55 lines
1.8 KiB
Bash
Executable File
55 lines
1.8 KiB
Bash
Executable File
#!/usr/bin/env bash
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# MuJoCo G20 右手仿真桥
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# 默认订阅 /cb_right_hand_control_cmd（0~255，与真机 SDK 一致）
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# 发布 /sim/mujoco/g20/right/joint_state
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# 模型：urdf/G20/linker_hand_g20_right/linker_hand_g20_right.xml
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# 默认 1.35× 墙钟 + 关节限速；可用 --speed / --slew-rad-s 再调
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#
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# 用法:
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# ./hands/G20/scripts/run_g20_right_mujoco_plan.sh
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# ./hands/G20/scripts/run_g20_right_mujoco_plan.sh --cmd-topic /g20/cb_right_hand_control_cmd
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# 监视关节（另开终端）:
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# ./hands/G20/scripts/run_g20_right_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:+:$PYTHONPATH}"
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fi
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# 源码优先（含 urdf 资产）
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PKG_SRC="$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_right/linker_hand_g20_right.xml"
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if [[ ! -f "$XML" ]]; then
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echo "[error] missing G20 right MJCF: $XML" >&2
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exit 1
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fi
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echo "[g20-right] xml=$XML"
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echo "[g20-right] model=G20_RIGHT_tag"
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echo "[g20-right] cmd-topic=/cb_right_hand_control_cmd (override with --cmd-topic)"
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echo "[g20-right] sim-state=/sim/mujoco/g20/right/joint_state"
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exec python3 -m linker_hand_mujoco_ros2.g20_plan_bridge \
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--xml "$XML" \
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--node-name g20_mujoco_plan_bridge_right \
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--window-title "G20 right" \
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--cmd-topic /cb_right_hand_control_cmd \
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--sim-state-topic /sim/mujoco/g20/right/joint_state \
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--nominal-topic /retarget/g20/right/joint_target_nominal \
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--mapping g20_urdf \
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"$@"
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