Make it easy to launch and control an arm-Shadow Hand combination.

• Create package sr_robot_commander (in sr-ros_interface repo) containing:

  • SrRobotCommander class will be a wrapper around MoveGroupCommander (https://github.com/ros-planning/moveit_commander/blob/indigo-devel/src/moveit_commander/move_group.py)

  • SrRobotCommander will have some additional functions to access velocity, effort, tactile. Take those from the shadowhand_commander https://github.com/shadow-robot/sr-ros-interface/blob/indigo-devel/sr_hand/scripts/sr_hand/shadowhand_commander.py

  • Add example scripts that use the SrRobotCommander to move an arm and a hand.

• Create a new package (sr_robot_launch maybe) in sr-ros_interface repo.

• Create the launchfiles for a biotac hand + UR10 arm

• Create a new sliders plugin (in sr_visualization repository) that use the SrRobotCommander instead of sending position cmds. Base them on the existing slider plugin class unless there is a good reason.

• For the moment use our fork of universal_robot for gazebo compatibility

• When we can, check how to make our hand compatible with gazebo_ros_control