haha, this is weird, I just typed rs3000 remote on google.com and it gave me this faq..
http://www.faqs.org/faqs/autos/toyot...ection-55.html
even though it's a rav4 wouldn't it be the same?? Hope this help haha
cliff note: "Should be located on left side of dash, remove lower dash panel.
With the doors closed, turn key on and press and hold green button on side of theft module till sec light lites.
Then press one of the buttons on the remote to program. Turn key off and try remote." If that doesn't work, then I'm giving up myself.
Trying my best.. Google can do so much :-D