1. centers of mass in the physics system
2. quad walker (spot mini) that will soon also have physics. once it falls realistically we can teach it to walk realistically
3. multiple arms running side by side, all with the same control scheme. sixi3, sixi2, Thor, MANTIS.
4. jog interface for robot arms. I'm quite pleased that every sub-panel can be run as a separate element and tested individually. So many Listeners....