Organize hand models and launchers; use linear active joint mapping

2026-09-28 11:05:30 +08:00
parent 325dff6870
commit 01c9aa5c7a
712 changed files with 205077 additions and 6209 deletions
@@ -0,0 +1,57 @@
+#!/usr/bin/env bash
+# MuJoCo G20 左手 — 桌面 URDF 验证
+# URDF: /home/lxqs/桌面/L20/LEFT/linkerhand_g20_left.urdf（已同步到包内）
+# 默认 mapping=g20_urdf（四指侧摆无外部取负，跟 URDF 轴正向）
+#
+# 用法:
+#   ./hands/G20/scripts/run_g20_left_desktop_urdf.sh
+#   ./hands/G20/scripts/run_g20_left_desktop_urdf.sh --pd-drive
+# 另开终端扫侧摆方向:
+#   ./hands/G20/scripts/run_g20_left_mcp_roll_check.sh
+# 监视关节弧度:
+#   ./hands/G20/scripts/run_g20_joint_gui.sh
+set -eo pipefail
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)"
+cd "$ROOT"
+
+set +u
+# shellcheck disable=SC1091
+source /opt/ros/jazzy/setup.bash
+if [[ -f "$ROOT/install/setup.bash" ]]; then
+  # shellcheck disable=SC1091
+  source "$ROOT/install/setup.bash"
+fi
+set -u
+
+VENV_SITE="$ROOT/venv/lib/python3.12/site-packages"
+if [[ -d "$VENV_SITE" ]]; then
+  export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}"
+fi
+
+PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2"
+export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}"
+
+XML="$PKG_SRC/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linker_hand_g20_left_desktop.xml"
+URDF="$PKG_SRC/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_desktop.urdf"
+if [[ ! -f "$XML" ]]; then
+  echo "[error] missing MJCF: $XML" >&2
+  exit 1
+fi
+
+echo "[g20-left-desktop] urdf=$URDF"
+echo "[g20-left-desktop] xml=$XML"
+echo "[g20-left-desktop] cmd-topic=/cb_left_hand_control_cmd"
+echo "[g20-left-desktop] sim-state=/sim/mujoco/g20/left/joint_state"
+echo "[g20-left-desktop] mapping=g20_urdf (侧摆 cmd0→负限位, cmd255→正限位, 无外部取负)"
+echo "[g20-left-desktop] URDF 四指 mcp_roll 轴: +X (未翻转；右手已改为 -X)"
+echo "[g20-left-desktop] 侧摆验证: 另开终端运行 ./hands/G20/scripts/run_g20_left_mcp_roll_check.sh"
+
+exec python3 -m linker_hand_mujoco_ros2.g20_plan_bridge \
+  --xml "$XML" \
+  --node-name g20_mujoco_plan_bridge_left_desktop \
+  --window-title "G20 left (desktop URDF)" \
+  --cmd-topic /cb_left_hand_control_cmd \
+  --sim-state-topic /sim/mujoco/g20/left/joint_state \
+  --nominal-topic /retarget/g20/left/joint_target_nominal \
+  --mapping g20_urdf \
+  "$@"