diff --git a/V3.1/build/ai_bridge_server/README.md b/V3.1/build/ai_bridge_server/README.md
new file mode 100644
index 00000000..8d82282e
--- /dev/null
+++ b/V3.1/build/ai_bridge_server/README.md
@@ -0,0 +1,46 @@
+# Jibo AI Bridge Server
+
+This is a small companion server you run on your PC (same machine as Ollama).
+It gives the robot a stable HTTP target and keeps the on-robot code modular.
+
+## Endpoints
+
+- `POST /v1/chat/text` JSON: `{ "text": "..." }` → `{ "reply": "..." }`
+- `POST /v1/chat/audio` JSON: `{ "wav_base64": "..." }` → `{ "reply": "...", "text": "<transcript>" }`
+
+## Requirements
+
+- Python 3.9+
+- Ollama running locally
+  - default Ollama chat URL: `http://127.0.0.1:11434/api/chat`
+
+Optional (for AUDIO mode):
+- `faster-whisper` + `ffmpeg`
+
+## Run
+
+From this folder:
+
+- `python3 server.py --host 0.0.0.0 --port 8020`
+
+Environment variables (optional):
+
+- `OLLAMA_MODEL` (default `phi3.5`)
+- `OLLAMA_URL` (default `http://127.0.0.1:11434/api/chat`)
+- `WHISPER_MODEL` (default `base`)
+
+Note: Ollama can stay bound to `127.0.0.1:11434` on your PC; the robot only talks to this bridge server (`:8020`).
+
+Install optional STT deps:
+
+- `pip install faster-whisper`
+- install `ffmpeg` (platform-specific)
+
+## Robot configuration
+
+Open the tunables UI (`http://<robot-ip>:3333`) and set:
+
+- **Jibo AI Bridge → Server URL**: `http://<your-pc-ip>:8020`
+- **Jibo AI Bridge → Input**:
+  - `AUDIO` (records a short WAV clip on the robot and sends it)
+  - `TEXT` (uses `globalTurnResult` ASR text if available)
diff --git a/V3.1/build/ai_bridge_server/__pycache__/server.cpython-313.pyc b/V3.1/build/ai_bridge_server/__pycache__/server.cpython-313.pyc
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diff --git a/V3.1/build/ai_bridge_server/jibo_last.wav b/V3.1/build/ai_bridge_server/jibo_last.wav
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diff --git a/V3.1/build/ai_bridge_server/server.py b/V3.1/build/ai_bridge_server/server.py
new file mode 100644
index 00000000..421d5809
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+++ b/V3.1/build/ai_bridge_server/server.py
@@ -0,0 +1,341 @@
+#!/usr/bin/env python3
+"""Minimal AI Bridge server for Jibo.
+
+Endpoints:
+- POST /v1/chat/text  {"text": "..."} -> {"reply": "..."}
+- POST /v1/chat/audio {"wav_base64": "...", "sample_rate": 16000} -> {"reply": "...", "text": "<transcript>"}
+
+LLM:
+- Uses Ollama Chat API by default: http://localhost:11434/api/chat
+  Env:
+    OLLAMA_URL   (default: http://127.0.0.1:11434/api/chat)
+        OLLAMA_MODEL (default: phi3.5)
+
+STT (optional, for /audio):
+- If `faster-whisper` is installed, it will be used.
+  Env:
+    WHISPER_MODEL (default: base)
+
+Run:
+  python3 server.py --host 0.0.0.0 --port 8020
+"""
+
+from __future__ import annotations
+
+import argparse
+import array
+import base64
+import io
+import json
+import os
+import tempfile
+import time
+import traceback
+import wave
+from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
+from urllib.request import Request, urlopen
+
+
+def _ts() -> str:
+    # ISO-ish timestamp in local time; good enough for debugging
+    return time.strftime("%Y-%m-%d %H:%M:%S")
+
+
+def _log(msg: str):
+    # Server previously muted logs; we want visibility while debugging.
