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更新L20示例，修改L20读取YAML动作文件错误
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‎example/L20/gesture/linker_hand_freestyle.py‎

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#!/usr/bin/env python3
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import sys, os, time
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current_dir = os.path.dirname(os.path.abspath(__file__))
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target_dir = os.path.abspath(os.path.join(current_dir, "../../.."))
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sys.path.append(target_dir)
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from LinkerHand.linker_hand_api import LinkerHandApi
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'''
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循环执行7个新的预设手部动作
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'''
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def main():
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hand = LinkerHandApi(hand_joint="L20", hand_type="left")
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#hand_r = LinkerHandApi(hand_joint="L10", hand_type="right")
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# 设置使能状态
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hand.set_enable()
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#hand_r.set_enable()
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time.sleep(0.1)
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# 设置速度
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hand.set_speed(speed=[240]*5)
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#hand_r.set_speed(speed=[240]*5)
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# 定义7个新的预设动作
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pose = [255, 128, 255, 255, 255, 255, 128, 128, 128, 128]
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#open_hand
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action1=[250, 250, 250, 250, 250, 250, 128, 128, 128, 128, 250, 0, 0, 0, 0, 250, 250, 250, 250, 250]
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#ring_little_shrink
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action2=[250,250,250, 0, 0, 250,128,128,128,128,250, 0, 0, 0, 0,250,250,250, 0, 0]#shrink stretch
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#show_yeah
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action3=[100,250,250, 0, 0, 180,128,128,128,128,200, 0, 0, 0, 0, 0,250,250, 0, 0]
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action4=[100,250,250, 0, 0, 180,200,200,128,128,200, 0, 0, 0, 0, 0,250,250, 0, 0]
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action5=[100,250,250, 0, 0, 180, 50, 50,128,128,200, 0, 0, 0, 0, 0,250,250, 0, 0]
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action6=[100,250,250, 0, 0, 180,128,128,128,128,200, 0, 0, 0, 0, 0,250,250, 0, 0]
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action7=[100,250,250, 0, 0, 180, 58,200,128,128,200, 0, 0, 0, 0, 0,250,250, 0, 0]
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action8=[100,250,250, 0, 0, 180,128,128,128,128,200, 0, 0, 0, 0, 0,250,250, 0, 0]
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#action9=[190, 20, 0, 25, 40, 255, 255, 150, 150, 150, 100, 255, 255, 255, 255, 150, 255, 255, 255, 255, 255, 255, 255, 255, 255]
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poses = []
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action9=[100,250,250, 0, 0, 180, 58,200,128,128,200, 0, 0, 0, 0, 0,250,250, 0, 0]
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#9): #// 收Y
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action10=[100,250,250, 0, 0, 180,128,128,128,128,200, 0, 0, 0, 0, 0,250,250, 0, 0]
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#10): #// 中指和食指弯曲伸直交替两遍
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action11=[100,100,100, 0, 0, 180,128,128,128,128,200, 0, 0, 0, 0, 0,100,100, 0, 0]
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#11): #// 中指和食指弯曲伸直交替两遍
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action12=[100,250,250, 0, 0, 180,128,128,128,128,200, 0, 0, 0, 0, 0,250,250, 0, 0]
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#12): #// 中指和食指弯曲伸直交替两遍
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action13=[100,100,100, 0, 0, 180,128,128,128,128,200, 0, 0, 0, 0, 0,100,100, 0, 0]
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#13): #// 中指和食指弯曲伸直交替两遍
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action14=[100,250,250, 0, 0, 180,128,128,128,128,200, 0, 0, 0, 0, 0,250,250, 0, 0]
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#14): #// 蜷曲拇指
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action15=[250,250,250, 0, 0, 150,128,128,128,128,250, 0, 0, 0, 0, 0,250,250, 0, 0]
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#15): #// 拇指收于掌内
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action16=[250,250,250, 0, 0, 5 ,128,128,128,128,250, 0, 0, 0, 0, 0,250,250, 0, 0]
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#16): #// 收4指
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action17=[250,100,100,100,100, 5 ,128,128,128,128,250, 0, 0, 0, 0, 0,10, 10, 10, 10]
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#17): #// 依次放开4指和拇指
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action18=[250,100,100,100,250, 5 ,128,128,128,128,250, 0, 0, 0, 0, 0,10, 10, 10, 250]
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#18): #// 1
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action19=[250,100,100,250,250, 5 ,128,128,128,128,250, 0, 0, 0, 0, 0,10, 10, 250, 250]
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#19): #// 2
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action20=[250,100,250,250,250, 5 ,128,128,128,128,250, 0, 0, 0, 0, 0,10, 250, 250, 250]
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#20): #// 3
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action21=[250,250,250,250,250, 5 ,128,128,128,128,250, 0, 0, 0, 0, 0,250, 250, 250, 250]
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#21): #// 4
