Rethink Robotics Baxter User Manual page 79

A "path mode" crosshair indicates on the Task Map the location of the Retract point.
5. Move Baxter's arm to the next waypoint, keeping in mind the position of the arm
and hand as you move it along the path. Press the action button to establish
another waypoint.
6. Continue creating the desired path by moving Baxter's arm and hand and
pressing the action button on the cuff to create a series of waypoints.
The last waypoint you create before the Place action (in this example) will be automatically set as
the Approach point. The Approach point is the location and pose of the hand in anticipation of an
action--in this example, the point at which Baxter's arm will begin moving toward the Place location.
On the Task Map, Approach and Retract points are orange.
Transit points
are points along the path not associated with an action. They are locations that guide
Baxter's arm along a path. Transit points on the Task Map are displayed in yellow.
The waypoint closest to the Pick or Place automatically becomes the Approach or Retract point.
Keep in mind that Baxter moves in curved Joint Coordinates along transit waypoints, but in straight
Cartesian Coordinates between the Pick or Place and the Approach and Retract points. This is
important when Baxter needs to move along a straight line in the direction of the gripper, such as
when placing an object into a box or assembling two components. However, while the transit way-
Create a Path for Baxter
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Intera 3.2