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 O12 T3 右手仿真桥（OmniHand Pro 2025 ROS2 接口）
+# URDF 来源: /home/lxqs/下载/linkerhand_o12_t3_right-0703_calibrated_O12_RIGHT_001_REVIEW_ONLY_20260909_112041.urdf
+# （包内: urdf/O12/linker_hand_o12_right/linkerhand_o12_right.urdf）
+# 订阅 /o12/right/joint_cmd（12 路弧度）
+# 发布 /o12/right/joint_states（12 路弧度）
+#
+# 用法:
+#   ./hands/O12/scripts/run_o12_right_mujoco_plan.sh              # 默认 --pd-drive（可见接触力，按 F）
+#   ./hands/O12/scripts/run_o12_right_mujoco_plan.sh --no-pd-drive  # 纯 kinematic，最稳
+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/O12/linker_hand_o12_right/linker_hand_o12_right.xml"
+URDF="$PKG_SRC/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linkerhand_o12_right.urdf"
+if [[ ! -f "$XML" ]]; then
+  echo "[error] missing O12 MJCF: $XML" >&2
+  exit 1
+fi
+
+echo "[o12-right] urdf=$URDF"
+echo "[o12-right] xml=$XML"
+echo "[o12-right] cmd-topic=/o12/right/joint_cmd (12 rad)"
+echo "[o12-right] state-topic=/o12/right/joint_states (12 rad)"
+echo "[o12-right] default mode=pd-drive (viewer 按 F 看接触力; 默认 slew=4 rad/s 防穿模)"
+echo "[o12-right] order (API_CPP_O12): thumb_roll,yaw,pitch,mcp,idx_roll,idx_pitch,idx_pip,mid_roll,mid_pitch,mid_pip,ring,pinky"
+
+exec python3 -m linker_hand_mujoco_ros2.o12_plan_bridge \
+  --xml "$XML" \
+  --node-name o12_mujoco_plan_bridge_right \
+  --window-title "O12 T3 right" \
+  --cmd-topic /o12/right/joint_cmd \
+  --sim-state-topic /o12/right/joint_states \
+  --no-legacy-sdk \
+  --mapping g20_urdf \
+  "$@"