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action22=[250,250,250,250,250,250,128,128,128,128,250, 0, 0, 0, 0, 250,250, 250, 250, 250]
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#22): #// 并拢拇指
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action23=[250,250,250,250,250,250,128,128,128,128, 10, 0, 0, 0, 0, 250,250, 250, 250, 250]
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#23): #// 反转拇指指掌心
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action24=[ 0,250,250,250,250,250,128,128,128,128, 10, 0, 0, 0, 0, 250,250, 250, 250, 250]
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#24): #// 分两步回到初始位置
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action25=[ 0,250,250,250,250,250,128,128,128,128,250, 0, 0, 0, 0, 250,250, 250, 250, 250]
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#25): #// 1
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action26=[250,250,250,250,250,250,128,128,128,128,250, 0, 0, 0, 0, 250,250, 250, 250, 250]
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#26): #// 2
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action27=[250,250,250,250,250,250,200,200,200,200,250, 0, 0, 0, 0, 250,250, 250, 250, 250]
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#27): #// 3
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action28=[250,250,250,250,250,250, 80, 80, 80, 80,250, 0, 0, 0, 0, 250,250, 250, 250, 250]
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#28): #// 4
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action29=[250,250,250,250,250,250,128,128,128,128,250, 0, 0, 0, 0, 250,250, 250, 250, 250]
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#29): #// 依次蜷曲4小指
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action30=[250,250,250,250,250,250,128,128,128,128,250, 0, 0, 0, 0, 250, 0, 250, 250, 250]
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#30): #// 蜷曲4指
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action31=[250,250,250,250,250,250,128,128,128,128,250, 0, 0, 0, 0, 250, 0, 0, 250, 250]
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#31): #// 4
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action32=[250,250,250,250,250,250,128,128,128,128,250, 0, 0, 0, 0, 250, 0, 0, 0, 250]
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#32): #// 4
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action33=[250,250,250,250,250,250,128,128,128,128,250, 0, 0, 0, 0, 250, 0, 0, 0, 0]
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#33): #// 依次蜷曲4小指
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action34=[250, 0,250,250,250,250,128,128,128,128,250, 0, 0, 0, 0, 250, 0, 0, 0, 0]
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#34): #// 依次蜷曲4小指
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action35=[250, 0, 0,250,250,250,128,128,128,128,250, 0, 0, 0, 0, 250, 0, 0, 0, 0]
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#35): #// 依次蜷曲4小指
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action36=[250, 0, 0, 0,250,250,128,128,128,128,250, 0, 0, 0, 0, 250, 0, 0, 0, 0]
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#36): #// 依次蜷曲4小指
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action37=[250, 0, 0, 0, 0,250,128,128,128,128,250, 0, 0, 0, 0, 250, 0, 0, 0, 0]
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#37): #// 蜷曲拇指
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action38=[ 0, 0, 0, 0, 0,250,128,128,128,128,250, 0, 0, 0, 0, 200, 0, 0, 0, 0]
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#38): #// 打开食指和小指
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action39=[250, 0, 0, 0, 0,250,128,128,128,128,250, 0, 0, 0, 0, 250, 0, 0, 0, 0]
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#39): #// 打开食指和小指
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action40=[250,250, 0, 0,250,250,128,128,128,128,250, 0, 0, 0, 0, 250,250, 0, 0,250]
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#40): #// 将拇指搭上666
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action41=[100,250, 0, 0,250,200,128,128,128,128,100, 0, 0, 0, 0,100,250, 0, 0,250]
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#41): #// 左右动手指
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action42=[100,250, 0, 0,250,200, 80,128,128,200,100, 0, 0, 0, 0,100,250, 0, 0,250]
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#42): #// 左右动手指
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action43=[100,250, 0, 0,250,200,200,128,128, 80,100, 0, 0, 0, 0,100,250, 0, 0,250]
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#43): #// 左右动手指
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action44=[100,250, 0, 0,250,200, 80,128,128,200,100, 0, 0, 0, 0,100,250, 0, 0,250]
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#44): #// 左右动手指
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action45=[100,250, 0, 0,250,200,200,128,128, 80,100, 0, 0, 0, 0,100,250, 0, 0,250]
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#45): #// 左右动手指
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action46=[100,250, 0, 0,250,200,128,128,128,128,100, 0, 0, 0, 0,100,250, 0, 0,250]
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#46): #// 展开
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action47=[250,250,250,250,250,250,128,128,128,128,250, 0, 0, 0, 0,250,250,250, 250,250]
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#47): #// 拇指和食指捏
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action48=[ 55, 0,250,250,250,170,128,128,128,128,70, 0, 0, 0, 0,250,250,250, 250,250]
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#48): #// 1
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action49=[250,250, 20,250,250,220,128,128,128,128,100, 0, 0, 0, 0,250,250,250, 250,250]
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#49): #// 拇指和中指捏
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action50=[ 55,250, 0,250,250,140,128,128,128,128,60, 0, 0, 0, 0,250,250,250, 250,250]
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#50): #// 1
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action51=[250,250,250, 20,250,170,128,128,128,128,100, 0, 0, 0, 0,250,250,250, 250,250]
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#51): #// 拇指和无名指捏
