Rethink Robotics Baxter, Руководство пользователя

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Intera 3.2
Create a Path for Baxter
A pose is a position and orientation of Baxter’s arm (shoulder, elbow, hand, wrist, etc.) at a way-
point.
There are also two kinds of paths:
default
and
custom
.
A default path is one in which you allow Baxter to create waypoints along the path automatically.
You move the arm from one action to another and Baxter records the waypoints and poses. This is
also called a system-generated path.
You create a custom path when you define the specific waypoints and associated poses along Bax-
ter’s path.
To reduce clutter, only custom paths are displayed on the Task Map, unless you are in Path Mode
(accessed when you select the Paths button on an action’s modify panel).
How to Create a Custom Path for Baxter
To illustrate this feature, we will create a Pick and a Place with a user-defined, or
custom
path.
1. Create a Pick for an object.
2. With the object in hand, press the Action Button (the round button on the cuff).
Baxter displays the action bar.
3. Scroll to the Path icon to highlight it, then press OK on the Navigator.
4. Elevate the arm above the location of the Pick, pose the arm and hand as
desired, and press the Action Button to train the first waypoint/retract point.
Because you’re creating a custom path, this first waypoint will become the Pick’s
Retract point . A Retract point is the location and pose to which Baxter will return
after an Action. (This is also the location where the “Go Slow” command ends
and normal speed resumes. See “How to Make Detailed Modifications to an
Action (Advanced)” on page 60.)