28 lines
913 B
Bash
Executable File
28 lines
913 B
Bash
Executable File
#!/usr/bin/env bash
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# Unified MuJoCo launcher. Does not control physical hardware.
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set -euo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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usage() {
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cat <<'EOF'
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用法: ./run.sh <手型> <left|right> [MuJoCo 参数]
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支持: G20、O6、L6、O30 左右手；O12 右手
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示例:
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./run.sh O30 right
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./run.sh G20 left --pd-drive
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./run.sh G20 left --passive-json none
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双窗对比: ./hands/G20/compare_left.sh
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目录说明: README.md
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旧根目录脚本已移至 archive/launchers/。
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EOF
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}
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if [[ $# -eq 0 || ${1:-} == --help || ${1:-} == --list ]]; then usage; exit 0; fi
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if [[ $# -lt 2 ]]; then usage >&2; exit 2; fi
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model="${1^^}"; side="${2,,}"; shift 2
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case "$model:$side" in
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G20:left|G20:right|O6:left|O6:right|L6:left|L6:right|O30:left|O30:right|O12:right) ;;
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*) echo "不支持的手型/侧别: $model $side" >&2; usage >&2; exit 2 ;;
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esac
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exec "$ROOT/hands/$model/run_$side.sh" "$@"
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