sunxianghui
26 lines
758 B
Bash
Executable File
26 lines
758 B
Bash
Executable File
#!/usr/bin/env bash
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# 快捷入口：O6 中指 step 实验（真机 / 仿真 / 对比）
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-31}"
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export ROS_LOCALHOST_ONLY=0
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set +u
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source /opt/ros/jazzy/setup.bash 2>/dev/null || true
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set -u
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MODE="${1:-}"
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if [[ -z "$MODE" ]]; then
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cat <<'EOF'
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用法:
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./run_middle_step_experiment.sh real # 真机实验（需 can0 + SDK）
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./run_middle_step_experiment.sh sim # 仿真实验（MuJoCo）
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./run_middle_step_experiment.sh compare # 对比图（需先 real + sim）
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时序（两边相同）: 3s 张开 → 3s 握紧 → 3s 张开 → 2s 余量
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EOF
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exit 1
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fi
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exec python3 "$ROOT/tools/run_middle_step_experiment.py" "$MODE" "${@:2}"
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