Combining Sub-Tasks; Changing Gripper Parameters - Rethink Robotics Baxter User Manual

To uncoordinate sub-tasks across arms, highlight the sub-task used to coordinate arms and scroll
to the coordinate option. It will now read "uncoordinate". Select it and that coordination will be
removed.

Combining Sub-tasks

Combining sub-tasks within an arm lets the robot decide when to complete part of a task. For
example, if three parts need to go onto a tray, but the order does not matter, you can combine each
sub-task into one large sub-task, and Baxter will determine in which order to complete the sub-
tasks. Baxter will combine two sub-tasks next to each other on the same arm.
1. Select the first sub-task of the two.
2. In the sub-task order button bar, click the combine icon. The selected sub-task
merges with the one below it.
Note:
It is not possible to split combined sub-tasks.

Changing Gripper Parameters

Apply custom gripper settings to optimize Baxter gripper performance with a wide variety of
objects.
Note:
These settings apply to both Rethink Robotics grippers and custom grippers, and are applied
for all actions on an arm for that task.
To change a setting:
1. Create a task.
2. Go to the Task Order screen.
Training and Managing Tasks
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Intera 3.2