I am officially the wiz at I-O for the Aperios Operating System.  I’ve just completed most of the internal work to make various OPEN-R objects (our modules–Vision, Motion, Communication) talk to each other in exactly the way I want them to–which is good!  The motion system now tells the Vision module (and our Brain) the current state of the motion system and the current joint values every frame. This is a basic building block for better and better behaviors.