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close ALL terminal windows `./baxter.sh`
 * 1) open a new shell (ctr-alt T)
 * 2) make sure no other trajectory controller is running `ps -Af | grep python`
 * 3) `cd ~/ros_ws`
 * 1) start trainer in pose recording mode `./trainer.sh -tbf test.csv`

options while the trainer is running:

`* [``] previous, next pose `
 * `\ `set robot to current pose
 * `p` reload pose file
 * `t `playback pose file in trajectory mode
 * `q` quit trainer and disable robot
 * `b` for enabling recording of new poses with button wheel