Calculate error from demo deconstruction
Say a range of phrases
Use joint angles to look at things instead of look_at
Send downsampled traj to robot and full traj to tablet
Accept demonstrations while asking for feedback
Allow tablet disconnections while waiting for the shape to be displayed (tablet doesn't clear watchdog at that time)
Only respond to new words when appropriate (i.e. let robot finish writing its word first)
Welcome a new teacher without reseting system
Respond to traj on subsampled traj topic