+    print(f"[{_ts()}] {msg}", flush=True)
+
+
+def _json_response(handler: BaseHTTPRequestHandler, status: int, payload: dict):
+    body = json.dumps(payload).encode("utf-8")
+    handler.send_response(status)
+    handler.send_header("Content-Type", "application/json")
+    handler.send_header("Content-Length", str(len(body)))
+    handler.end_headers()
+    handler.wfile.write(body)
+
+
+def _read_json(handler: BaseHTTPRequestHandler) -> dict:
+    length = int(handler.headers.get("Content-Length", "0"))
+    raw = handler.rfile.read(length) if length else b"{}"
+    return json.loads(raw.decode("utf-8"))
+
+
+def _ollama_chat(user_text: str) -> str:
+    ollama_url = os.environ.get("OLLAMA_URL", "http://127.0.0.1:11434/api/chat")
+    model = os.environ.get("OLLAMA_MODEL", "phi3.5")
+
+    req_body = {
+        "model": model,
+        "stream": False,
+        "messages": [
+            {"role": "system", "content": "You are Jibo, a friendly home robot. Keep replies short and spoken."},
+            {"role": "user", "content": user_text},
+        ],
+    }
+
+    req = Request(
+        ollama_url,
+        data=json.dumps(req_body).encode("utf-8"),
+        headers={"Content-Type": "application/json"},
+        method="POST",
+    )
+
+    with urlopen(req, timeout=60) as resp:
+        data = json.loads(resp.read().decode("utf-8"))
+
+    msg = data.get("message") or {}
+    content = msg.get("content")
+    if not content:
+        raise RuntimeError(f"Unexpected Ollama response: {data}")
+    return content.strip()
+
+
+def _wav_diagnostics(wav_bytes: bytes) -> dict:
+    """Best-effort WAV parsing + signal stats for debugging mic capture."""
+    info: dict = {"bytes": len(wav_bytes)}
+    try:
+        with wave.open(io.BytesIO(wav_bytes), "rb") as wf:  # type: ignore[name-defined]
+            nch = wf.getnchannels()
+            sw = wf.getsampwidth()
+            fr = wf.getframerate()
+            nframes = wf.getnframes()
+            info.update({"channels": nch, "sample_width": sw, "frame_rate": fr, "frames": nframes})
+
+            # Read up to ~3 seconds of audio for stats (avoid huge CPU)
+            max_frames = min(nframes, fr * 3)
+            frames = wf.readframes(max_frames)
+    except Exception as e:
+        info["parse_error"] = str(e)
+        return info
+
+    # Only compute stats for 16-bit PCM (most common).
+    if info.get("sample_width") != 2:
+        return info
+
+    try:
+        samples = array.array("h")
+        samples.frombytes(frames)
+        if not samples:
+            return info
+
+        mn = min(samples)
+        mx = max(samples)
+        zeros = sum(1 for s in samples if s == 0)
+        # RMS over interleaved samples (good enough for quick signal presence)
+        n = float(len(samples))
+        rms = (sum(float(s) * float(s) for s in samples) / n) ** 0.5
+        # Per-channel RMS (helps debug mic arrays)
+        ch = int(info.get("channels") or 1)
+        channel_rms = None
+        if ch > 1:
+            channel_rms = []
+            for c in range(ch):
+                chan = samples[c::ch]
+                if not chan:
+                    channel_rms.append(0.0)
+                else:
+                    nn = float(len(chan))
+                    channel_rms.append((sum(float(s) * float(s) for s in chan) / nn) ** 0.5)
+        info.update(
+            {
+                "min": int(mn),
+                "max": int(mx),
+                "rms": float(rms),
+                "zero_frac": float(zeros) / n,
+                "channel_rms": channel_rms,
+            }
+        )
+    except Exception as e:
+        info["stats_error"] = str(e)
+    return info
+
+
+def _to_loudest_channel_mono_wav(wav_bytes: bytes) -> tuple[bytes, dict]:
+    """If WAV is multi-channel 16-bit PCM, pick loudest channel and return mono WAV bytes."""
