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Intera 3.2
Hold
Hold
Baxter can hold an arm in position for a defined period of time or an unlimited period of time until a
signal is triggered. This feature is useful for such jobs as holding an object in a pose (or a series of
poses) for inspection, scanning, labeling, painting, etc. It can be used when you want to move an
arm to a neutral location to wait for machine cycling, or for a process to be finished.
You can create a Hold as a distinct subtask. Baxter will move to that location, hold for as long as
you define and then move on to its next pose.
Hold works with or without a part being grasped, and in any pose or orientation.
Note:
Hold is not a waypoint and Baxter does not treat it as such. Rather, Hold is an
action that takes place in a specific location.
How to Train Baxter to Perform a Hold
To illustrate this feature, we’ll create a new task in which Baxter will hold up a part to be scanned.
1. Create a new task.
2. Create a Pick by grasping an object.
3. Position Baxter’s arm and hand in the location and orientation you want it to hold,
e.g., in front of a scanner.
4. Press the action button (the round button on the training cuff) to display the
action bar.
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