Configuring A Non-Actuating Custom Gripper; Restore Gripper Configuration - Rethink Robotics Baxter User Manual

Configuring a Non-Actuating Custom Gripper

You can also attach a non-actuating custom gripper to Baxter for use with hold subtasks, for exam-
ple, for tasks using a vision system. The camera is attached to the end of Baxter's arm but not
plugged in to the robot's wrist. You must still configure and train a gripper even if you are not using
a gripper or a non-actuating gripper in your hold subtask.
Note: Hold subtasks do not consider object weight, so if you're using a non-actuating gripper, make
sure you adjust the weight and length appropriately in order to improve usability and performance.

Restore Gripper Configuration

If you remove a Rethink gripper and then reattach it, you do not have to go through the process of
reconfiguring it, if you have previously configured a gripper of the same type you are reattaching
(vacuum or electric). After calibration, for example, this new feature allows you to reattach the grip-
per and get back to work quickly. When you reattach the gripper, Baxter will display the information
for the last gripper of that type, and ask you to confirm.
The Restore Gripper Configuration feature does not work for non-Rethink, non-actuating grippers.
If you choose the Configure button to make a change, Baxter will display question marks for length
and weight. If you click on one, Baxter will display the previously calibrated numbers. This is meant
to save you time if you only want to change one of the two settings.
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