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Organize hand models and launchers; use linear active joint mapping

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sunxianghui
2026-09-28 11:05:30 +08:00
parent 325dff6870
commit 01c9aa5c7a
712 changed files with 205077 additions and 6209 deletions
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hands/O30/legacy/run_o30_right_v5_piecewise.sh
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#!/usr/bin/env bash
# Historical V5 asset only: active piecewise mapping is disabled by current linear policy.
set -euo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)"
export O30_RIGHT_URDF="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_endpoint_calibrated.urdf"
exec "$ROOT/hands/O30/scripts/run_o30_right_mujoco_plan.sh" "$@"
hands/O30/legacy/run_o30_right_v6_linear.sh
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#!/usr/bin/env bash
# Run the preserved V6 pure linear URDF.
set -euo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)"
export O30_RIGHT_URDF="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_linear_calibrated.urdf"
exec "$ROOT/hands/O30/scripts/run_o30_right_mujoco_plan.sh" "$@"
hands/O30/legacy/run_o30_right_v7_linear.sh
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#!/usr/bin/env bash
# Run the preserved V7 pure linear URDF.
set -euo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)"
export O30_RIGHT_URDF="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_two_joint_calibrated.urdf"
exec "$ROOT/hands/O30/scripts/run_o30_right_mujoco_plan.sh" "$@"
hands/O30/legacy/run_o30_right_v8_linear.sh
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#!/usr/bin/env bash
# Run the preserved V8 pure linear URDF.
set -euo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)"
export O30_RIGHT_URDF="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_pinky_root_calibrated.urdf"
exec "$ROOT/hands/O30/scripts/run_o30_right_mujoco_plan.sh" "$@"
hands/O30/legacy/run_o30_right_v9_linear.sh
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#!/usr/bin/env bash
# Run the preserved V9 pure linear URDF.
set -euo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)"
export O30_RIGHT_URDF="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_middle_calibrated.urdf"
exec "$ROOT/hands/O30/scripts/run_o30_right_mujoco_plan.sh" "$@"