sunxianghui
0b727785c6
Includes G20 PLAN/cmd_u8 bridge, joint mapping, dual-hand sim scripts, and G20/L20/O6 URDF with USD payloads for Isaac Sim integration. Co-authored-by: Cursor <cursoragent@cursor.com>
17 lines
581 B
Bash
Executable File
17 lines
581 B
Bash
Executable File
#!/usr/bin/env bash
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# Isaac G20 实机命令桥
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# 默认订阅 /g20/cb_left_hand_control_cmd（与真机相同 0~255）
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# 发布 /sim/isaac/g20/left/joint_state
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# PLAN 名义弧度: --plan-nominal
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# 旧无前缀话题: --legacy-sdk
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# 跟踪自检: --track-test
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set -euo pipefail
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REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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ISAAC_DIR="${ISAAC_SIM_DIR:-$REPO_ROOT/_build/linux-x86_64/release}"
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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export ISAAC_SIM_DIR="$ISAAC_DIR"
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exec "$ISAAC_DIR/python.sh" "$SCRIPT_DIR/isaac_g20_plan_bridge.py" "$@"
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