Best Practices: Creating Waypoints; How To Practice A Path - Rethink Robotics Baxter User Manual

point poses are approximated as Baxter moves along the path, Pick, Place, and Hold poses are
precise.
7. Create the Place by pressing the Grasp button.
8. You can now select Run from the Task Map button bar to run the Pick and Place
task.
USAGE NOTES FOR CREATING A PATH:
• When you create a path, Baxter remembers the orientation and angle of each
joint in its arm and the coordinates of its wrist for all the waypoints except for the
Approach and Retract points.
• If, when training Baxter, you need to put an object in the gripper and you don't
want to create a new action,
object without creating a new action.
• If you press the Back button while creating a path, all waypoints in that path are
deleted.
• When you run a task, notice that the arm rewinds along the path you created
when it returns to the Pick location.
• You can add a custom (user-defined) path between poses by modifying and
retraining a path. That path will show up on the Task Map. To do this, modify a
pose, select the Paths icon in the Modify Path panel, then select the action where
the path leads.

Best Practices: Creating Waypoints

• It is not necessary -- or even desirable -- to define a large number of waypoints
when training a path. The more transit points you add, the longer the path and
therefore, the more time the task will take to run.
• If you train a number of waypoints relatively close together along a path, Baxter's
arm movement will become jerky.
• Train just those points needed to avoid obstacles that may be in Baxter's path.

How to Practice a Path

1. Select an action on the Task Map and press OK on the Navigator.
Baxter displays the Modify Panel for the action.
Create a Path for Baxter
double-click the grasp button. Baxter will grab the
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