sunxianghui
325dff6870
Sync calibrated G20 URDF/MJCF/JSON lookup, L20 V10.1 dual-compare scripts, joint GUI, and document O6/G20/L20 startup on the Gitea repo. Co-authored-by: Cursor <cursoragent@cursor.com>
63 lines
2.0 KiB
Bash
Executable File
63 lines
2.0 KiB
Bash
Executable File
#!/usr/bin/env bash
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# 同时开两个 MuJoCo：当前标定 G20 + L20 V10.1 原版 URDF
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# 共用同一条 0~255 控制话题（默认 /g20/cb_left_hand_control_cmd）
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#
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# 用法:
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# ./run_dual_mujoco_compare.sh
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# ./run_dual_mujoco_compare.sh --cmd-topic /cb_left_hand_control_cmd
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# ./run_dual_mujoco_compare.sh --speed 1.0
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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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PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2"
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G20_XML="$PKG_SRC/urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml"
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L20_XML="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_left/linker_hand_l20v101_left.xml"
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if [[ ! -f "$G20_XML" ]]; then
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echo "[error] missing G20 MJCF: $G20_XML" >&2
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exit 1
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fi
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if [[ ! -f "$L20_XML" ]]; then
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echo "[error] missing L20 MJCF: $L20_XML" >&2
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exit 1
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fi
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EXTRA=("$@")
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cleanup() {
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[[ -n "${PID_G20:-}" ]] && kill "$PID_G20" 2>/dev/null || true
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[[ -n "${PID_L20:-}" ]] && kill "$PID_L20" 2>/dev/null || true
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}
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trap cleanup EXIT INT TERM
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echo "[dual] G20 calibrated xml=$G20_XML"
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"$ROOT/run_g20_mujoco_plan.sh" \
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--xml "$G20_XML" \
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--node-name g20_calibrated \
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--window-title "G20 calibrated (current)" \
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--sim-state-topic /sim/mujoco/g20/left/joint_state \
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--mapping g20_calibrated \
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"${EXTRA[@]}" &
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PID_G20=$!
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# 错开一点，避免两个 GLFW 同时抢显示
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sleep 1
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echo "[dual] L20 V10.1 stock xml=$L20_XML (URDF-native mapping, no G20 corrections)"
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# L20 mesh 弯曲时自碰多，默认 collision_project 会把运动全部打回；对比时关闭。
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"$ROOT/run_g20_mujoco_plan.sh" \
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--xml "$L20_XML" \
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--node-name l20v101_stock \
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--window-title "L20 V10.1 stock (URDF only)" \
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--sim-state-topic /sim/mujoco/l20v101/left/joint_state \
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--mapping l20_urdf \
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--no-collision-project \
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"${EXTRA[@]}" &
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PID_L20=$!
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echo "[dual] both started. same cmd topic (default /g20/cb_left_hand_control_cmd)."
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echo "[dual] L20: collision_project=off (mesh self-overlap would freeze motion)."
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echo "[dual] Ctrl+C stops both."
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wait "$PID_G20" "$PID_L20"
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