+    try:
+        with wave.open(io.BytesIO(wav_bytes), "rb") as wf:
+            nch = wf.getnchannels()
+            sw = wf.getsampwidth()
+            fr = wf.getframerate()
+            nframes = wf.getnframes()
+            frames = wf.readframes(nframes)
+    except Exception as e:
+        return wav_bytes, {"convert_error": str(e)}
+
+    if nch <= 1 or sw != 2:
+        return wav_bytes, {"converted": False, "channels": nch, "sample_width": sw}
+
+    samples = array.array("h")
+    samples.frombytes(frames)
+    if not samples:
+        return wav_bytes, {"converted": False, "reason": "empty_samples"}
+
+    # Choose loudest channel by RMS
+    rms_list: list[float] = []
+    for c in range(nch):
+        chan = samples[c::nch]
+        if not chan:
+            rms_list.append(0.0)
+        else:
+            nn = float(len(chan))
+            rms_list.append((sum(float(s) * float(s) for s in chan) / nn) ** 0.5)
+    best = max(range(nch), key=lambda i: rms_list[i])
+    mono = samples[best::nch]
+
+    out = io.BytesIO()
+    with wave.open(out, "wb") as ow:
+        ow.setnchannels(1)
+        ow.setsampwidth(2)
+        ow.setframerate(fr)
+        ow.writeframes(mono.tobytes())
+
+    return out.getvalue(), {"converted": True, "picked_channel": best, "channel_rms": rms_list, "frame_rate": fr}
+
+
+class _Whisper:
+    def __init__(self):
+        self._model = None
+
+    def available(self) -> bool:
+        try:
+            import faster_whisper  # noqa: F401
+
+            return True
+        except Exception:
+            return False
+
+    def transcribe_wav_bytes(self, wav_bytes: bytes) -> str:
+        try:
+            from faster_whisper import WhisperModel
+        except Exception as e:
+            raise RuntimeError(
+                "Audio mode requires `faster-whisper` (pip install faster-whisper) and ffmpeg on your PC"
+            ) from e
+
+        model_name = os.environ.get("WHISPER_MODEL", "base")
+        if self._model is None:
+            # CPU-friendly default; user can override via WHISPER_MODEL and faster-whisper params if needed.
+            self._model = WhisperModel(model_name, device="cpu", compute_type="int8")
+
+        with tempfile.NamedTemporaryFile(suffix=".wav", delete=True) as f:
+            f.write(wav_bytes)
+            f.flush()
+            segments, info = self._model.transcribe(f.name)
+            text = "".join(seg.text for seg in segments).strip()
+            return text
+
+
+_whisper = _Whisper()
+
+
+class Handler(BaseHTTPRequestHandler):
+    server_version = "JiboAIBridge/1.0"
+
+    def do_POST(self):
+        try:
+            client = f"{self.client_address[0]}:{self.client_address[1]}"
+            length = int(self.headers.get("Content-Length", "0") or "0")
+            _log(f"{client} POST {self.path} len={length}")
+
+            if self.path == "/v1/chat/text":
+                payload = _read_json(self)
+                text = (payload.get("text") or "").strip()
+                if not text:
+                    _json_response(self, 400, {"error": "Missing 'text'"})
+                    return
+                _log(f"{client} /text prompt_chars={len(text)} prompt={text[:200]!r}")
+                reply = _ollama_chat(text)
+                _log(f"{client} /text ok reply_chars={len(reply)}")
+                _json_response(self, 200, {"reply": reply})
+                return
+
+            if self.path == "/v1/chat/audio":
+                payload = _read_json(self)
+                b64 = payload.get("wav_base64")
+                if not b64:
+                    _json_response(self, 400, {"error": "Missing 'wav_base64'"})
+                    return
+
+                if not _whisper.available():
+                    _log(f"{client} /audio STT unavailable (faster-whisper not installed)")
+                    _json_response(
+                        self,
