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ROS package repository containing an interface to the Barrett WAM/Hand.
Barrett's btclient code is made into a ROS package in BarrettWAM.
The arm/hand interface and inverse kinematics library are in WAMinterface.
The interface to the Nano17 6-axis force/torque fingertip sensors is in Nano17interface.
If you're using ROS, make sure you add this directory (absolute directory name, e.g /home/robot/ros/lis-ros-pkg, colon-separated from what's already in there) to the export ROS_PACKAGE_PATH line in your .bashrc.ros file.
See the READMEs throughout the directories for more information.