55 lines
2.1 KiB
Bash
Executable File
55 lines
2.1 KiB
Bash
Executable File
#!/usr/bin/env bash
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# MuJoCo O12 T3 右手仿真桥（OmniHand Pro 2025 ROS2 接口）
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# URDF 来源: /home/lxqs/下载/linkerhand_o12_t3_right-0703_calibrated_O12_RIGHT_001_REVIEW_ONLY_20260909_112041.urdf
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# （包内: urdf/O12/linker_hand_o12_right/linkerhand_o12_right.urdf）
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# 订阅 /o12/right/joint_cmd（12 路弧度）
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# 发布 /o12/right/joint_states（12 路弧度）
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#
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# 用法:
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# ./hands/O12/scripts/run_o12_right_mujoco_plan.sh # 默认 --pd-drive（可见接触力，按 F）
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# ./hands/O12/scripts/run_o12_right_mujoco_plan.sh --no-pd-drive # 纯 kinematic，最稳
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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/O12/linker_hand_o12_right/linker_hand_o12_right.xml"
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URDF="$PKG_SRC/linker_hand_mujoco_ros2/urdf/O12/linker_hand_o12_right/linkerhand_o12_right.urdf"
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if [[ ! -f "$XML" ]]; then
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echo "[error] missing O12 MJCF: $XML" >&2
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exit 1
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fi
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echo "[o12-right] urdf=$URDF"
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echo "[o12-right] xml=$XML"
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echo "[o12-right] cmd-topic=/o12/right/joint_cmd (12 rad)"
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echo "[o12-right] state-topic=/o12/right/joint_states (12 rad)"
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echo "[o12-right] default mode=pd-drive (viewer 按 F 看接触力; 默认 slew=4 rad/s 防穿模)"
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echo "[o12-right] order (API_CPP_O12): thumb_roll,yaw,pitch,mcp,idx_roll,idx_pitch,idx_pip,mid_roll,mid_pitch,mid_pip,ring,pinky"
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exec python3 -m linker_hand_mujoco_ros2.o12_plan_bridge \
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--xml "$XML" \
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--node-name o12_mujoco_plan_bridge_right \
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--window-title "O12 T3 right" \
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--cmd-topic /o12/right/joint_cmd \
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--sim-state-topic /o12/right/joint_states \
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--no-legacy-sdk \
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--mapping g20_urdf \
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"$@"
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