+                        503,
+                        {
+                            "error": "STT unavailable: install faster-whisper and ffmpeg on this PC",
+                            "hint": "pip install faster-whisper  (and install ffmpeg)",
+                        },
+                    )
+                    return
+
+                wav_bytes = base64.b64decode(b64)
+                diag = _wav_diagnostics(wav_bytes)
+                wav_for_stt, conv = _to_loudest_channel_mono_wav(wav_bytes)
+                if conv.get("converted"):
+                    diag_mono = _wav_diagnostics(wav_for_stt)
+                    _log(
+                        f"{client} /audio wav_diag={json.dumps(diag, sort_keys=True)} "
+                        f"mono={json.dumps(diag_mono, sort_keys=True)} conv={json.dumps(conv, sort_keys=True)}"
+                    )
+                else:
+                    _log(f"{client} /audio wav_diag={json.dumps(diag, sort_keys=True)} conv={json.dumps(conv, sort_keys=True)}")
+                try:
+                    # Save for debugging (overwrite each time)
+                    out_path = os.environ.get("AI_BRIDGE_LAST_WAV", "jibo_last.wav")
+                    with open(out_path, "wb") as f:
+                        f.write(wav_bytes)
+                    _log(f"{client} /audio decoded bytes={len(wav_bytes)} saved={out_path}")
+                except Exception as e:
+                    _log(f"{client} /audio failed saving wav: {e}")
+
+                transcript = _whisper.transcribe_wav_bytes(wav_for_stt)
+                if not transcript:
+                    _log(f"{client} /audio empty transcript")
+                    _json_response(self, 200, {"reply": "I didn't catch that. Could you say it again?", "text": ""})
+                    return
+                _log(f"{client} /audio transcript_chars={len(transcript)} transcript={transcript[:200]!r}")
+                reply = _ollama_chat(transcript)
+                _log(f"{client} /audio ok text_chars={len(transcript)} reply_chars={len(reply)}")
+                _json_response(self, 200, {"reply": reply, "text": transcript})
+                return
+
+            _json_response(self, 404, {"error": "Not found"})
+
+        except Exception as e:
+            _log(f"ERROR {self.path}: {e}\n{traceback.format_exc()}")
+            _json_response(
+                self,
+                500,
+                {
+                    "error": str(e),
+                    "trace": traceback.format_exc(),
+                },
+            )
+
+    def log_message(self, format, *args):
+        # Keep BaseHTTPRequestHandler from double-logging; we do our own.
+        return
+
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--host", default="0.0.0.0")
+    ap.add_argument("--port", type=int, default=8020)
+    args = ap.parse_args()
+
+    server = ThreadingHTTPServer((args.host, args.port), Handler)
+    _log(f"AI Bridge server listening on http://{args.host}:{args.port}")
+    _log(
+        "Ollama: "
+        + os.environ.get("OLLAMA_URL", "http://127.0.0.1:11434/api/chat")
+        + " model="
+        + os.environ.get("OLLAMA_MODEL", "phi3.5")
+    )
+    if not _whisper.available():
+        _log("STT: faster-whisper not installed; /v1/chat/audio will return 503")
+    server.serve_forever()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/V3.1/build/opt/jibo/Jibo/Skills/@be/be/be/ai-bridge.js b/V3.1/build/opt/jibo/Jibo/Skills/@be/be/be/ai-bridge.js
new file mode 100644
index 00000000..5be1243a
--- /dev/null
+++ b/V3.1/build/opt/jibo/Jibo/Skills/@be/be/be/ai-bridge.js
@@ -0,0 +1,1697 @@
+"use strict";
+
+// Modular AI bridge for Jibo BE.
+// - TEXT mode: uses jetstream turn results (ASR text) and forwards to a server.
+// - AUDIO mode: records a short WAV clip (arecord) and forwards to a server.
+// Server is expected to return JSON: { reply: "..." }.
