Rethink Robotics Baxter User Manual page 87

Retrain enables you to quickly modify an existing path. Pressing Retrain deletes the transit way-
points on the current path, while keeping the pick and place actions and their associated approach
and retract points. (You can then add new waypoints to the path.) Retrain is also an option in the
Modify Panel submenu for selected waypoints.
MODIFY
Modify enables you to change one point at a time, whether it's an action, a transit point, an
approach or retract.
1. Select Modify.
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Create a Path for Baxter Intera 3.2