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>
26 lines
717 B
Bash
Executable File
26 lines
717 B
Bash
Executable File
#!/usr/bin/env bash
|
|
# G20 关节弧度监视 GUI（默认 6 位小数）
|
|
# 订阅 /sim/mujoco/g20/left/joint_state
|
|
set -eo pipefail
|
|
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
|
cd "$ROOT"
|
|
|
|
set +u
|
|
# shellcheck disable=SC1091
|
|
source /opt/ros/jazzy/setup.bash
|
|
if [[ -f "$ROOT/install/setup.bash" ]]; then
|
|
# shellcheck disable=SC1091
|
|
source "$ROOT/install/setup.bash"
|
|
fi
|
|
set -u
|
|
|
|
VENV_SITE="$ROOT/venv/lib/python3.12/site-packages"
|
|
if [[ -d "$VENV_SITE" ]]; then
|
|
export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}"
|
|
fi
|
|
|
|
PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2"
|
|
export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}"
|
|
|
|
exec python3 -m linker_hand_mujoco_ros2.g20_joint_monitor_gui "$@"
|