+
+var http = require("http");
+var https = require("https");
+var urlLib = require("url");
+var fs = require("fs");
+var childProcess = require("child_process");
+var spawn = childProcess.spawn;
+
+var rlog = null;
+try {
+	rlog = require("./robot-logger");
+} catch (e) {
+	// ignore
+}
+
+var tunable = null;
+try {
+	// Optional: drives the :3333 panel
+	tunable = require("jibo-tunable");
+} catch (e) {
+	// ignore
+}
+
+var beFramework = null;
+try {
+	beFramework = require("@be/be-framework");
+} catch (e) {
+	// ignore
+}
+
+// Many builds already have Tunables under the "Jibo Embodied Dialog" window.
+// Keeping AI bridge controls there makes them easier to find.
+var WIN = "Jibo Embodied Dialog";
+var LABEL = {
+	enabled: "AI Bridge: Enabled",
+	input: "AI Bridge: Input",
+	audioCheckbox: "AI Bridge: Audio input (off = text)",
+	serverUrl: "AI Bridge: Server URL",
+	recordSeconds: "AI Bridge: Record seconds",
+	alsaDevice: "AI Bridge: ALSA device (arecord -D)",
+	audioSampleRate: "AI Bridge: Audio sample rate",
+	audioChannels: "AI Bridge: Audio channels",
+	audioFormat: "AI Bridge: Audio format (arecord -f)",
+	debugAudio: "AI Bridge: Debug audio capture",
+	useDumpStateAudio: "AI Bridge: Use audio-service dump-state (fix mic busy)",
+};
+
+var InputMode = {
+	TEXT: "TEXT",
+	AUDIO: "AUDIO",
+};
+
+function httpJsonPost(urlString, payload, timeoutMs) {
+	timeoutMs = typeof timeoutMs === "number" ? timeoutMs : 15000;
+
+	var parsed = urlLib.parse(urlString);
+	var isHttps = parsed.protocol === "https:";
+	var bodyStr = JSON.stringify(payload || {});
+	// Buffer.from is not available on some older Node builds
+	var body = new Buffer(bodyStr, "utf8");
+
+	var requestOptions = {
+		protocol: parsed.protocol,
+		hostname: parsed.hostname,
+		port: parsed.port || (isHttps ? 443 : 80),
+		path: parsed.path || "/",
+		method: "POST",
+		headers: {
+			"Content-Type": "application/json",
+			"Content-Length": body.length,
+		},
+		timeout: timeoutMs,
+	};
+
+	return new Promise(function (resolve, reject) {
+		var req = (isHttps ? https : http).request(requestOptions, function (res) {
+			var chunks = [];
+			res.on("data", function (d) {
+				chunks.push(d);
+			});
+			res.on("end", function () {
+				var raw = Buffer.concat(chunks).toString("utf8");
+				if (res.statusCode && res.statusCode >= 200 && res.statusCode < 300) {
+					try {
+						resolve(JSON.parse(raw));
+					} catch (e) {
+						reject(new Error("AI Bridge: bad JSON response (" + res.statusCode + "): " + raw));
+					}
+					return;
+				}
+				reject(new Error("AI Bridge: HTTP " + res.statusCode + ": " + raw));
+			});
+		});
+
+		req.on("error", reject);
+		req.on("timeout", function () {
+			req.destroy(new Error("AI Bridge: request timeout"));
+		});
+
+		req.write(body);
+		req.end();
+	});
+}
+
+function recordWavWithArecord(durationSec, sampleRate, channels, device, format, debug) {
+	durationSec = typeof durationSec === "number" ? durationSec : 5;
+	sampleRate = typeof sampleRate === "number" ? sampleRate : 16000;
+	channels = typeof channels === "number" ? channels : 1;
+	device = typeof device === "string" ? device : "";
+	format = typeof format === "string" ? format : "S16_LE";
+	debug = !!debug;
+	if (["S16_LE", "S32_LE"].indexOf(format) < 0) {
+		format = "S16_LE";
+	}
+	// Uses `arecord` to capture a short wav to stdout.
