(_name, _max, 0, 0, "pca9685-0", _ch)
 
+# 录制源（pybot --record 需要 @Camera 块）
+Camera("cam0", 640, 480, 30, 8)
+
 _STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
 
 def stand(dur=10):

bot4cj/scripts/tilt-b.py

@@ -32,6 +32,9 @@ _SERVOS = [("s1",   90, 0),   # rb0
 for _name, _max, _ch in _SERVOS:
     Servo(_name, _max, 0, 0, "pca9685-0", _ch)
 
+# 录制源（pybot --record 需要 @Camera 块）
+Camera("cam0", 640, 480, 30, 8)
+
 _STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
 
 def stand(dur=10):

bot4cj/scripts/tilt-f.py

@@ -32,6 +32,9 @@ _SERVOS = [("s1",   90, 0),   # rb0
 for _name, _max, _ch in _SERVOS:
     Servo(_name, _max, 0, 0, "pca9685-0", _ch)
 
+# 录制源（pybot --record 需要 @Camera 块）
+Camera("cam0", 640, 480, 30, 8)
+
 _STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
 
 def stand(dur=10):

bot4cj/scripts/tilt-l.py

@@ -32,6 +32,9 @@ _SERVOS = [("s1",   90, 0),   # rb0
 for _name, _max, _ch in _SERVOS:
     Servo(_name, _max, 0, 0, "pca9685-0", _ch)
 
+# 录制源（pybot --record 需要 @Camera 块）
+Camera("cam0", 640, 480, 30, 8)
+
 _STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
 
 def stand(dur=10):

bot4cj/scripts/tilt-r.py

@@ -32,6 +32,9 @@ _SERVOS = [("s1",   90, 0),   # rb0
 for _name, _max, _ch in _SERVOS:
     Servo(_name, _max, 0, 0, "pca9685-0", _ch)
 
+# 录制源（pybot --record 需要 @Camera 块）
+Camera("cam0", 640, 480, 30, 8)
+
 _STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
 
 def stand(dur=10):

pybot/pybot/recorder.py

@@ -17,6 +17,12 @@ from pathlib import Path
 
 log = logging.getLogger("pybot.recorder")
 
+# spk.F 列（动作契约列 10）与模型固定输出对齐：F2 方案下推理端该列恒为
+# 常量 0（actpred/bins.py FIXED_OUTPUT），而脚本真实值可达 1000Hz——
+# 保留真值会产生"模型 0 vs 数据 1000"的评估伪影。v3 起录制时写常量 0。
+# spk.delay（列 11）无需处理：微步录制下恒为 10.0，与 FIXED_OUTPUT 一致。
+SPK_F_COL = 10
+
 
 class EpisodeRecorder:
     """录制 actpred 格式的 episode（images/*.jpg + actions.npy [+ imu.npy]）
@@ -80,6 +86,8 @@ class EpisodeRecorder:
         src = np.asarray(action_vec, dtype=np.float32).ravel()
         n = min(len(src), self.action_dim)
         vec[:n] = src[:n]
+        if self.action_dim > SPK_F_COL:
+            vec[SPK_F_COL] = 0.0
         self._actions.append(vec)
 
         if imu_vec is None: