Using the Arms

Using the Arms

Summary

Include, various types of control/sensing. Joint Control modes.

• General Info
• Wiki Resources
  • API Reference
  • Examples
  • Tools
  • Demos
• Tutorials/Walkthroughs
• Articles
• Hardware Info / Specs
• Tips for using the Component
• See Also

General Info / Guide

Basics of "what you need to know to use the arms". (continued in more detail later on)

Resources

ROS API

See the API Reference Page for information on the ROS Interface to the Arms.

Python API (baxter_interface)

Limb interface class (limb.py)
Joint trajectory action interface class (joint_trajectory_action_server.py)

Examples

• Joint Position
  • Joint Position Example (Joint Position Control)
    The joint position examples demonstrate how to move the arms using joint angles. There are multiple variants of the joint position example included:
    • Keyboard Arm Control -- Move Baxter's arms around with your keyboard
    • Joystick Arm Control -- Move Baxter's arms around with a joystick
    • Arm Positions Recording and Playback -- (Run in parallel at anytime) Record Baxter's arm movements live to a file and then playback the motions at anytime.
• Joint Velocity
  • Wobbler Example (Joint Velocity Control)
    • Simple demo that uses velocity control to move the arms in a set pattern.
  • Puppet Example (Joint Velocity Control)
    • Reads the joint velocities of one arm and 'puppets' the other arm by controlling it at the same velocities.
• Inverse Kinematics
  • IK Service Example
    • Basic use of Inverse Kinematics solver service.
• Joint Trajectory
  • Simple Joint Trajectory Example (Joint Trajectory Control)
    • Enable the robot joint trajectory interface and send a simple joint trajectory for Baxter to follow.
  • Joint trajectory playback example (Joint Trajectory Control)
    • Enable the robot joint trajectory interface, parse a file created using the joint position recorder example, and send a the resulting joint trajectory to the action server.

Tools

• Enable Robot Tool
  • You need to have the robot enabled to control the arm motors. (Or... if you ever need a way to stop the motors via software.)
• Tuck Arms Example
  • The tuck arms program will allow you to tuck/untuck Baxter's arms to/from 'shipping pose'.
• rviz (ROS)
  • You can use the Robot Model to visualize the joint positions and tf world axes coordinates. Check out the Joint States Display Types.
• Maintenance tools
  • Tare - Light arm re-zeroing (Can run approx. weekly, at constant daily use)
  • Calibration - Arm sensor re-calibration (Can run approx. monthly, with daily use)

Demos

• Connect Four Demo - Play Connect Four with Baxter!

Learning More

Tutorials/Walkthroughs

• MoveIt! Tutorial - Using MoveIt! with Baxter!

Articles

Hardware Info

Tips for using the Component

“Methods”

• ex: republish

<Related Pages/Topics>

See Also

• Using the Head, Using Joysticks