Rethink Robotics Baxter User Manual page 106

Approach-action-retract and non-vertical indicators; vertical action indicator
The icons in the upper left of the Nudge panel remind you whether you are nudging (from left to
right) the approach pose, the action itself, or the retract pose, and whether the action is vertical or
non-vertical. In the first example, the approach pose for a non-vertical action is highlighted.
If the pose is non-vertical, you can nudge in six degrees of freedom. If vertical (snap to vertical is
checked), there are four degrees of freedom available for nudging.
6. Select from among the options, then dial a distance or degree using the
Navigator scroll knob. You can nudge at intervals of 1 mm for translation and .25
degrees for orientation.
Baxter's arm moves to the new location or angle.
This option will nudge the arm -8mm along the x axis from its present pose.
Nudge
Note the profile of the training cuff.
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Intera 3.2