Appendix A: Configuring Grippers - Rethink Robotics Baxter User Manual

Appendix A: Configuring Grippers

When you attach a Rethink gripper, Baxter automatically detects the gripper type, and prompts you
to configure it. Configuration teaches Baxter:
• Finger type and open/closed finger position of a parallel gripper
• Vacuum cup size of a vacuum gripper
You can also attach custom or third party grippers the same as Rethink grippers, essentially by
entering the gripper's length and weight and then training Baxter.
See "Configuring a Non-Actuating Custom Gripper" on page 147.
If you change any component of a gripper (such as adding extensions to a vacuum cup) without
detaching it, go to Settings > Hardware Settings > Configure End Effectors to reconfigure it. If you
do not do this, Baxter may have trouble picking up or holding on to objects.
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