Subtask; Gripping Actions: Pick, Place - Rethink Robotics Baxter User Manual

•In a non-coordinated task, it is possible for one arm's task to be paused due
to confusion while the other arm's task continues to run.
• Reset (pulse): signals pulses true when the task is reset by any means.

SUBTASK

INPUTS
• Ready (edge, gate): when true, allows the subtask to start. When a task reaches
a subtask with a false Ready signal, the task will pause until the signal becomes
true. The rising edge of Ready immediately resets the subtask count.
• Skip (gate): when true, causes the subtask to finish as soon as it can and the task
to continue to the next subtask.
•A Skip signal is only examined between Action Sequences. A subtask will
never end while in the middle of an Action Sequence.
•If Skip is true when a subtask with count of one is about to start, the sub-
task will be skipped.
•A skipped subtask will increment its count and send an Increment Count
signal.
• Do Subtask (level): When associated, signal must be asserted for subtask execu-
tion to occur.
• Reset Count (edge): When the Reset Count pulse is detected, the subtask count
will be reset.
OUTPUTS
• Done (level): true when the subtask is done, i.e., it has completed the number of
cycles specified by its count.
• Increment Count (pulse): sent when the subtask has completed a cycle and the
subtask count has been incremented.
• Start (pulse): signal pulses true when subtask execution starts
• End (pulse): signal pulses true when subtask execution ends

GRIPPING ACTIONS: PICK, PLACE

INPUTS
• Ready (enable, edge): when false, prevents the action from running. When true,
allows the action to run if all other conditions are met (e.g., count.) In addition, the
rising of edge of Ready immediately resets the count the on the action depending
upon the reset always/full setting.
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Intera 3.2