Signals; Task - Rethink Robotics Baxter User Manual

SUBTASK
A Subtask comprises one or more Action Sequences.
Subtasks are defined to end when no Action Sequence is running and either:
a. all of the Place counts for all Actions in all Action Sequences in the Subtask are full or,
b. the Skip signal is true.
Errors (e.g., pick or place failures) will not cause a Subtask to end and will not cause the count to be
incremented. Therefore, if errors prevent Actions from running and Place counts can't be satisfied,
the Subtask may never end.

Signals

In Intera, there are a number of task elements to which signals can be attached. These include the
overall task, subtasks, action groups, as well as individual actions. The meaning of a signal is
dependent both upon its type and the place to which the signal is connected. Discussed below are
each of the places that support signals and each of the signals they support.

TASK

These signals are accessed in the Task Order screen. For non-coordinated tasks, these signals can
be attached separately to the task for each arm, except where noted. For coordinated tasks, these
signals are attached to the overall task.
INPUTS
• Ready (level (gate)): checked before starting the first subtask of a task. When
true, allows the task to start.
• Task Reset In (edge, level): as an edge, resets the task. The reset happens imme-
diately, all counts are reset and, if running, the task is started over from the begin-
ning. As a level, the task will remain paused while true.
•Acts like pressing Reset from the menu, but will not start the task if it's not
already running.
•If either arm is gripping an object at the time of reset the task will not run
and Intera will show confusion.
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Intera 3.2