+	// Args chosen to be broadly compatible with embedded ALSA.
+	var args = [
+		// Quiet unless debugging; arecord prints useful device/rate info on stderr.
+		// (When not quiet, we still only log stderr when debug=true.)
+		// "-q",
+		"-f",
+		format,
+		"-r",
+		String(sampleRate),
+		"-c",
+		String(channels),
+		"-d",
+		String(durationSec),
+		"-t",
+		"wav",
+	];
+
+	if (!debug) {
+		args.unshift("-q");
+	}
+	if (device && device.trim()) {
+		args.unshift(device.trim());
+		args.unshift("-D");
+	}
+
+	return new Promise(function (resolve, reject) {
+		var child = spawn("arecord", args, { stdio: ["ignore", "pipe", "pipe"] });
+		var stdout = [];
+		var stderr = [];
+
+		child.stdout.on("data", function (d) {
+			stdout.push(d);
+		});
+		child.stderr.on("data", function (d) {
+			stderr.push(d);
+		});
+		child.on("error", function (err) {
+			reject(err);
+		});
+		child.on("close", function (code) {
+			if (code !== 0) {
+				var errText = Buffer.concat(stderr).toString("utf8");
+				reject(new Error("arecord failed (" + code + "): " + errText));
+				return;
+			}
+			if (debug && rlog) {
+				try {
+					var s = Buffer.concat(stderr).toString("utf8");
+					if (s && s.trim()) {
+						rlog.debug("ai-bridge", "arecord stderr", { text: s.slice(0, 500) });
+					}
+				} catch (e) {
+					// ignore
+				}
+			}
+			resolve(Buffer.concat(stdout));
+		});
+	});
+}
+
+function wavSignalStats16(wavBuffer, maxSamples) {
+	// Best-effort parser for PCM 16-bit WAV emitted by arecord.
+	// Returns { ok, samples, zeroFrac, rms, min, max } or { ok:false, err }.
+	maxSamples = typeof maxSamples === "number" ? maxSamples : 16000;
+	try {
+		if (!wavBuffer || !Buffer.isBuffer(wavBuffer) || wavBuffer.length < 44) {
+			return { ok: false, err: "no buffer" };
+		}
+		if (wavBuffer.toString("ascii", 0, 4) !== "RIFF" || wavBuffer.toString("ascii", 8, 12) !== "WAVE") {
+			return { ok: false, err: "not wav" };
+		}
+		var offset = 12;
+		var dataOffset = -1;
+		var dataSize = 0;
+		var bitsPerSample = null;
+		while (offset + 8 <= wavBuffer.length) {
+			var chunkId = wavBuffer.toString("ascii", offset, offset + 4);
+			var chunkSize = wavBuffer.readUInt32LE(offset + 4);
+			offset += 8;
+			if (chunkId === "fmt ") {
+				if (offset + 16 <= wavBuffer.length) {
+					bitsPerSample = wavBuffer.readUInt16LE(offset + 14);
+				}
+			} else if (chunkId === "data") {
+				dataOffset = offset;
+				dataSize = chunkSize;
+				break;
+			}
+			offset += chunkSize;
+			if (chunkSize % 2 === 1) offset += 1; // padding
+		}
+		if (dataOffset < 0) return { ok: false, err: "no data chunk" };
+		if (bitsPerSample !== 16) return { ok: false, err: "bitsPerSample=" + String(bitsPerSample) };
+
+		var available = Math.min(dataSize, wavBuffer.length - dataOffset);
+		var sampleCount = Math.floor(available / 2);
+		sampleCount = Math.max(0, Math.min(sampleCount, maxSamples));
+		if (sampleCount <= 0) return { ok: false, err: "no samples" };
+
+		var zeros = 0;
+		var min = 32767;
+		var max = -32768;
+		var sumSq = 0;
+		for (var i = 0; i < sampleCount; i++) {
+			var s = wavBuffer.readInt16LE(dataOffset + i * 2);
+			if (s === 0) zeros += 1;
+			if (s < min) min = s;
+			if (s > max) max = s;
+			sumSq += s * s;
+		}
+		var rms = Math.sqrt(sumSq / sampleCount);
+		return {
+			ok: true,
+			samples: sampleCount,
+			zeroFrac: zeros / sampleCount,
+			rms: rms,
+			min: min,
+			max: max,
+		};
+	} catch (e) {
+		return { ok: false, err: String(e && (e.stack || e.message || e)) };
+	}
+}
+
+function parseWavHeader(wavBuffer) {
+	// Minimal WAV header parser (RIFF/WAVE + fmt/data). Used for logging/metadata only.
