Another approach is to use the robot's API to generate the animation. This has the advantage of being able to reach to the robot's current circumstances and integrates well with the rest of a textual program but is hard to read.
In this talk I'll outline (and solicit feedback on) a small DSL written in clojure that aims to make it possible to generate animations in a more readable way. I'll also show a graphical tool that makes generating code in this DSL simple.
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A robot control DSL in clojure
By day, a mild-mannered programmer working on Virtual Desktop Infrastructure at VMware. By night, when not asleep, plans world domination by social emotional robots powered by python and clojure. Before he was virtualised Dave worked for Xerox Research in France and, back in the mists of time, developed one of the first distributed multi-user virtual reality environments as part of his PhD work at Manchester.