It would be great to make a separate facial expression track, with a file separate from the motion. That way we can use the same robot motion with different facial expression tracks (or vice-versa). The same with sounds. The way to do this in practice is to load all “track files” that are to be played at the same time, then drop them all into the same queue sorted by timestamp. Then just execute whatever commands are within the current timeframe. With this, we could very easily slightly modify the robot motion (for variation) without worrying about messing up the sound and facial expressions synchronization. To implement this with the socket robot communication, we'll need to add the ability to upload a new program to Troy on the fly.

Map commands to buttons using physical wii remote as well as by clicking on graphic

Indicator to show wii remote connection status.

Indicator to show robot connection status. May need a keepalive command (like 'ver' with Troy).

Output port toolbar (done, but needs resized)

Design command queue display

Add command queue display button in output port toolbar

Move output nodes appropriately when one is moved

Enable undo for output port remove

Nodes (done, hooray!)

Abstract command type (commands include robot motion, sound, facial expression, combined behavior)

Abstract trigger type (input from wii remote, autonomous behaviors, gesture-based controls, timer)

Each command can have a “wait until done” or “proceed immediately” option, perhaps default wait.

Haptic feedback

Shake gestures (e.g., shake to cancel current action)

Import generated motion for TROY

We are phasing out the old Honda code, and working to replacing it with the Kinect sensor and it's associates middleware

Tyler is working on various things with the Kinect to enable it to provide motion capture and recording capabilities. Current progress is available on his page here.

Note: technically this is done in the UI, not on the robot

Might do this as a “sound A” slot, and any sound can be put in there, and then any “sound A” block will use that sound. Like styles in word.