Yes. He should just use the 'train button' to mark the current position and interpolate to the 'trained positions' on run. I think this is how the Baxter robot

Yes. He should just use the 'train button' to mark the current position and interpolate to the 'trained positions' on run. I think this is how the Baxter robot works: http://www.youtube.com/watch?v=gXOkWuSCkRI http://www.youtube.com/watch?v=gXOkWuSCkRI