OK, it seems that the teach function is handled by teach-in.py, which 
looks quite simple.  It appears that it may only record endpoints of 
moves, and not the velocity.
Is that correct?  I can't find any documentation on teach-in.py other 
than the code file, itself.  Have I missed it?

Can anyone explain what this program does, and doesn't do, in relation 
to recording manual moves?

Thanks,

Jon



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