53 lines
1.8 KiB
Bash
Executable File
53 lines
1.8 KiB
Bash
Executable File
#!/usr/bin/env bash
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# MuJoCo L6 v3.1 左手仿真桥
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# URDF 来源: /home/lxqs/Linkerbot_URDF/L6/LEFT/linkerhand_l6v3.1_left_transferred_from_L6_RIGHT_001.urdf
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# 默认订阅 /l6/cb_left_hand_control_cmd（6 维 SDK 0~255）
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# 发布 /sim/mujoco/l6/left/joint_state
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#
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# 用法:
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# ./hands/L6/scripts/run_l6_left_mujoco_plan.sh
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# ./hands/L6/scripts/run_l6_left_mujoco_plan.sh --pd-drive
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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/L6/linker_hand_l6v31_left/linker_hand_l6v31_left.xml"
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URDF="$PKG_SRC/linker_hand_mujoco_ros2/urdf/L6/linker_hand_l6v31_left/linkerhand_l6_left.urdf"
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if [[ ! -f "$XML" ]]; then
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echo "[error] missing L6 left MJCF: $XML" >&2
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exit 1
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fi
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echo "[l6-left] urdf=$URDF"
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echo "[l6-left] xml=$XML"
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echo "[l6-left] cmd-topic=/l6/cb_left_hand_control_cmd"
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echo "[l6-left] sim-state=/sim/mujoco/l6/left/joint_state"
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echo "[l6-left] SDK 6ch: pitch, roll, index, middle, ring, pinky"
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exec python3 -m linker_hand_mujoco_ros2.l6_left_plan_bridge \
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--xml "$XML" \
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--node-name l6_mujoco_plan_bridge_left \
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--window-title "L6 v3.1 left" \
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--cmd-topic /l6/cb_left_hand_control_cmd \
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--sim-state-topic /sim/mujoco/l6/left/joint_state \
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--nominal-topic /retarget/l6/left/joint_target_nominal \
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--mapping g20_urdf \
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"$@"
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