Rethink Robotics Baxter User Manual page 32

• Creating a new task
• Modifying an existing task
• Selecting a task from the Task Gallery
The gray, overlapping shapes—called the
each of the Baxter arms if the arms are fully extended and parallel to the shoulder joint. Baxter can
execute actions within this area.
The overlapping darker area towards the center of the workspace indicates the area shared
between both arms, enabling the arms to operate within the same workspace.
Note: The robot's arms move within a sphere defined by the center point of the shoulder
axis and the full reach of the arm. The actual reach of the arm at any given location is
affected by the height of the robot's arm and angles of the joints. Actions are therefore
limited at different heights and joint angles. The approach and retract distances for an
Action may also limit where the Action can be performed.
Tip: Baxter performs tasks more efficiently when the objects are located close to the
center of the workspace.Tasks trained at the extremes of the workspace approach joint
limits and are sometimes more difficult to execute consistently.
Training and Managing Tasks
workspace
—represent the maximum mechanical reach of
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Intera 3.2