Rethink Robotics Baxter User Manual page 52

To create an action group:
1. Highlight the action you want to use to start a group. Press OK.
2. Scroll to and click Add on the Modify window.
3. On the Task Map, you'll see an icon labeled "Add." Move the robot's hand to the
second desired location, and press the action button. (You can also press OK, but
the action button is usually more convenient.) The added action is placed in the
location.
4. Repeat as many times as needed.
5. When finished, press the Back button. (Don't press OK to finish. That will continue
to add locations to the action group.)
NOTE: If, when training Baxter, you need to put an object in the gripper and you don't want to copy
or add a new action,
Training and Managing Tasks
double-click
the grasp button.
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Intera 3.2