As I have many ideas floating about on what to work on next, I made a list to see try and see which ones are worth prioritising:

• GUI updates
  • Graph for visualising sensor data
  • Improved motion editing
• Static balancing
• Implement MoveIt! trajectory following via GUI
• Walking routines
• Advanced movement: Trajectories generate from MoveIt!, combined with active balancing as the robot moves

This is just an initial list, which I hope to expand on in the future.

My immediate plans right now are to continue tidying up some GUI graphical details, implement a simple sensor data plotter (I know rqt_plot does a fairly good job of this already, but I’d like to have sensor data integrated in my GUI) and get back to trajectory generation tests using MoveIt!