#!/usr/bin/env bash
# G20 关节弧度监视 GUI（默认 6 位小数）
# 订阅 /sim/mujoco/g20/left/joint_state
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}"

exec python3 -m linker_hand_mujoco_ros2.g20_joint_monitor_gui "$@"