RotateToAction.py

"""
RotateToAction — 原地旋转到指定绝对角度
功能：旋转至世界坐标系中的指定 Yaw 值（弧度）
"""

import math
import time
import requests

# ── 配置 ──────────────────────────────────────────────
ROBOT_IP = "10.160.129.252"
PORT     = 1448
BASE_URL = f"http://{ROBOT_IP}:{PORT}/api/core/motion/v1/actions"

# 绕过系统代理（避免 127.0.0.1:7890 超时）
SESSION = __import__("requests").Session()
SESSION.trust_env = False

# 目标朝向角（弧度）
# 常用值：0=面向+X轴  math.pi/2≈1.5708=面向+Y轴  math.pi≈3.1416=面向-X轴
TARGET_ANGLE = math.pi / 2   # 90°

POLL_INTERVAL_S = 0.5
# ──────────────────────────────────────────────────────


def build_payload():
    return {
        "action_name": "agent.actions.RotateToAction",
        "options": {"angle": TARGET_ANGLE},
    }


def poll_until_done(action_id):
    url = f"{BASE_URL}/{action_id}"
    while True:
        resp = SESSION.get(url, timeout=5)
        data = resp.json()
        status = data["state"]["status"]
        result = data["state"]["result"]
        reason = data["state"].get("reason", "")

        if status == 4:
            if result == 0:
                print(f"[完成] action_id={action_id} 旋转完成，当前 yaw≈{math.degrees(TARGET_ANGLE):.1f}°")
            else:
                print(f"[失败] action_id={action_id} result={result} reason={reason}")
            return result == 0

        status_desc = {0: "初始化", 1: "旋转中"}.get(status, str(status))
        print(f"[{status_desc}] action_id={action_id} ...")
        time.sleep(POLL_INTERVAL_S)


def main():
    deg = math.degrees(TARGET_ANGLE)
    print(f"[RotateToAction] 目标角度={TARGET_ANGLE:.4f} rad（{deg:.1f}°）")

    payload = build_payload()
    resp = SESSION.post(BASE_URL, json=payload, timeout=5)
    if resp.status_code != 200:
        print(f"[错误] HTTP {resp.status_code}: {resp.text}")
        return

    data = resp.json()
    action_id = data["action_id"]
    print(f"[已创建] action_id={action_id}")

    poll_until_done(action_id)


if __name__ == "__main__":
    main()