Rethink Robotics Baxter User Manual page 104

• Roll - rotate about the axis running from nose to tail.
It is helpful to keep these terms in mind when using the bottom row options (on the next page) in
Nudge. Just picture the orientation of Baxter's wrist as below and equate this orientation with the
nose of an airplane. In other words, picture the front view of wrist, with the gripper fingers pointed at
and the camera on the bottom
you , as being the nose of the airplane. Then yaw, pitch or roll
accordingly.
Side view Front view
102
Nudge Intera 3.2