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. 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 ------------------- .. table:: :class: tight-table +--------------------------------------------------+--------------------------------------------------+ | 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. .. table:: :class: tight-table +--------------------------------------------------+--------------------------------------------------------------+ | 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 | +--------------------------------------------------+--------------------------------------------------------------+ 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/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. .. table:: :class: tight-table +--------------------------------------------------+--------------------------------------------------+ | 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 Hand Hardware | SSH'es to the NUC, starts its container, and | | Control Loop | launches the right hand realtime control loop | +--------------------------------------------------+--------------------------------------------------+ | 3 - Launch NUC Container and Left Hand Hardware | SSH'es to the NUC, starts its container, and | | Control Loop | launches the left hand realtime control loop | +--------------------------------------------------+--------------------------------------------------+ | 3 - Launch NUC Container and Bimanual Hands | SSH'es to the NUC, starts its container, and | | Hardware Control Loop | launches the bimanual realtime control loop | +--------------------------------------------------+--------------------------------------------------+ | 3 - Zero Force Mode - Right Hand | Launches the right hand (connected to NUC) in | | | zero force mode (fingers can be moved easily) | +--------------------------------------------------+--------------------------------------------------+ | 3 - Zero Force Mode - Left Hand | Launches the left hand (connected to NUC) in | | | zero force mode (fingers can be moved easily) | +--------------------------------------------------+--------------------------------------------------+ | 4 - Launch Server Right Hand GUI | Launches the GUI (Rviz) on server laptop for the | | | right hand | +--------------------------------------------------+--------------------------------------------------+ | 4 - Launch Server Left Hand GUI left hand | Launches the GUI (Rviz) on server laptop for the | +--------------------------------------------------+--------------------------------------------------+ | 4 - Launch Server Bimanuals GUI | Launches the GUI (Rviz) on server laptop for the | | | bimanual hands | +--------------------------------------------------+--------------------------------------------------+ | Launch Local Shadow Right Hand | Launches the right hand (connected to server | | | laptop) using the same USB-ethernet adapter | +--------------------------------------------------+--------------------------------------------------+ | Launch Local Shadow Left Hand | Launches the left hand (connected to server | | | laptop) using the same USB-ethernet adapter | +--------------------------------------------------+--------------------------------------------------+ | Launch Local Shadow Bimanual Hands | Launches bimanual hands (connected to server | | | laptop) using the same USB-ethernet adapters | +--------------------------------------------------+--------------------------------------------------+ | Launch NUC Container | SSH'es to the NUC, starts NUC's container and | | | starts a terminal session inside it | +--------------------------------------------------+--------------------------------------------------+ | Local Zero Force Mode - Right Hand | Launches the right hand (connected to server) in | | | zero force mode (fingers can be moved easily) | +--------------------------------------------------+--------------------------------------------------+ | Local Zero Force Mode - Left Hand | Launches the left hand (connected to server) in | | | zero force mode (fingers can be moved easily) | +--------------------------------------------------+--------------------------------------------------+