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 +1,54 @@
+#!/usr/bin/env bash
+# MuJoCo G20 右手仿真桥
+# 默认订阅 /cb_right_hand_control_cmd（0~255，与真机 SDK 一致）
+# 发布 /sim/mujoco/g20/right/joint_state
+# 模型：urdf/G20/linker_hand_g20_right/linker_hand_g20_right.xml
+# 默认 1.35× 墙钟 + 关节限速；可用 --speed / --slew-rad-s 再调
+#
+# 用法:
+#   ./hands/G20/scripts/run_g20_right_mujoco_plan.sh
+#   ./hands/G20/scripts/run_g20_right_mujoco_plan.sh --cmd-topic /g20/cb_right_hand_control_cmd
+# 监视关节（另开终端）:
+#   ./hands/G20/scripts/run_g20_right_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:+:$PYTHONPATH}"
+fi
+
+# 源码优先（含 urdf 资产）
+PKG_SRC="$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_right/linker_hand_g20_right.xml"
+if [[ ! -f "$XML" ]]; then
+  echo "[error] missing G20 right MJCF: $XML" >&2
+  exit 1
+fi
+
+echo "[g20-right] xml=$XML"
+echo "[g20-right] model=G20_RIGHT_tag"
+echo "[g20-right] cmd-topic=/cb_right_hand_control_cmd (override with --cmd-topic)"
+echo "[g20-right] sim-state=/sim/mujoco/g20/right/joint_state"
+
+exec python3 -m linker_hand_mujoco_ros2.g20_plan_bridge \
+  --xml "$XML" \
+  --node-name g20_mujoco_plan_bridge_right \
+  --window-title "G20 right" \
+  --cmd-topic /cb_right_hand_control_cmd \
+  --sim-state-topic /sim/mujoco/g20/right/joint_state \
+  --nominal-topic /retarget/g20/right/joint_target_nominal \
+  --mapping g20_urdf \
+  "$@"