The movements are constructed and fixed based on a game based on pushing, yielding, leading and giving resistance.
The sound is triggered by MiniBees, and is based on FM synthesis, generating C notes in different octaves with a modulation frequency fluctuating around the same note, creating a slightly detuned brass-like sound.
Requires MiniBeeUtils and movement sensors. We use MiniBees, but with a bit of rewriting the MiniBeeUtils should work with any sensor data. See the full gitlab repo for more details on implementation.