Appendix F: Tips & Best Practices; Training Actions; Vertical And Non-Vertical Tasks; Workspace And Robot Joint Limits - Rethink Robotics Baxter User Manual

Appendix F: Tips & Best Practices

Training Actions

• Before starting to train a Pick action with the parallel gripper, set the fingers in the
correct position for the grasp type (inside/outside).
• When training multiple Pick or Place actions in a row, it helps increase
performance accuracy to have an object in hand.
• Train locations within the workspace limits.
• To create a valid task, train both a Pick and a Place location for the arm
performing the task. Remember: a task must be made up of a pick followed by a
place.

Vertical and Non-Vertical Tasks

As of Intera 3 software, it is no longer necessary to train a non-vertical task to take advantage of
faster speeds, location-based picks, force sensing, etc. There are no performance differences
between vertical and non-vertical tasks. However, vision search is available only for vertical Picks.
The camera does not operate for non-vertical tasks.

Workspace and Robot Joint Limits

The ability of Baxter to perform actions at any given location is affected by the physical limits of the
arms. When training an action, consider:
• Each of the robot's joints has limits. The closer you are to the edge of these
limits, the greater the chance the robot will be unable to train an action.
• If the orientation of the training cuff on demonstration is twisted near a limit, the
robot may have trouble when you run the task. If you notice Baxter cannot reach
a location, try moving the location closer to the robot, or re-train the location.
• The possible vertical range of an action is reduced as you move closer to the
edges of the maximum available workspace of the robot.
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Intera 3.2