Rethink Robotics Baxter, Руководство пользователя

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Intera 3.2
Training and Managing Tasks
2. Make the desired adjustments to the action, described below, and press Done
when complete.
Approach Distance – The distance Baxter’s arm will travel when it approaches its action, for exam-
ple, a Pick. (More technically, this is the point along a vector perpendicular to the position on the
cuff joint from the action’s location that will move into position before moving along the vector to the
action.)
Retract Distance – The distance Baxter’s arm will travel when it retracts from an action, for example,
a Place. (More technically, this is the point along a vector perpendicular to the position on the cuff
joint from the action’s location that will move into position before moving along the vector to the
action.)
Tip: To align an Approach, Action and Retract, change the Approach and Retract values
to 0 and click Done. This aligns the three poses. Now go back to the Advanced Settings
and adjust your Approach and Retract to your desired values.
There may be times when you want the Approach and Retract to move in different
directions. For example, when picking up an object horizontally from a shelf, the
Approach might be parallel to the table while the Retract is perpendicular to the table. In
cases such as this, use modify to adjust the magnitude and direction of Approach and
Retract after setting them to 0.
Go Slow Approach – You can define here a point between the Approach pose and the Action pose
where the arm slows down so the Action will be more precise. This is also the point at which the
end effector lines up with the Action. Therefore if "Go Slow" is turned on for the whole Approach,
the orientation of the end effector doesn’t matter; it aligns with the Action at the very beginning of
the Approach (or with the Retract, in the case of “Go Slow Retract.”) On the other hand, if "Go
Slow" is turned off for the whole Approach, the end effector will gradually change its orientation
until it gets to the Action.
For contact actions (described below), if Baxter feels contact, the arm will attempt the action. in the
direction of travel.
Go Slow Retract – You can define here a point between the Action pose and Retract pose where the
arm finishes going slow because it is safely away from performing the Action. This is also the point
at which the end effector lines up with the Action. Therefore if "Go Slow" is turned on for the whole
Retract, the orientation of the end effector doesn’t matter; it aligns with the Action at the very begin-
ning of the Retract. On the other hand, if "Go Slow" is turned off for the whole Retract, the end
effector will gradually change its orientation as it retracts.