#!/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 "$@"