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action52=[ 55,250,250, 0 ,250,110,128,128,128,128,50, 0, 0, 0, 0,250,250,250, 250,250]
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#52): #// 1
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action53=[250,250,250,250, 20,130,128,128,128,128,100, 0, 0, 0, 0,250,250,250, 250,250]
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#53): #// 拇指和小指捏
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action54=[ 55,250,250,250, 0, 60,128,128,128,128,50, 0, 0, 0, 0,250,250,250, 250,250]
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#54): #// 1
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action55=[250,250,250,250, 20,130,128,128,128,128,100, 0, 0, 0, 0,250,250,250, 250,250]
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#55): #// 拇指和小指掐
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action56=[160,250,250,250,160, 60,128,128,128,128,50, 0, 0, 0, 0,100,250,250, 250, 80]
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#56): #// 1
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action57=[250,250,250,250,250,130,128,128,128,128,100, 0, 0, 0, 0,250,250,250, 50, 250]
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#57): #// 拇指和无名指掐
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action58=[160,250,250,150,250,100,128,128,128,128,50, 0, 0, 0, 0,100,250,250, 80, 250]
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#58): #// 1
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action59=[250,250,250,250,250,180,128,128,128,128,100, 0, 0, 0, 0, 250,250, 50, 250, 250]
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#59): #// 拇指和中指掐
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action60=[160,250,150,250,250,135,128,128,128,128,70, 0, 0, 0, 0,100,250,85, 250, 250]
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#60): #// 1
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action61=[250,250,250,250,250,220,128,128,128,128,100, 0, 0, 0, 0, 250, 50,250, 250, 250]
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#61): #// 拇指和食指掐
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action62=[165,150,250,250,250,170,128,128,128,128,70, 0, 0, 0, 0,100,80,250, 250, 250]
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#62): #// 1
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action63=[250,250,250,250,250,250,128,128,128,128,250, 0, 0, 0, 0, 250,250,250, 250, 250]
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# 新增：将action1到action63填充到action_group数组中
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action_group = [
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action1, action2, action3, action4, action5, action6, action7, action8, action9, action10,
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action11, action12, action13, action14, action15, action16, action17, action18, action19, action20,
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action21, action22, action23, action24, action25, action26, action27, action28, action29, action30,
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action31, action32, action33, action34, action35, action36, action37, action38, action39, action40,
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action41, action42, action43, action44, action45, action46, action47, action48, action49, action50,
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action51, action52, action53, action54, action55, action56, action57, action58, action59, action60,
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action61, action62, action63
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]
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# 新增：以[1, 2, 3, ..., 63]形式创建action_time数组，便于直观查看和修改
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action_time = [
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2, 0.33, 1, 0.34, 0.34, 0.5, 0.34, 0.34, 0.34, 0.34,
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0.5, 0.5, 0.5, 0.5, 1.34, 0.34, 1, 0.5, 0.5, 0.5,
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0.5, 0.34, 0.67, 1.34, 1, 1.67, 0.34, 0.5, 0.67, 0.5,
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0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 1.34, 1.34, 1,
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1.34, 0.5, 0.5, 0.5, 0.5, 0.5, 1.67, 1.67, 0.67, 1.17,
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0.67, 1.17, 0.67, 1.34, 0.67, 1.34, 0.67, 1.17, 0.67, 1.17,
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0.67, 1.17, 2
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]
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poses = action_group
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count = 0
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while True:
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# 获取当前动作
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position = count % len(poses)
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current_pose = poses[position]
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current_time = action_time[position]
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if current_pose == "sleep":
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print("休眠1s")
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time.sleep(1)
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count += 1
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continue
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print(f"执行动作 {count % len(poses) + 1}: {current_pose}")
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# 执行动作
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hand.finger_move(pose=current_pose)
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#hand_r.finger_move(pose=current_pose)
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# 计数增加
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count += 1
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# 等待4秒
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time.sleep(current_time)
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if __name__ == "__main__":
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main()

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