From 6b9bf3be30ffe5c140d77aff81f1716686af0951 Mon Sep 17 00:00:00 2001 From: lgv Date: Tue, 3 Feb 2026 13:36:52 +0800 Subject: [PATCH] feat:add readme.txt --- .idea/grpc_client.iml | 3 +- .idea/misc.xml | 2 +- README.md | 44 +++++ clients/__pycache__/__init__.cpython-39.pyc | Bin 142 -> 142 bytes .../__pycache__/_path_setup.cpython-39.pyc | Bin 0 -> 499 bytes .../__pycache__/base_client.cpython-39.pyc | Bin 2032 -> 1906 bytes .../get_joint_state_client.cpython-39.pyc | Bin 0 -> 4324 bytes .../__pycache__/hand_client.cpython-39.pyc | Bin 2316 -> 2313 bytes .../__pycache__/http_server.cpython-39.pyc | Bin 3074 -> 3146 bytes .../__pycache__/movej_client.cpython-39.pyc | Bin 6659 -> 6656 bytes clients/_path_setup.py | 11 ++ clients/base_client.py | 15 +- clients/cal.py | 165 ------------------ clients/get_joint_state_client.py | 21 ++- clients/get_pose_client.py | 12 +- clients/hand_client.py | 12 +- clients/http_server.py | 6 +- clients/movej_client.py | 38 ++-- clients/press_client.py | 9 +- clients/save_joint_to_csv.py | 12 +- clients/torque_key_client.py | 20 +-- clients/torque_off_client.py | 13 +- clients/torque_on_client.py | 13 +- .../cmvr/__pycache__/__init__.cpython-39.pyc | Bin 149 -> 149 bytes .../api/__pycache__/__init__.cpython-39.pyc | Bin 153 -> 153 bytes .../api/__pycache__/common_pb2.cpython-39.pyc | Bin 2186 -> 2175 bytes .../dexhand_command_pb2.cpython-39.pyc | Bin 6894 -> 6883 bytes .../dexhand_service_pb2_grpc.cpython-39.pyc | Bin 6977 -> 6966 bytes .../humanoid_robot_command_pb2.cpython-39.pyc | Bin 5397 -> 5397 bytes ...noid_robot_service_pb2_grpc.cpython-39.pyc | Bin 6691 -> 6691 bytes requirements.txt | 8 + run_client.py | 27 +-- 32 files changed, 178 insertions(+), 253 deletions(-) create mode 100644 README.md create mode 100644 clients/__pycache__/_path_setup.cpython-39.pyc create mode 100644 clients/__pycache__/get_joint_state_client.cpython-39.pyc create mode 100644 clients/_path_setup.py delete mode 100644 clients/cal.py create mode 100644 requirements.txt diff --git a/.idea/grpc_client.iml b/.idea/grpc_client.iml index 2c80e12..9c1850b 100644 --- a/.idea/grpc_client.iml +++ b/.idea/grpc_client.iml @@ -2,9 +2,10 @@ + - + \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml index 366343e..6ce4790 100644 --- a/.idea/misc.xml +++ b/.idea/misc.xml @@ -3,5 +3,5 @@ - + \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..cc17057 --- /dev/null +++ b/README.md @@ -0,0 +1,44 @@ +# grpc_client + +## Environment + +- Python: 3.9.25 + +## Setup + +```bash +pip install -r requirements.txt +``` + +## Generate gRPC code + +From repo root: + +```bash +python scripts/gen_grpc_py.py +``` + +This reads `.proto` files under `protos/` and writes Python code to `generated/`. + +## Run (module mode) + +```bash +python -m clients.movej_client +python -m clients.get_joint_state_client +python -m clients.get_pose_client +python -m clients.torque_on_client +python -m clients.torque_off_client +python -m clients.torque_key_client +python -m clients.press_client +python -m clients.save_joint_to_csv +python -m clients.http_server +``` + +## Runtime parameters + +- gRPC server address/port: set in `clients/base_client.py` (default `192.168.0.222:50052`). +- HTTP server host/port: set in `clients/http_server.py` (default `0.0.0.0:8000`). +- `device_id` defaults to `hc01` in most clients; change in code if needed. + + + diff --git a/clients/__pycache__/__init__.cpython-39.pyc b/clients/__pycache__/__init__.cpython-39.pyc index bf6364807ba813ba1cd095e03729ae05cebf3462..e6ee043e6749dfb863a68c87759c7cf24e10f5f1 100644 GIT binary patch delta 19 YcmeBU>|^9k|^9kvU%$wQSHyd}mTfnv}-_jlee7j`RJWejz%^`yVg&B-7KyU_bH%;T$6DUT_VI>;CTTmNJaPQLNe&w9SM27R!GgsFeu^bLc?