I'm tried train AR3 by my hand without change code and structure, supprisingly it is working. It is not very user friendly, by modify source code I think can make it reasonable user friendly.How I train 3 step program as above video: 1. Put arm at rest position2. record new position3. press emergency stop4. move arm J1/J2/J3/J4/J5/J6 by hand5. remain emergency stop button, go to AR3 software, click jog J1 (to force application reload position from encoder)6. teach new position in ar3 software.7. move arm J1/J2/J3/J4/J5/J6 by hand8. click jog J1 again8. record new position9. add 1 row jump back to tap1.10. release emergency button11. done and you can run your programDuring setup you will receive warning say some join no calibrated or what, I simply ignore it cause it will be fine.