Karpal API Notes

Robot Enable

In order to execute motions with the Baxter robot:

• The E-Stop button must be disabled. When enabled, twist clockwise and the button will pop up.
• The Baxter robot must be programmatically enabled. Use karpal_lib.Karpal.enable(). Generally, this will be called at the beginning of your program.

Robot Disable

• Use karpal_lib.Karpal.disable() to programmatically disable the Baxter robot.
• If the robot starts to do something dangerous, push down hard on the E-Stop button. Also, use this button when leaving the robot at the end of the day.

Calibration

• Arms are to be calibrated once per month to ensure accurate position estimates. This process needs to be done by someone trained with the robot, as it requires partial disassembly of the robot.
• Grippers must be calibrated every time you start using the robot. It is good practice to perform gripper calibration at the beginning of your programs.