Initial import of ORISYS arm workstation

scripts/env.sh

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+#!/usr/bin/env bash
+# 加载本工作区环境（conda + ROS + flexiv 库）。
+# 用法：source scripts/env.sh
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+
+if [[ -f /opt/ros/humble/setup.bash ]]; then
+  # shellcheck disable=SC1091
+  source /opt/ros/humble/setup.bash
+elif [[ -f /opt/ros/jazzy/setup.bash ]]; then
+  # shellcheck disable=SC1091
+  source /opt/ros/jazzy/setup.bash
+fi
+
+# conda 可能在 ~/anaconda3 或 ~/miniconda3。不写死用户名。
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/lib/dev_tools.sh"
+dev_source_conda || true
+if command -v conda >/dev/null 2>&1; then
+  # 干净切换：先把堆叠的激活退到 base，再激活真机环境。
+  # 同一 shell 里从仿真环境切过来时，不清干净会残留 PATH/PYTHONPATH。
+  _env_helper="${ROOT}/scripts/lib/conda_switch.sh"
+  _real_env="${REAL_ENV_NAME:-ros_flexiv}"
+  if [[ -f "${_env_helper}" ]]; then
+    # shellcheck disable=SC1090
+    source "${_env_helper}"
+    conda_switch_clean "${_real_env}" "${SIM_ENV_NAME:-ros_gz_sim}" || \
+      conda activate "${_real_env}" 2>/dev/null || true
+  else
+    conda activate "${_real_env}" 2>/dev/null || true
+  fi
+  unset _env_helper _real_env
+fi
+
+if [[ -f "${ROOT}/install/setup.bash" ]]; then
+  # shellcheck disable=SC1091
+  source "${ROOT}/install/setup.bash"
+  # 本机 /opt/ros/humble 会盖住 conda 的 ros2，3.10 解释器加载不了 3.11 的 rclpy。
+  if [[ -n "${CONDA_PREFIX:-}" && -x "${CONDA_PREFIX}/bin/ros2" ]]; then
+    export PATH="${CONDA_PREFIX}/bin:${PATH}"
+  fi
+else
+  echo "警告：${ROOT}/install 还没编译。工位窗口可以先开；真机栈要先在仓库根目录 colcon build（不要在中文路径下编）。" >&2
+fi
+export LD_LIBRARY_PATH="${HOME}/flexiv_install/lib:${LD_LIBRARY_PATH:-}"
+# pip 版 TensorRT（tensorrt-cu12）—— 加载 YOLO `.engine` 需要它
+_pyver="$(python3 -c 'import sys; print(f"{sys.version_info[0]}.{sys.version_info[1]}")' 2>/dev/null || echo 3.11)"
+_TRT_SITE="${CONDA_PREFIX:-${HOME}/anaconda3/envs/${REAL_ENV_NAME:-ros_flexiv}}/lib/python${_pyver}/site-packages"
+for _d in "${_TRT_SITE}/tensorrt" "${_TRT_SITE}/tensorrt_libs" "${_TRT_SITE}/nvidia/tensorrt/lib"; do
+  if [[ -d "${_d}" ]]; then
+    export LD_LIBRARY_PATH="${_d}:${LD_LIBRARY_PATH}"
+  fi
+done
+unset _d _TRT_SITE _pyver
+export YOLO_AUTOINSTALL=false
+export ROS2_WS="${ROOT}"
+
+# 真机与仿真的 DDS 隔离（细节与踩坑见 lib/ros_domain.sh 的文件头）。
+# shellcheck source=lib/ros_domain.sh
+source "${ROOT}/scripts/lib/ros_domain.sh"
+ros_domain_force_real
+
+# 主站点配置 → `SITE_*`（YOLO 权重、相机、机器人 SN……）
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/lib/load_site_config.sh" 2>/dev/null || true