58 lines
2.2 KiB
Bash
Executable File
58 lines
2.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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# MuJoCo G20 左手 — 桌面 URDF 验证
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# URDF: /home/lxqs/桌面/L20/LEFT/linkerhand_g20_left.urdf（已同步到包内）
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# 默认 mapping=g20_urdf（四指侧摆无外部取负，跟 URDF 轴正向）
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#
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# 用法:
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# ./hands/G20/scripts/run_g20_left_desktop_urdf.sh
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# ./hands/G20/scripts/run_g20_left_desktop_urdf.sh --pd-drive
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# 另开终端扫侧摆方向:
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# ./hands/G20/scripts/run_g20_left_mcp_roll_check.sh
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# 监视关节弧度:
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# ./hands/G20/scripts/run_g20_joint_gui.sh
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)"
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cd "$ROOT"
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set +u
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# shellcheck disable=SC1091
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source /opt/ros/jazzy/setup.bash
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if [[ -f "$ROOT/install/setup.bash" ]]; then
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# shellcheck disable=SC1091
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source "$ROOT/install/setup.bash"
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fi
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set -u
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VENV_SITE="$ROOT/venv/lib/python3.12/site-packages"
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if [[ -d "$VENV_SITE" ]]; then
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export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}"
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fi
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PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2"
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export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}"
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XML="$PKG_SRC/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linker_hand_g20_left_desktop.xml"
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URDF="$PKG_SRC/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_desktop.urdf"
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if [[ ! -f "$XML" ]]; then
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echo "[error] missing MJCF: $XML" >&2
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exit 1
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fi
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echo "[g20-left-desktop] urdf=$URDF"
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echo "[g20-left-desktop] xml=$XML"
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echo "[g20-left-desktop] cmd-topic=/cb_left_hand_control_cmd"
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echo "[g20-left-desktop] sim-state=/sim/mujoco/g20/left/joint_state"
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echo "[g20-left-desktop] mapping=g20_urdf (侧摆 cmd0→负限位, cmd255→正限位, 无外部取负)"
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echo "[g20-left-desktop] URDF 四指 mcp_roll 轴: +X (未翻转；右手已改为 -X)"
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echo "[g20-left-desktop] 侧摆验证: 另开终端运行 ./hands/G20/scripts/run_g20_left_mcp_roll_check.sh"
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exec python3 -m linker_hand_mujoco_ros2.g20_plan_bridge \
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--xml "$XML" \
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--node-name g20_mujoco_plan_bridge_left_desktop \
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--window-title "G20 left (desktop URDF)" \
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--cmd-topic /cb_left_hand_control_cmd \
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--sim-state-topic /sim/mujoco/g20/left/joint_state \
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--nominal-topic /retarget/g20/left/joint_target_nominal \
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--mapping g20_urdf \
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"$@"
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