Customizing The Size Of A Visual Search Area - Rethink Robotics Baxter User Manual

slowly the arm should move when approaching or retracting. See "How to
Modify/Practice an Action" on page 68.

Customizing the Size of a Visual Search Area

By default, when vision is turned on, Baxter looks for objects within a small, limited area. To resize
the area (such as to expand it to the width of a conveyor or to the size of a box), you can train a
visual search area.
1. With the Pick action already created, go to the task map.
2. Highlight the Pick and press OK.
3. From the Modify panel for the Pick, Choose Area Search, and press OK.
4. Place the arm at one of the "corners" of the search area and press the Action
Button on the cuff. The first point of the search area appears.
5. Trace the outline of the search area by moving the arm, pressing the Action
Button at each corner of the search area. Add as many points as necessary to
complete the desired search area.
Note:
A visual search area must be defined by placing a minimum of three points. Also,
make sure that the search area surrounds/circumscribes the Pick keypoint.
Note:
If you draw around more than one pick for that arm (e.g., an action group), Baxter
will create a new search area with just one keypoint, removing all existing pick actions.
Training and Managing Tasks
64
Intera 3.2