Rethink Robotics Baxter User Manual page 44

• The blue outline identifies Baxter's understanding of where the object is.
• The yellow circle represents Baxter's view of the center point of the axes of the
object.
• The red arrow illustrates how Baxter perceives the orientation of the object for
gripping.
When the arrow points straight up (in twelve o'clock position) and the circle is fully yellow as in the
figure above, that is a valid alignment for gripping: Baxter can pick up the object.
If the arrow is not straight up and/or the circle is not completely yellow, as in the above figure, Bax-
ter may not be able to grip the object, or it will have to turn its wrist during the Pick in order to grip
the object.
You may play with the placement and orientation of the object at this stage – in live view – to see
how Baxter's ability to recognize the object is affected. A flickering outline and/or fading yellow cir-
cle and arrow indicate weaker detection. In that case, try another detector for improved reliability.
Training and Managing Tasks
42
Intera 3.2