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ShadowHand Library Build Status

Utility library for Shadow Dexterous Hand

  • Documentation is available here.
  • Abstraction library for using the ShadowHand and BioTac sensors
  • Divided into 3 main parts:
    • shadow_finger: Contains abstractions for each finger, and corresponding BioTac sensor
    • shadow_planning: Contains abstractions for planning and execution of each Finger
    • shadow_utils: Contains utilities for ROS, RViz, TF, MoveIt and some general conversion utilities
    • shadow_imports: Bunch of imports for everything
  • Most of the code is designed to directly use a Finger object, although they are overloaded to use lower level MoveIt inputs as well.
  • Examples for using this library is given in the ShadowHand repository.
  • Make sure to compile this first, before ShadowHand package, since this will generate a libshadowlibs.so file that can be used by other ROS packages. Check your devel folder to see if this file has been created after compilation.

License

This project is released under the BSD-3 license. If you use shadowlibs in your research, please cite our pre-print publication:

@misc{ganguly2020grasping,
      title={Grasping in the Dark: Compliant Grasping using Shadow Dexterous Hand and BioTac Tactile Sensor}, 
      author={Kanishka Ganguly and Behzad Sadrfaridpour and Krishna Bhavithavya Kidambi and Cornelia Fermüller and Yiannis Aloimonos},
      year={2020},
      eprint={2011.00712},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}