$Pn z4i&$#4|A-b!l4+z{lQ#VS&0SCy~?wVr{)x?=g!ZTVrD52UU~{xgS=VsI#9PqI@c6i zt;pqlpM<0RC>o}jj-sGN+7#JT2dy$Dom*3T#uCHK)Uss#bu-P4Cfk>_q@u9oL{pm~ z@LfIP_Aj6g6F;YevoIM?DLgrPE$G?AWun6ol}VIjDGv|-4iiRyH~Ck}<8oGabZ#c3 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--git a/clients/_path_setup.py b/clients/_path_setup.py new file mode 100644 index 0000000..7b8ff6f --- /dev/null +++ b/clients/_path_setup.py @@ -0,0 +1,11 @@ +from pathlib import Path +import sys + + +def ensure_paths() -> None: + root = Path(__file__).resolve().parents[1] + generated = root / "generated" + for path in (root, generated): + path_str = str(path) + if path_str not in sys.path: + sys.path.insert(0, path_str) diff --git a/clients/base_client.py b/clients/base_client.py index 6896f03..995770b 100644 --- a/clients/base_client.py +++ b/clients/base_client.py @@ -1,13 +1,14 @@ -import grpc import time -import sys -from pathlib import Path -BASE_DIR = Path(__file__).resolve().parent.parent # 上一级目录 -sys.path.append(str(BASE_DIR / "generated")) -sys.path.append(str(BASE_DIR / "generated" / "cmvr")) -from cmvr.api import humanoid_robot_service_pb2_grpc +import grpc + +from clients._path_setup import ensure_paths + +ensure_paths() + from cmvr.api import dexhand_service_pb2_grpc +from cmvr.api import humanoid_robot_service_pb2_grpc + class RobotClientBase: def __init__(self, address="192.168.0.222:50052", timeout=2, retries=1): diff --git a/clients/cal.py b/clients/cal.py deleted file mode 100644 index efb6443..0000000 --- a/clients/cal.py +++ /dev/null @@ -1,165 +0,0 @@ - -import csv - -import math -import sys -from google.protobuf import timestamp_pb2 - -sys.path.append("../generated") -import math -from typing import List, Dict, Literal -from generated.cmvr.api import humanoid_robot_command_pb2 as pb -from generated.cmvr.api import common_pb2 -from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc -from clients.base_client import RobotClientBase - - -class MoveJClient(RobotClientBase): - """Client to send MoveJ commands to the robot""" - - def send(self, joint_list, vel=1.0, acc=0.5, device_id="hc01"): - """ - joint_list: list of dicts, e.g., - [ - {"joint_name": "L_SHOULDER_P", "rad": 0.0}, - {"joint_name": "L_SHOULDER_R", "rad": -1.31873}, - ... - ] - vel: velocity - acc: acceleration - device_id: device ID - """ - # Construct JointCmd list - cmds = [pb.JointCmd(joint_name=j["joint_name"], rad=j["rad"], vel=vel) for j in joint_list] - - # Construct request header - header = common_pb2.CommandHeader.Request() - header.device_id = device_id - ts = timestamp_pb2.Timestamp() - ts.GetCurrentTime() - header.timestamp.CopyFrom(ts) - - # Construct MoveJ request - req = pb.MoveJ.Request( - header=header, - vel=vel, - acc=acc, - cmds=cmds - ) - - # Call RPC - try: - resp = self.stub.moveJ(req, timeout=10) - success = getattr(resp.header, "success", None) - error_msg = getattr(resp.header, "error_message", "") - timestamp_sec = getattr(resp.header.timestamp, "seconds", 0) - print("MoveJ RPC call succeeded") - print(f"Success: {success}") - print(f"Error message: {error_msg}") - print(f"Timestamp: {timestamp_sec}") - except Exception as e: - print("MoveJ RPC call failed:", e) - - def