Modifying Robot Settings

Update Robot Settings

Some settings for the connected robots can be updated via the AMAS VR application. These settings include adjustments to,

• Safety Parameter Update : This option allows the user to change the safety configuration of the robot, like the joint speeds and collision sensitivity (for xArm6 and xArm7 only)

Adjusting safety parameters can cause the robot to move in a dangerous manner. This advanced setting should be used after reading the robot's manual and clearing the workspace.

More information about this feature: Safety Parameter Update

• Force Torques Sensor {xArm6 and xArm7 only}: Enable If the Sensor is available and connected; Otherwise Disabled.

• Hand Gestures{XHAND1 and Inspire Hands only}: Available controller interaction gesture options for the end effectors.

• End Effector Mount Option {XHAND1 and Inspire Hands only}: Setting to update the position of the End Effector mount wrt to the tool link of the arm. Direct for attaching the eef directly on the tool link; 90 degrees for attaching the end effector to the tool link using the custom-supplied mount.

• IO Pin {only for UR arms}: IO PIN, which is updated when the trigger button is pressed, used for UR gripper control

• Create New Hand Gestures {XHAND1 and Inspire Hands only}: Opens up a panel to create a new hand gesture for the currently equipped.

• Slow and Fast Speed Percentage {only for mobile bases}: Updates the percentage speed wrt to the full speed of the mobile base. For example, value 10 in slow speed % will make the mobile base move at the 10% of the the maximum speed of the base and value 70 in fast speed % will make the mobile base move at 70% of the the maximum speed of the base (when fast speed is toggled on).

Steps to Modify Robot Settings

1. Click the Configuration tab in the wrist panel.

2. Click on the dropdown button next to the Cortex button, which will open Robots and Sensors buttons.

3. Press on the Robots button, which will open the Active Robots panel.

4. Select the robot you want to modify.

5. Edit the required robot settings accordingly.

6. Press Save.

7. Reboot the Cortex for the configuration to take effect.