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 +1,24 @@
+#!/usr/bin/env bash
+# 本机启动左手 O6 MuJoCo 仿真（ROS2 用系统 Python，依赖从 venv/user site 补齐）
+set -euo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
+cd "$ROOT"
+
+# ROS2
+# shellcheck disable=SC1091
+source /opt/ros/jazzy/setup.bash
+# shellcheck disable=SC1091
+source "$ROOT/install/setup.bash"
+
+# 多机通信
+export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-30}"
+export ROS_LOCALHOST_ONLY=0
+
+# ros2 launch 走系统 python3；把 venv 的 site-packages 挂上（含 mujoco/PyQt5）
+VENV_SITE="$ROOT/venv/lib/python3.12/site-packages"
+if [[ -d "$VENV_SITE" ]]; then
+  export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}"
+fi
+
+exec ros2 launch linker_hand_mujoco_ros2 linker_hand_mujoco_ros2.launch.py "$@"