1. Kinesthetic Teaching

Kinesthetic Teaching is a method, where we teach the robot to perform a task by moving its arms and record motions like joint angles and velocities. Then we can fit a model to perform that task efficiently. This a method used in imitation learning. Baxter is heavily used in industries because of this reason.

1. To record the motions start the joint_position_recorder in baxter_examples package.
2. To play back start joint_trajectory_action_server in baxter_interface package and joint_trajectory_file_playback in baxter_examples package
3. Please take a look at this video: Video Tutorial by Rethink Robotics