Industry workers must teach new skills to robots for common manufacturing processes that change frequently. They must be able to do so without writing code and without stopping robots that are in operation, to get them reprogrammed. Vocational students must be able to learn and practice these robot-teaching skills with different robot even when institutions can offer limited exposure to robots to practice with. Virtual reality allows interacting naturally with the hologram of a robot’s digital twin, using spoken language and by hand-guiding it in the workspace. This paper presents virtual reality natural interactions with the hologram of the digital twin of a robot to teach it routines for approaching a region of interest in the workspace. The user can also teach the robot to position itself with precision on a point, by using machine vision on robot captured images from the virtual scene. A user study provides an initial validation of key design decisions and first implementation.