53 lines
1.7 KiB
Bash
Executable File
53 lines
1.7 KiB
Bash
Executable File
#!/usr/bin/env bash
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# MuJoCo O6 左手仿真桥
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# URDF/MJCF 来源: /home/lxqs/Linkerbot_URDF/06/LEFT（9/3 标定版）
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# 默认订阅 /cb_left_hand_control_cmd（6 维 SDK 0~255）
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# 发布 /sim/mujoco/o6/left/joint_state
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#
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# 用法:
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# ./hands/O6/scripts/run_o6_left_mujoco_plan.sh
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# ./hands/O6/scripts/run_o6_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/O6/linker_hand_o6_left/linker_hand_o6_left.xml"
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URDF="$PKG_SRC/linker_hand_mujoco_ros2/urdf/O6/linker_hand_o6_left/linkerhand_o6_left.urdf"
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if [[ ! -f "$XML" ]]; then
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echo "[error] missing O6 left MJCF: $XML" >&2
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exit 1
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fi
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echo "[o6-left] urdf=$URDF"
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echo "[o6-left] xml=$XML"
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echo "[o6-left] cmd-topic=/cb_left_hand_control_cmd"
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echo "[o6-left] sim-state=/sim/mujoco/o6/left/joint_state"
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echo "[o6-left] SDK 6ch: pitch, yaw, index, middle, ring, pinky"
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exec python3 -m linker_hand_mujoco_ros2.o6_left_plan_bridge \
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--xml "$XML" \
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--node-name o6_mujoco_plan_bridge_left \
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--window-title "O6 left" \
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--cmd-topic /cb_left_hand_control_cmd \
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--sim-state-topic /sim/mujoco/o6/left/joint_state \
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--nominal-topic /retarget/o6/left/joint_target_nominal \
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--mapping g20_urdf \
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"$@"
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