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 In the video, it first shows in RVIZ how Baxter’s head_camera can target and get the pose of an aruco tag. This is shown in the bottom left corner of the screen. Using the pose of the tag, Baxter can then plan his movement to the HumanBot and in the case of this demonstration, Baxter lifts HumanBot's arm into a T-Pose position. After the movement is finished, the pose of the aruco_tag, shown in RVIZ defined in the world frame of Gazebo, is shown to have the same pose as the calculated pose in the terminal. The x value is correct, the y value is negated, and the z value is off by 0.93. This z offset is due to the fact that Baxter's base frame is raised by 0.93 meters in z from the origin.