#!/usr/bin/env bash
# Unified MuJoCo launcher. Does not control physical hardware.
set -euo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
usage() {
  cat <<'EOF'
用法: ./run.sh <手型> <left|right> [MuJoCo 参数]

支持: G20、O6、L6、O30 左右手；O12 右手
示例:
  ./run.sh O30 right
  ./run.sh G20 left --pd-drive
  ./run.sh G20 left --passive-json none

双窗对比: ./hands/G20/compare_left.sh
目录说明: README.md
旧根目录脚本已移至 archive/launchers/。
EOF
}
if [[ $# -eq 0 || ${1:-} == --help || ${1:-} == --list ]]; then usage; exit 0; fi
if [[ $# -lt 2 ]]; then usage >&2; exit 2; fi
model="${1^^}"; side="${2,,}"; shift 2
case "$model:$side" in
  G20:left|G20:right|O6:left|O6:right|L6:left|L6:right|O30:left|O30:right|O12:right) ;;
  *) echo "不支持的手型/侧别: $model $side" >&2; usage >&2; exit 2 ;;
esac
exec "$ROOT/hands/$model/run_$side.sh" "$@"