#!/usr/bin/env bash
# Isaac G20 实机命令桥
# 默认订阅 /g20/cb_left_hand_control_cmd（与真机相同 0~255）
# 发布     /sim/isaac/g20/left/joint_state
# PLAN 名义弧度: --plan-nominal
# 旧无前缀话题: --legacy-sdk
# 跟踪自检: --track-test
set -euo pipefail

REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
ISAAC_DIR="${ISAAC_SIM_DIR:-$REPO_ROOT/_build/linux-x86_64/release}"
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"

export ISAAC_SIM_DIR="$ISAAC_DIR"

exec "$ISAAC_DIR/python.sh" "$SCRIPT_DIR/isaac_g20_plan_bridge.py" "$@"