The 3D printing of the parts is cool, but the overall implementation is not out-of-this-world awesome. Still, neat. Good job.<p>I recommend some more work on the training part. One method is to define the different positions you want the arm to be in, then have it interpolate the movements to go to the different position. Just from watching it move, it seems you're sending the servos each key-position, causing it to jump and not have smooth movements.