read_joint_from_csv(self, file_name, row_num): - """Read joint data from a CSV file and return joint list for the specified row.""" - joint_order = [ - 'R_SHOULDER_P', 'R_SHOULDER_R', 'R_SHOULDER_Y', - 'R_ELBOW_R', 'R_WRIST_P', 'R_WRIST_Y', 'R_WRIST_R' - ] - - try: - with open(file_name, newline='') as csvfile: - reader = csv.reader(csvfile) - # Skip header row - next(reader) - # Read specific row - for i, row in enumerate(reader, start=1): - if i == row_num: - # Assign joint values to the list - joint_list = [ - {'joint_name': joint_order[j], 'rad': round(float(row[j]) * math.pi / 180, 10)} - for j in range(len(joint_order)) - ] - return joint_list - print(f"Row {row_num} not found.") - return [] - except Exception as e: - print(f"Error reading CSV: {e}") - return [] - - def apply_joint_offsets(self, - joint_list: List[Dict[str, float]], - on_missing: Literal["ignore", "error", "warn"] = "ignore", - ) -> List[Dict[str, float]]: - """ - 将零偏置 joint_zero_offset 叠加到 joint_list 上，按 joint_name 对齐。 - - 参数： - joint_list: [{'joint_name': str, 'rad': float}, ...] 原始指令 - joint_zero_offset: [{'joint_name': str, 'rad': float}, ...] 零偏置 - on_missing: 当 joint_list 中出现 zero_offset 里没有的关节名时的处理： - - "ignore": 当作偏置为 0（默认） - - "warn": 打印警告，再当作 0 - - "error": 抛出 KeyError - - 返回： - 与 joint_list 顺序一致、已叠加偏置的新列表 - """ - # 构造偏置表，并检查是否有重复关节名 - - deg_to_rad = math.pi / 180.0 - - joint_zero_offset = [ - {'joint_name': 'R_SHOULDER_P', 'rad': 0}, - {'joint_name': 'R_SHOULDER_R', 'rad': 0 * deg_to_rad}, - {'joint_name': 'R_SHOULDER_Y', 'rad': 0.2 * deg_to_rad}, - {'joint_name': 'R_ELBOW_R', 'rad': 0.2 * deg_to_rad}, - {'joint_name': 'R_WRIST_P', 'rad': 0.6 * deg_to_rad}, - {'joint_name': 'R_WRIST_Y', 'rad': 2.5 * deg_to_rad}, - {'joint_name': 'R_WRIST_R', 'rad': 0}, - ] - - offset_map: Dict[str, float] = {} - for j in joint_zero_offset: - name = j["joint_name"] - if name in offset_map: - raise ValueError(f"Duplicated joint in zero_offset: {name}") - offset_map[name] = float(j["rad"]) - - joint_cmd: List[Dict[str, float]] = [] - for j in joint_list: - name = j["joint_name"] - base = float(j["rad"]) - if name not in offset_map: - if on_missing == "error": - raise KeyError(f"Missing zero offset for joint: {name}") - elif on_missing == "warn": - print(f"[apply_joint_offsets] WARN: Missing zero offset for {name}, using 0.0") - off = 0.0 - else: - off = offset_map[name] - - joint_cmd.append({"joint_name": name, "rad": base + off}) - return joint_cmd - - -if __name__ == "__main__": - # Initialize client - client = MoveJClient() - - # Specify CSV file and row number to read from - file_name = 'joint_states.csv' - row_num = 2 # Row number you want to read (e.g., 2 for the second row) - - # Read joint data from CSV - joint_list = client.read_joint_from_csv(file_name, 8) - joint_list = client.apply_joint_offsets(joint_list) - print(joint_list) - - if joint_list: - - # Send MoveJ command with the read joint data - client.send(joint_list, vel=0.8, acc=0.8) - - # Close client - client.close() \ No newline at end of file diff --git a/clients/get_joint_state_client.py b/clients/get_joint_state_client.py index e856b76..bf85d4b 100644 --- a/clients/get_joint_state_client.py +++ b/clients/get_joint_state_client.py @@ -1,14 +1,14 @@ -import sys import time from google.protobuf import timestamp_pb2 - import matplotlib.pyplot as plt # 新增 -sys.path.append("../generated") +from clients._path_setup import ensure_paths + +ensure_paths() -from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc -from generated.cmvr.api import humanoid_robot_command_pb2 as pb from clients.base_client import RobotClientBase +from cmvr.api import humanoid_robot_command_pb2 as pb +from cmvr.api import humanoid_robot_service_pb2_grpc as rpc # 固定关节顺序 JOINT_ORDER = [ @@ -88,12 +88,11 @@ class GetJointStateClient(RobotClientBase): except KeyboardInterrupt: print("\nStopped fetching joint states.") # 例子：退出时画几个关节的角度 & 速度曲线 - # try: - # # 你可以根据需要改关节列表 - # self.plot_pos_and_vel([ "R_SHOULDER_P", "R_SHOULDER_R", "R_SHOULDER_Y", - # "R_ELBOW_R", "R_WRIST_P", "R_WRIST_Y", "R_WRIST_R"]) - # except Exception as e: - # print(f"绘图失败: {e}") + try: + # 你可以根据需要改关节列表 + self.plot_pos_and_vel([ "L_SHOULDER_R"]) + except Exception as e: + print(f"绘图失败: {e}") # ====== 3. 绘制速度和角度（同一张图，两行子图） ====== def plot_pos_and_vel(self, joint_names): diff --git a/clients/get_pose_client.py b/clients/get_pose_client.py index aebc3d4..95bff89 100644 --- a/clients/get_pose_client.py +++ b/clients/get_pose_client.py @@ -1,12 +1,14 @@ -import sys import time + +from clients._path_setup import ensure_paths + +ensure_paths() + from google.protobuf import timestamp_pb2 -sys.path.append("../generated") - -from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc -from generated.cmvr.api import humanoid_robot_command_pb2 as pb from clients.base_client import RobotClientBase +from cmvr.api import humanoid_robot_command_pb2 as pb +from cmvr.api import humanoid_robot_service_pb2_grpc as rpc class GetPoseClient(RobotClientBase): diff --git a/clients/hand_client.py b/clients/hand_client.py index dc212e4..75e0951 100644 --- a/clients/hand_client.py +++ b/clients/hand_client.py @@ -1,12 +1,12 @@ -import sys +from clients._path_setup import ensure_paths + +ensure_paths() + from google.protobuf import timestamp_pb2 -sys.path.append("../generated") - - -from generated.cmvr.api import dexhand_command_pb2 as pb -from generated.cmvr.api import common_pb2 from clients.base_client import RobotClientBase +from cmvr.api import common_pb2 +from cmvr.api import dexhand_command_pb2 as pb handshake = [ diff --git a/clients/http_server.py b/clients/http_server.py index 9489167..78edb30 100644 --- a/clients/http_server.py +++ b/clients/http_server.py @@ -1,5 +1,9 @@ from __future__ import annotations +from clients._path_setup import ensure_paths + +ensure_paths() + import time from threading import Lock from fastapi import FastAPI @@ -130,4 +134,4 @@ if __name__ == "__main__": host="0.0.0.0", port=8000, reload=False - ) \ No newline at end of file + ) diff --git a/clients/movej_client.py b/clients/movej_client.py index e6c3440..4285b84 100644 --- a/clients/movej_client.py +++ b/clients/movej_client.py @@ -1,18 +1,18 @@ -import sys +import math import time +from typing import Dict, List, Literal + +from clients._path_setup import ensure_paths + +ensure_paths() from google.protobuf import timestamp_pb2 -from clients.hand_client import DexHandClient - -sys.path.append("../generated") - -from generated.cmvr.api import humanoid_robot_command_pb2 as pb -from generated.cmvr.api import common_pb2 -from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc from clients.base_client import RobotClientBase -import math -from typing import List, Dict, Literal +from clients.hand_client import DexHandClient +from cmvr.api import common_pb2 +from cmvr.api import humanoid_robot_command_pb2 as pb +from cmvr.api import humanoid_robot_service_pb2_grpc