Desktop icons for the hand

The following icons will be available on the server laptop desktop for launching and controlling the right, left and bimanual hands. Please note that in Ubuntu 20.04 these icons will be located inside a folder called ‘Shadow Launcher’ on the desktop. You might need to right Click with your mouse and select ‘Allow Launching’

Main desktop icons

Icon picture Icon text Icon explanation
../_images/log-icon.png Shadow ROS Logs Saver and Uploader Saves ROS logs from server and NUC, uploads them to Shadow servers and emails them to Shadow
../_images/hand-e.png Launch Shadow Right Hand Launches the right hand (container, ROS core, NUC hardware control loop, server GUI)
../_images/hand-e-left.png Launch Shadow Left Hand Launches the left hand (container, ROS core, NUC hardware control loop, server GUI)
../_images/hand-e-bimanual.png Launch Shadow Bimanual Hands Launches the both hands (container, ROS core, NUC hardware control loop, server GUI)
../_images/ROS_logo.png Shadow NUC RQT Once the hand has been launched, this icon starts ROS RQT inside the NUC’s docker container
../_images/documentation_icon.png Dexterous Hand Documentation Opens online documentation if internet connected or offline documentation if no internet
../_images/close_icon.png Shadow Close Everything Cleanly stops ROS processes, closes containers, and closes all Shadow related terminals

Shadow Demos folder

The following icons will be available in the Shadow Demos folder. They will only work once the hand has been launched.

Icon picture Icon text Icon explanation
../_images/close-hand-icon-left.png Close Left Hand Once the hand has been launched, this icon will close (pack) the left hand
../_images/close-hand-icon-right.png Close Right Hand Once the hand has been launched, this icon will close (pack) the right hand
../_images/demo-hand-icon-left.png Demo Left Hand Once the hand has been launched, this icon will run various (tactile-actived) left hand demos
../_images/demo-hand-icon-right.png Demo Right Hand Once the hand has been launched, this icon will run various (tactile-actived) right hand
../_images/open-hand-icon-left.png Open Left Hand Once the hand has been launched, this icon will fully open the left hand
../_images/open-hand-icon-right.png Open Right Hand Once the hand has been launched, this icon will fully open the right hand

Shadow Advanced Launchers folder

The following icons will be available in the Shadow Advanced Launchers folder.

  • If an icon in Shadow Advanced Launchers starts with a number, it is meant to be run in numerical sequence after the lower-numbered icons.
  • If an icon in Shadow Advanced Launchers doesn’t start with a number, it can be run independently

The Launch Shadow Right/Left/Bimanual Hand(s) icon in the main desktop is equivalent to launching:

  • 1 - Launch Server Container
  • 2 - Launch Server ROSCORE
  • 3 - Launch NUC COntainer and Right/Left/Bimanual Hands Hardware Control Loop
  • 4 - Launch Server Right/Left/Bimanual GUI

However, with the Shadow Advanced Launcher icons, you can have more granular and customised control of launching different parts of the Shadow software.

Icon picture Icon text Icon explanation
../_images/laptop.jpg 1 - Launch Server Container Launches the server laptop’s docker container.
../_images/ROS_logo.png 2 - Launch Server ROSCORE Launches the ROSCORE inside the server laptop’s docker container
../_images/hand-e.png 3 - Launch NUC Container and Right Hand Hardware Control Loop SSH’es to the NUC, starts its container, and launches the right hand realtime control loop
../_images/hand-e-left.png 3 - Launch NUC Container and Left Hand Hardware Control Loop SSH’es to the NUC, starts its container, and launches the left hand realtime control loop
../_images/hand-e-bimanual.png 3 - Launch NUC Container and Bimanual Hands Hardware Control Loop SSH’es to the NUC, starts its container, and launches the bimanual realtime control loop
../_images/hand-e.png 3 - Zero Force Mode - Right Hand Launches the right hand (connected to NUC) in zero force mode (fingers can be moved easily)
../_images/hand-e-left.png 3 - Zero Force Mode - Left Hand Launches the left hand (connected to NUC) in zero force mode (fingers can be moved easily)
../_images/rviz.png 4 - Launch Server Right Hand GUI Launches the GUI (Rviz) on server laptop for the right hand
../_images/rviz.png 4 - Launch Server Left Hand GUI Launches the GUI (Rviz) on server laptop for the left hand
../_images/rviz.png 4 - Launch Server Bimanuals GUI Launches the GUI (Rviz) on server laptop for the bimanual hands
../_images/hand-e.png Launch Local Shadow Right Hand Launches the right hand (connected to server laptop) using the same USB-ethernet adapter
../_images/hand-e-left.png Launch Local Shadow Left Hand Launches the left hand (connected to server laptop) using the same USB-ethernet adapter
../_images/hand-e-bimanual.png Launch Local Shadow Bimanual Hands Launches bimanual hands (connected to server laptop) using the same USB-ethernet adapters
../_images/nuc.png Launch NUC Container SSH’es to the NUC, starts NUC’s container and starts a terminal session inside it
../_images/hand-e.png Local Zero Force Mode - Right Hand Launches the right hand (connected to server) in zero force mode (fingers can be moved easily)
../_images/hand-e-left.png Local Zero Force Mode - Left Hand Launches the left hand (connected to server) in zero force mode (fingers can be moved easily)