Task Button Bar - Rethink Robotics Baxter User Manual

To make changes to the task for that arm, select the corresponding bar, at the top. To make
changes to any sub-task, select the task and press OK. The button bar for the task or sub-task
appears.

Task Button Bar

• Back – Close the button bar and return focus to the task order screen.
• Count – Change count to a task for one or both arms.
• Signals – Add a signal to a sub-task, or remove one. (See "Signals" on page 127.)
• Motion Presets - Define how Baxter's arm follows a path's waypoints. These
presets will help Baxter complete a wider variety of tasks. (See "Motion Presets"
on page 89.)
• Clear Actions – Delete all the subtasks on one arm. This helps you quickly retrain
a task by allowing you to reset the subtasks on one arm while not affecting any
signals, task settings, etc. you have already set up. While actions are cleared,
the following are retained: signals and landmarks set up for the task; task
settings (e.g., end effector settings, camera settings, arm reset behavior, drops/
missed picks count); motion presets, task-level counts and signals.
• More Options – Access end effector settings (see "Changing Gripper
Parameters" on page 56); camera settings (see "Camera Settings" on page 45);
and adjust the number of times Baxter will attempt Picks (see "Change Number
of Attempts to Pick an Object" on page 59).
Training and Managing Tasks
52
Intera 3.2