Desktop Icons For The Hand
The following icons will be available on the server laptop desktop for launching and controlling the right, left and bi-manual hands. These icons will be located inside a folder named after your container name on the desktop. You might need to right Click with your mouse and select ‘Allow Launching’.
When running a bimanual system, due to all the combinations of icons that are possible we split the icons into sub-folders, to make it easier to select the right icons.
Main desktop icons
Icon text |
Icon explanation |
|---|---|
Shadow ROS Logs Saver and Uploader |
Saves ROS logs from server and NUC, uploads them to Shadow servers and emails them to Shadow |
Launch Shadow Right Hand |
Launches the right hand (container, ROS core, NUC hardware control loop, server GUI) |
Launch Shadow Left Hand |
Launches the left hand (container, ROS core, NUC hardware control loop, server GUI) |
Launch Shadow Bimanual Hands |
Launches the both hands (container, ROS core, NUC hardware control loop, server GUI) |
Shadow NUC RQT |
Once the hand has been launched, this icon starts ROS RQT inside the NUC’s docker container |
Dexterous Hand Documentation |
Opens online documentation if internet connected or offline documentation if no internet |
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 text |
Icon explanation |
|---|---|
Close Left Hand |
Once the hand has been launched, this icon will close (pack) the left hand |
Close Right Hand |
Once the hand has been launched, this icon will close (pack) the right hand |
Close Bimanual Hands |
Once bimanual hands have been launched, this icon will close (pack) both hands |
Biotac Demo Left Hand/Demo Left Hand |
Once the hand has been launched, this icon will run various (tactile/keyboard-actived) left hand demos |
Biotac Demo Right Hand/Demo Right Hand |
Once the hand has been launched, this icon will run various (tactile/keyboard-actived) right hand demos |
Biotac Demo Bimanual Hands/Demo Bimanual Hands |
Once bimanual hands have been launched, this icon will run various (tactile/keyboard-actived) bimanual hands demos |
Open Left Hand |
Once the hand has been launched, this icon will fully open the left hand |
Open Right Hand |
Once the hand has been launched, this icon will fully open the right hand |
Open Bimanual Hands |
Once bimanual hands have been launched, this icon will fully open both hands |
Simulation folder
The simulation folder gives you icons that automatically launch the hand in simulation mode on your local server.
Icon text |
Icon explanation |
|---|---|
Launch Shadow Bimanual Hands Simulation |
Sets up a bimanual simulation robot with Rviz and Gazebo |
Launch Shadow Left Hand Simulation |
Sets up a left hand simulation robot with Rviz and Gazebo |
Launch Shadow Right Hand Simulation |
Sets up a right hand simulation robot with Rviz and Gazebo |
Shadow Advanced Launchers folder
The following icons will be available in the Shadow Advanced Launchers folder.
If an icon in
Shadow Advanced Launchersstarts with a number, it is meant to be run in numerical sequence after the lower-numbered icons.If an icon in
Shadow Advanced Launchersdoesn’t start with a number, it can be run independently
The Launch Shadow Right/Left/Bi-manual 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/Bi-manual Hands Hardware Control Loop
4 - Launch Server Right/Left/Bi-manual GUI
However, with the Shadow Advanced Launcher icons, you can have more granular and customised control of launching different parts of the Shadow software.
Unimanual Icons (Either left or right hand)
Icon text |
Icon explanation |
|---|---|
1 - Launch Server Container |
Launches the server laptop’s docker container |
2 - Launch Server ROSCORE |
Launches the ROSCORE inside the server laptop’s docker container |
3 - Launch NUC Container and Right/Left Hand Hardware Control Loop |
SSH’es to the NUC, starts its container, and launches the right hand realtime control loop |
3 - Zero Force Mode - Right/Left Hand |
Launches the right hand (connected to NUC) in zero force mode (fingers can be moved easily) |
4 - Launch Server Right/Left Hand GUI |
Launches the GUI (Rviz) on server laptop for the right hand |
Launch NUC Container |
SSH’es to the NUC, starts NUC’s container and starts a terminal session inside it |
Local Launch/Launch Local Shadow Right/Left Hand |
Launches the right hand (connected to server laptop) using the same USB-Ethernet adapter |
Local Launch/Local Zero Force Mode - Right/Left Hand |
Launches the right hand (connected to server) in zero force mode (fingers can be moved easily) |
Bimanual Icons
Icon text |
Icon explanation |
|---|---|
Right Side/1 - Launch Server Container |
Launches the server laptop’s docker container |
Right Side/2 - Launch Server ROSCORE |
Launches the ROSCORE inside the server laptop’s docker container |
Right Side/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 |
Right Side/3 - Zero Force Mode - Right Hand |
Launches the right hand (connected to NUC) in zero force mode (fingers can be moved easily) |
Right Side/4 - Launch Server Right Hand GUI |
Launches the GUI (Rviz) on server laptop for the right hand |
Left Side/1 - Launch Server Container |
Launches the server laptop’s docker container |
Left Side/2 - Launch Server ROSCORE |
Launches the ROSCORE inside the server laptop’s docker container |
Left Side/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 |
Left Side/3 - Zero Force Mode - Left Hand |
Launches the left hand (connected to NUC) in zero force mode (fingers can be moved easily) |
Left Side/4 - Launch Server Left Hand GUI |
Launches the GUI (Rviz) on server laptop for the |
Bimanual/1 - Launch Server Container |
Launches the server laptop’s docker container |
Bimanual/2 - Launch Server ROSCORE |
Launches the ROSCORE inside the server laptop’s docker container |
Bimanual/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 |
Bimanual/4 - Launch Server Bimanuals GUI |
Launches the GUI (Rviz) on server laptop for the bimanual hands |
Local Launch/Launch Local Shadow Right Hand |
Launches the right hand (connected to server laptop) using the same USB-Ethernet adapter |
Local Launch/Launch Local Shadow Left Hand |
Launches the left hand (connected to server laptop) using the same USB-Ethernet adapter |
Local Launch/Launch Local Shadow Bimanual Hands |
Launches bimanual hands (connected to server laptop) using the same USB-Ethernet adapters |
Local Launch/Local Zero Force Mode - Right Hand |
Launches the right hand (connected to server) in zero force mode (fingers can be moved easily) |
Local Launch/Local Zero Force Mode - Left Hand |
Launches the left hand (connected to server) in zero force mode (fingers can be moved easily) |
Launch NUC Container |
SSH’es to the NUC, starts NUC’s container and starts a terminal session inside it |
Launch Server Container |
Launches the server laptop’s docker container |