Rethink Robotics Baxter - Training a Pick Using Vision

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Intera 3.2
Training and Managing Tasks
Training a Pick Using Vision
In some situations you will need Baxter to visually search for and recognize an object before picking
it. Train a Pick using vision when:
• You want Baxter to locate an object that varies in location and/or orientation by
more than 0.2 inches (0.5 cm) each time.
• You want Baxter to pick from a continuously moving conveyor. (Note: A conveyor
that has been indexed would not require vision.)
Important Note:
Vision
only works for vertical Picks . Picks are set to non-vertical by default, but
you can take a Pick action that is already close to vertical and make it truly verti-
cal using the Snap to Vertical check box:
1. Highlight the (nearly vertical) Pick on the Task Map and press
OK on the Navigator.
Baxter displays the Pick's Modify panel.
2. Scroll to the icon and press OK.
3. Select the Advanced Settings icon on the Screen.
Baxter displays the Advanced Settings Screen.
4. Check the Snap to Vertical check box, the select Done.
5. Press the Back button on the Navigator to return to the Task
Map and select the Pick.
It will now be a vertical Pick.