as rpc @@ -212,7 +212,7 @@ head_screen_joint_list = [ ] singal_joint_list = [ -{'joint_name': 'R_WRIST_P', 'rad': 0.217252876821}, +{'joint_name': 'L_SHOULDER_R', 'rad': 0}, ] hand_touch = [ @@ -263,6 +263,18 @@ hello_r_joint_list = [ +test_joint_list = [ + # {'joint_name': 'R_SHOULDER_P', 'rad':0}, + {'joint_name': 'R_SHOULDER_R', 'rad': 0}, + # {'joint_name': 'R_SHOULDER_Y', 'rad': 0}, + # {'joint_name': 'R_ELBOW_R', 'rad':0}, + # {'joint_name': 'R_WRIST_P', 'rad': 0}, + # {'joint_name': 'R_WRIST_Y', 'rad': 0}, + # {'joint_name': 'R_WRIST_R', 'rad': 0}, +] + + + # @@ -363,8 +375,8 @@ if __name__ == "__main__": # Initialize client # action_air(client) - action_hello(client) - # client.send(head_front_joint_list, vel=1.0, acc=1.0) + # action_hello(client) + client.send(test_joint_list, vel=1.0, acc=1.0) # client.send(go_home_joint_list, vel=3.0, acc=3.0) # action_music(client) diff --git a/clients/press_client.py b/clients/press_client.py index 40bcef9..87bf02e 100644 --- a/clients/press_client.py +++ b/clients/press_client.py @@ -1,10 +1,11 @@ -import sys +from clients._path_setup import ensure_paths + +ensure_paths() + from google.protobuf import timestamp_pb2 -sys.path.append("../generated") - -from generated.cmvr.api import hlc_command_pb2 as pb from clients.base_client import RobotClientBase +from cmvr.api import hlc_command_pb2 as pb class TouchClient(RobotClientBase): diff --git a/clients/save_joint_to_csv.py b/clients/save_joint_to_csv.py index 04611c4..28540f1 100644 --- a/clients/save_joint_to_csv.py +++ b/clients/save_joint_to_csv.py @@ -1,13 +1,15 @@ -import sys import csv import math + +from clients._path_setup import ensure_paths + +ensure_paths() + from google.protobuf import timestamp_pb2 -sys.path.append("../generated") - -from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc -from generated.cmvr.api import humanoid_robot_command_pb2 as pb from clients.base_client import RobotClientBase +from cmvr.api import humanoid_robot_command_pb2 as pb +from cmvr.api import humanoid_robot_service_pb2_grpc as rpc class GetJointStateClient(RobotClientBase): diff --git a/clients/torque_key_client.py b/clients/torque_key_client.py index 21ddf48..045695e 100644 --- a/clients/torque_key_client.py +++ b/clients/torque_key_client.py @@ -1,19 +1,17 @@ - import sys -import tty import termios +import tty + +from clients._path_setup import ensure_paths + +ensure_paths() + from google.protobuf import timestamp_pb2 -# sys.path.append("../generated") -sys.path.append("/home/lgv/cmvr/0-workspace/grpc_client/generated") # 指向 generated -sys.path.append("/home/lgv/cmvr/0-workspace/grpc_client/generated/cmvr") # 指向 cmvr 顶层 - -from cmvr.api import humanoid_robot_service_pb2_grpc as rpc -from cmvr.api import humanoid_robot_command_pb2 as pb +from clients.base_client import RobotClientBase from cmvr.api import common_pb2 - - -from base_client import RobotClientBase +from cmvr.api import humanoid_robot_command_pb2 as pb +from cmvr.api import humanoid_robot_service_pb2_grpc as rpc class TorqueClient(RobotClientBase): diff --git a/clients/torque_off_client.py b/clients/torque_off_client.py index c8cd09b..293edf3 100644 --- a/clients/torque_off_client.py +++ b/clients/torque_off_client.py @@ -1,12 +1,13 @@ -import sys +from clients._path_setup import ensure_paths + +ensure_paths() + from google.protobuf import timestamp_pb2 -sys.path.append("../generated") - -from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc -from generated.cmvr.api import humanoid_robot_command_pb2 as pb -from generated.cmvr.api import common_pb2 from clients.base_client import RobotClientBase +from cmvr.api import common_pb2 +from cmvr.api import humanoid_robot_command_pb2 as pb +from cmvr.api import humanoid_robot_service_pb2_grpc as rpc class TorqueOffClient(RobotClientBase): diff --git a/clients/torque_on_client.py b/clients/torque_on_client.py index a39e47d..df42df1 100644 --- a/clients/torque_on_client.py +++ b/clients/torque_on_client.py @@ -1,12 +1,13 @@ -import sys +from clients._path_setup import ensure_paths + +ensure_paths() + from google.protobuf import timestamp_pb2 -sys.path.append("../generated") - -from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc -from generated.cmvr.api import humanoid_robot_command_pb2 as pb -from generated.cmvr.api import common_pb2 from clients.base_client import RobotClientBase +from cmvr.api import common_pb2 +from cmvr.api import humanoid_robot_command_pb2 as pb +from cmvr.api import humanoid_robot_service_pb2_grpc as rpc class TorqueOnClient(RobotClientBase): diff --git a/generated/cmvr/__pycache__/__init__.cpython-39.pyc b/generated/cmvr/__pycache__/__init__.cpython-39.pyc index 526278d8e6ccfed8cd866b263ef7ce06148945d7..b1b4d0bb73b89e69575f36a3b12912b2f5885cb5 100644 GIT binary patch delta 19 ZcmbQrIF*q*k(ZZ?0SKNmHcaI10stnF1WNz_ delta 19 ZcmbQrIF*q*k(ZZ?0SG+3oF;O20RSUX1GoSH diff --git a/generated/cmvr/api/__pycache__/__init__.cpython-39.pyc b/generated/cmvr/api/__pycache__/__init__.cpython-39.pyc index 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XE!cylkWL}sy1K0A`9BQ5dIo<3xHf6I diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..4d66caa --- /dev/null +++ b/requirements.txt @@ -0,0 +1,8 @@ +fastapi==0.124.4 +grpcio==1.76.0 +grpcio-tools==1.76.0 +matplotlib==3.9.4 +protobuf==6.33.2 +pydantic==2.12.5 +requests==2.32.5 +uvicorn==0.38.0 diff --git a/run_client.py b/run_client.py index 0c317e8..06e6b9f 100644 --- a/run_client.py +++ b/run_client.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 # -*- coding: utf-8 -*- """ -统一启动 gRPC 客户端脚本 -自动设置 PYTHONPATH，让 generated 下的 cmvr 包可用 -用法： +Unified entrypoint for running client scripts. + +Usage: python run_client.py get_joint_state_client python run_client.py movej_client """ @@ -16,20 +16,25 @@ PROJECT_ROOT = os.path.dirname(os.path.abspath(__file__)) GENERATED_DIR = os.path.join(PROJECT_ROOT, "generated") CLIENTS_DIR = os.path.join(PROJECT_ROOT, "clients") -# 添加 generated 到 PYTHONPATH -sys.path.insert(0, GENERATED_DIR) -os.environ["PYTHONPATH"] = GENERATED_DIR + os.pathsep + os.environ.get("PYTHONPATH", "") - if len(sys.argv) < 2: - print("请指定要运行的客户端脚本名，例如：get_joint_state_client") + print("Please provide a client script name, e.g. get_joint_state_client") sys.exit(1) client_name = sys.argv[1] client_script = os.path.join(CLIENTS_DIR, f"{client_name}.py") if not os.path.isfile(client_script): - print(f"客户端脚本不存在: {client_script}") + print(f"Client script not found: {client_script}") sys.exit(1) -# 支持传递额外参数给客户端 -subprocess.run([sys.executable, client_script] + sys.argv[2:]) +module_name = f"clients.{client_name}" +env = os.environ.copy() +extra_paths = [PROJECT_ROOT, GENERATED_DIR] +existing = env.get("PYTHONPATH", "") +env["PYTHONPATH"] = os.pathsep.join(extra_paths + ([existing] if existing else [])) + +subprocess.run( + [sys.executable, "-m", module_name] + sys.argv[2:], + cwd=PROJECT_ROOT, + env=env, +)