import json import time # ===== 关节列表 ===== set_joint_list = [ {'joint_name': 'R_WRIST_Y', 'rad': 0.066444339857}, {'joint_name': 'R_WRIST_P', 'rad': -20.531186157241}, {'joint_name': 'R_ELBOW_R', 'rad': -1.340070808067}, {'joint_name': 'R_SHOULDER_Y', 'rad': -1.952500297438}, {'joint_name': 'R_SHOULDER_R', 'rad': -0.626298915913}, {'joint_name': 'R_SHOULDER_P', 'rad': 0.342241935176}, ] drive_joint_list = [ {'joint_name': 'R_WRIST_Y', 'rad': -0.011299818873}, {'joint_name': 'R_WRIST_P', 'rad': -20.60070130641}, {'joint_name': 'R_ELBOW_R', 'rad': -1.364414209864}, {'joint_name': 'R_SHOULDER_Y', 'rad': -1.980264780151}, {'joint_name': 'R_SHOULDER_R', 'rad': -0.560519997177}, {'joint_name': 'R_SHOULDER_P', 'rad': 0.442999602707}, ] mode_joint_list = [ {'joint_name': 'R_WRIST_Y', 'rad': 0.274796141277}, {'joint_name': 'R_WRIST_P', 'rad': -20.944670868464}, {'joint_name': 'R_ELBOW_R', 'rad': -1.136851577265}, {'joint_name': 'R_SHOULDER_Y', 'rad': -1.543831108824}, {'joint_name': 'R_SHOULDER_R', 'rad': -0.465282192444}, {'joint_name': 'R_SHOULDER_P', 'rad': 0.415577797633}, ] home_joint_list = [ {'joint_name': 'R_WRIST_Y', 'rad': 0.031161140931}, {'joint_name': 'R_WRIST_P', 'rad': -20.577257789382}, {'joint_name': 'R_ELBOW_R', 'rad': -1.381942977952}, {'joint_name': 'R_SHOULDER_Y', 'rad': -2.055649114477}, {'joint_name': 'R_SHOULDER_R', 'rad': -0.602941780228}, {'joint_name': 'R_SHOULDER_P', 'rad': 0.314926445602}, ] start_joint_list = [ {'joint_name': 'R_WRIST_Y', 'rad': 0.274967005474}, {'joint_name': 'R_WRIST_P', 'rad': -20.603120933284}, {'joint_name': 'R_ELBOW_R', 'rad': -1.499983558976}, {'joint_name': 'R_SHOULDER_Y', 'rad': -1.492936360109}, {'joint_name': 'R_SHOULDER_R', 'rad': -0.720539063587}, {'joint_name': 'R_SHOULDER_P', 'rad': 0.056068136892}, ] # start_joint_list = [ # # {'joint_name': 'R_WRIST_Y', 'rad': 0.182186797436}, # {'joint_name': 'R_WRIST_P', 'rad': -20.304780654951}, # {'joint_name': 'R_ELBOW_R', 'rad': -1.535033501186}, # {'joint_name': 'R_SHOULDER_Y', 'rad': -1.596287366447}, # {'joint_name': 'R_SHOULDER_R', 'rad': -1.034838057889}, # {'joint_name': 'R_SHOULDER_P', 'rad': -0.0965316264}, # ] wyy_joint_list = [ {'joint_name': 'R_WRIST_Y', 'rad': 0.319859674658}, {'joint_name': 'R_WRIST_P', 'rad': -20.645610112769}, {'joint_name': 'R_ELBOW_R', 'rad': -1.129972394858}, {'joint_name': 'R_SHOULDER_Y', 'rad': -1.724514301329}, {'joint_name': 'R_SHOULDER_R', 'rad': -0.557216622708}, {'joint_name': 'R_SHOULDER_P', 'rad': 0.379009062563}, ] play_music_joint_list = [ {'joint_name': 'R_WRIST_Y', 'rad': 0.00}, {'joint_name': 'R_WRIST_P', 'rad': -20.446466942304}, {'joint_name': 'R_ELBOW_R', 'rad': -1.205457349211}, {'joint_name': 'R_SHOULDER_Y', 'rad': -1.959358596443}, {'joint_name': 'R_SHOULDER_R', 'rad': -0.776803694305}, {'joint_name': 'R_SHOULDER_P', 'rad': 0.372088113353}, ] air_joint_list = [ {'joint_name': 'R_WRIST_Y', 'rad': 0.368498066731}, {'joint_name': 'R_WRIST_P', 'rad': -20.806707522108}, {'joint_name': 'R_ELBOW_R', 'rad': -1.160211560687}, {'joint_name': 'R_SHOULDER_Y', 'rad': -1.754356682523}, {'joint_name': 'R_SHOULDER_R', 'rad': -0.652379437044}, {'joint_name': 'R_SHOULDER_P', 'rad': 0.325288409885}, ] empty_joint_list = [ {'joint_name': 'R_WRIST_Y', 'rad': 0.065426748642}, {'joint_name': 'R_WRIST_P', 'rad': -20.572653948527}, {'joint_name': 'R_ELBOW_R', 'rad': -1.354382583029}, {'joint_name': 'R_SHOULDER_Y', 'rad': -1.857614662799}, {'joint_name': 'R_SHOULDER_R', 'rad': -0.490473270507}, {'joint_name': 'R_SHOULDER_P', 'rad': 0.343988546965}, ] nav_joint_list = [ {'joint_name': 'R_WRIST_Y', 'rad': 0.057895434551}, {'joint_name': 'R_WRIST_P', 'rad': -20.659321964551}, {'joint_name': 'R_ELBOW_R', 'rad': -1.348938659874}, {'joint_name': 'R_SHOULDER_Y', 'rad': -1.969583869368}, {'joint_name': 'R_SHOULDER_R', 'rad': -0.586725818719}, {'joint_name': 'R_SHOULDER_P', 'rad': 0.35676823963}, ] air_key_joint_list = [ {'joint_name': 'R_WRIST_Y', 'rad': 0.394130543969}, {'joint_name': 'R_WRIST_P', 'rad': -20.514247819877}, {'joint_name': 'R_ELBOW_R', 'rad': -1.122382227544}, {'joint_name': 'R_SHOULDER_Y', 