sunxianghui
246b48b1fb
Bring in kinematic hard-write control with mesh-convex collision projection, SDK mapping aligned to Isaac, launch/run scripts, and implementation/tech writeups.
29 lines
856 B
Bash
Executable File
29 lines
856 B
Bash
Executable File
#!/usr/bin/env bash
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# MuJoCo G20 左手仿真桥
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# 默认订阅 /g20/cb_left_hand_control_cmd（0~255）
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# 发布 /sim/mujoco/g20/left/joint_state
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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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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:+:$PYTHONPATH}"
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exec python3 -m linker_hand_mujoco_ros2.g20_plan_bridge "$@"
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