#!/usr/bin/env bash
# 启动 LinkerHand Isaac Sim 仿真（默认仅 G20 + ROS2 桥）
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/linker_hand_dual_sim.py" "$@"