'rad': -1.903357855984}, {'joint_name': 'R_SHOULDER_R', 'rad': -0.756327518825}, {'joint_name': 'R_SHOULDER_P', 'rad': 0.422019377847}, ] def action_one(): while True: client.send(start_joint_list, vel=5.0, acc=5.0) time.sleep(2) client.send(set_joint_list, vel=5.0, acc=5.0) client.send(start_joint_list, vel=5.0, acc=5.0) time.sleep(2) client.send(drive_joint_list, vel=5.0, acc=5.0) client.send(start_joint_list, vel=5.0, acc=5.0) client.send(mode_joint_list, vel=5.0, acc=5.0) client.send(start_joint_list, vel=5.0, acc=5.0) client.send(home_joint_list, vel=5.0, acc=5.0) def action_two(): while True: client.send(start_joint_list, vel=5.0, acc=5.0) time.sleep(2.0) client.send(wyy_joint_list, vel=5.0, acc=5.0) client.send(start_joint_list, vel=5.0, acc=5.0) time.sleep(2.0) client.send(play_music_joint_list, vel=3.0, acc=3.0) client.send(start_joint_list, vel=3.0, acc=3.0) time.sleep(2.0) client.send(play_music_joint_list, vel=3.0, acc=3.0) client.send(start_joint_list, vel=3.0, acc=3.0) time.sleep(2.0) client.send(home_joint_list, vel=5.0, acc=5.0) def action_three(): while True: client.send(start_joint_list, vel=5.0, acc=5.0) time.sleep(2.0) client.send(empty_joint_list, vel=5.0, acc=5.0) client.send(start_joint_list, vel=5.0, acc=5.0) time.sleep(2.0) client.send(empty_joint_list, vel=5.0, acc=5.0) client.send(start_joint_list, vel=5.0, acc=5.0) time.sleep(2.0) client.send(nav_joint_list, vel=5.0, acc=5.0) client.send(start_joint_list, vel=5.0, acc=5.0) time.sleep(7.0) client.send(home_joint_list, vel=5.0, acc=5.0) # ===== 录制工具 ===== JOINT_LISTS = { 'set_joint_list': set_joint_list, 'drive_joint_list': drive_joint_list, 'mode_joint_list': mode_joint_list, 'home_joint_list': home_joint_list, 'start_joint_list': start_joint_list, 'wyy_joint_list': wyy_joint_list, 'play_music_joint_list': play_music_joint_list, 'air_joint_list': air_joint_list, 'air_key_joint_list': air_key_joint_list, 'empty_joint_list': empty_joint_list, 'nav_joint_list': nav_joint_list, } def find_joint_list_name(lst): for name, value in JOINT_LISTS.items(): if value is lst: return name return None class StopRecording(Exception): pass class RecordingClient: def __init__(self, max_steps=100): self.max_steps = max_steps self.steps = [] self._send_count = 0 def send(self, joint_list, vel=3.0, acc=3.0): name = find_joint_list_name(joint_list) self.steps.append(("move", name, vel, acc)) self._send_count += 1 # ① 安全兜底：防止真死循环 if self._send_count >= self.max_steps: raise StopRecording # ② 关键：第一次回到 home 就结束一轮动作 if name == "home_joint_list": raise StopRecording def sleep(self, seconds): self.steps.append(("wait", seconds)) def record_action(func, max_steps=50): global client real_client = client real_sleep = time.sleep rec_client = RecordingClient(max_steps=max_steps) try: client = rec_client time.sleep = rec_client.sleep func() except StopRecording: pass finally: client = real_client time.sleep = real_sleep return rec_client.steps def joints_to_cmds(joint_list, default_vel=1.0): return [ { "jointName": j["joint_name"], "rad": j["rad"], "vel": default_vel } for j in joint_list ] def steps_to_json_obj(steps): obj = {} idx = 1 for s in steps: kind = s[0] if kind == "move": _, list_name, vel, acc = s key = f"{idx}_{list_name}" joint_list = JOINT_LISTS[list_name] obj[key] = { "acc": acc, "vel": vel, "cmds": joints_to_cmds(joint_list, default_vel=1.0), } elif kind == "wait": _, seconds = s key = f"{idx}_wait" obj[key] = seconds idx += 1 return obj # ===== 主入口：录制并保存到文件 ===== if __name__ == "__main__": # 占位真实 client（防止 record_action 里引用失败） class DummyClient: def send(self, *args, **kwargs): pass client = DummyClient() # 分别录制三个动作 steps_one = record_action(action_one, max_steps=20) steps_two = record_action(action_two, max_steps=20) steps_three = record_action(action_three, max_steps=20) data = { "action_one": steps_to_json_obj(steps_one), "action_two": steps_to_json_obj(steps_two), "action_three": steps_to_json_obj(steps_three), } # ✅ 保存到文件 with open("actions.json", "w", encoding="utf-8") as f: json.dump(data, f, indent=2, ensure_ascii=False) print("已保存到 actions.json")