The Difference Between Vertical And Non-Vertical Tasks; The Task Map - Rethink Robotics Baxter User Manual

• Changing the speed - As Baxter approaches or retracts from an action, you can
specify when Baxter slows down.
• Changing the drop height – For vertical actions, Baxter drops the object into the
Place location from a specified height.
• Add object weight – For Pick actions.
• Baxter can be instructed to Pick (or Place) an object when it arrives at a location,
when it senses contact, or whichever comes first. (See "How to Make Detailed
Modifications to an Action (Advanced Settings Screen)" on page 71.)
If you train multiple sub-tasks per arm, you can order them in the sequence you want Baxter to
perform them.

The Difference Between Vertical and Non-vertical Tasks

The only difference between vertical and non-vertical tasks (as of Intera software 3) is that vision
search is available only for vertical Picks. The camera does not operate for non-vertical tasks. There
are no performance differences between the two types of tasks.
Non-vertical actions are identified by a "dot" symbol. These symbols show up on the Task Map
when an action is highlighted or on the action's modify panel.

The Task Map

task map
The is a graphical representation of the Baxter workspace. When you train Baxter to
perform a task, the map displays icons that represent each of the actions included in the task. The
icons are color-coded to match the arm on which the action was trained; blue (on the left of the
screen) is the robot's right arm, green (on the right of the screen) is the left.
There are several ways to access the Task Map, including:
Training and Managing Tasks
Examples of non-vertical (left) and vertical (right) place action icons
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Intera 3.2