Rethink Robotics Baxter User Manual page 75

Snap to Vertical – Check this box if you want Actions, Approaches, and Retracts that are performed
within 5 degrees of vertical to become truly vertical. (Note that the robot's Approach, Action, and
Retract poses must be aligned and within 5 degrees of vertical for this function to be enabled.) If
you want to preserve a slightly off-vertical action, make sure this box is unchecked. You can toggle
the checkbox, as long as your pose (Action, Approach or Retract) is within 10 degrees of vertical.
Note:
If you're training a vision-guided Pick, Snap to Vertical must be enabled before you
use the vision system.
Note:
See the tip above, under Retract Distance, to learn how to use the Advanced
Settings Screen to align the Approach, Action and Retract poses.
Action Control Settings – Select here to control when Baxter will perform an action. The options are:
• At Location – The robot will grip or release a part when it arrives at the trained
position -- not when it feels force from an object or achieves a vacuum seal.
• First – The robot will grip or release a part when it either feels contact (if it's using
an Electric Parallel Gripper), when it senses a vacuum seal has been achieved
(Vacuum Cup Gripper), or when it arrives at the trained position, whichever
happens first.
• The robot will only travel 2cm beyond the end point if it doesn't sense contact
or reach the trained position. This is intentional and is meant to ensure the
robot doesn't inadvertently collide with other parts of the workspace.
• Contact (Electric Parallel Gripper only) – The robot will grip or release the part
when it feels force from the part or work surface.
• The robot will continue on its approach vector until it comes in contact with a
part and then grasp. This setting is helpful when creating stacks.
• Sensed (Vacuum Gripper, Pick Action only) – The robot will grip the part when it
senses a vacuum seal.
• The robot will continue on its approach vector until it senses a vacuum seal
on the part, and then grasp. This setting is helpful when creating stacks.
• Mixed – When modifying an Action Group, if the Action Group's individual
locations have a mix of other settings -- for example the first place is Contact and
the second place is At Location -- you will see Mixed as the setting.
Note:
You can change Mixed to another setting, but you cannot change another setting to
Mixed. In other words, if you change Mixed to another setting, for example At Location,
all of the actions in that group will Pick At Location, but you cannot change from another
setting to Mixed since you cannot specify which settings will be assigned to which
actions in the group.
Training and Managing Tasks
73
Intera 3.2