4
Intera 3.2
Contents
Restore Gripper Configuration 147
Appendix B: Specify Object and Custom Gripper Weights 148
How to Specify Object Weight 148
Appendix C: Configuring External Devices 151
Connecting a Modbus Remote Terminal Unit (RTU) to Baxter 153
Additional Information About the Modbus RTU 155
Appendix D: Signals and their Definitions 156
Terminology 156
Signal Types 157
Task Element Details 159
Signals 160
TASK 160
SUBTASK 162
GRIPPING ACTIONS: PICK, PLACE 162
OTHER ACTIONS: HOLD 164
FAQs - Signals and Their Definitions 164
Appendix E: Transfer Tasks from One Baxter to Another 168
How to Export Tasks from a Robot 168
How to Import Tasks to a Robot 170
Appendix F: Tips & Best Practices 172
Training Actions 172
Vertical and Non-Vertical Tasks 172
Workspace and Robot Joint Limits 172
Waypoint Wisdom: Tips for Creating Custom Paths 173
Grasping Objects 173
Object Training and Visual Search 175
Conveyors 175
Stacks 176
Multiple Locations 176
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