+	try {
+		if (!wavBuffer || !Buffer.isBuffer(wavBuffer) || wavBuffer.length < 44) return { ok: false, err: "short" };
+		if (wavBuffer.toString("ascii", 0, 4) !== "RIFF" || wavBuffer.toString("ascii", 8, 12) !== "WAVE") return { ok: false, err: "not wav" };
+
+		var offset = 12;
+		var channels = null;
+		var sampleRate = null;
+		var bitsPerSample = null;
+		var dataBytes = null;
+		while (offset + 8 <= wavBuffer.length) {
+			var chunkId = wavBuffer.toString("ascii", offset, offset + 4);
+			var chunkSize = wavBuffer.readUInt32LE(offset + 4);
+			offset += 8;
+			if (chunkId === "fmt ") {
+				if (offset + 16 <= wavBuffer.length) {
+					channels = wavBuffer.readUInt16LE(offset + 2);
+					sampleRate = wavBuffer.readUInt32LE(offset + 4);
+					bitsPerSample = wavBuffer.readUInt16LE(offset + 14);
+				}
+			} else if (chunkId === "data") {
+				dataBytes = chunkSize;
+				break;
+			}
+			offset += chunkSize;
+			if (chunkSize % 2 === 1) offset += 1;
+		}
+
+		return { ok: true, channels: channels, sampleRate: sampleRate, bitsPerSample: bitsPerSample, dataBytes: dataBytes };
+	} catch (e) {
+		return { ok: false, err: String(e && (e.stack || e.message || e)) };
+	}
+}
+
+function runAudioDumpState(cwd, timeoutMs) {
+	// Runs /usr/local/bin/jibo-audio-dump-state (on-robot) which emits sin.wav/sout.wav/etc.
+	cwd = typeof cwd === "string" && cwd ? cwd : "/tmp";
+	timeoutMs = typeof timeoutMs === "number" ? timeoutMs : 7000;
+
+	var trimDir = function (d) {
+		return String(d || "/tmp").replace(/\/+$/, "") || "/tmp";
+	};
+	var fileExistsNonEmpty = function (p) {
+		try {
+			var st = fs.statSync(p);
+			return !!(st && st.isFile && st.isFile() && st.size > 0);
+		} catch (e) {
+			return false;
+		}
+	};
+	// Audio service appears to write its state log as <log_directory>/audiolog.bin
+	// (see strings in /usr/local/bin/jibo-audio-service).
+	var dir = trimDir(cwd);
+	// Some builds appear to write the log at an absolute path: /audiolog.bin.
+	var candidates = [dir + "/audiolog.bin", "/tmp/audiolog.bin", "/opt/tmp/audiolog.bin", "/audiolog.bin"];
+	var infile = null;
+	for (var i = 0; i < candidates.length; i += 1) {
+		if (fileExistsNonEmpty(candidates[i])) {
+			infile = candidates[i];
+			break;
+		}
+	}
+	var args = [];
+	if (infile) {
+		args = ["--infile", infile];
+	}
+
+	return new Promise(function (resolve, reject) {
+		var child;
+		try {
+			child = spawn("/usr/local/bin/jibo-audio-dump-state", args, { stdio: ["ignore", "pipe", "pipe"], cwd: cwd });
+		} catch (e) {
+			reject(e);
+			return;
+		}
+		var out = [];
+		var err = [];
+		var killed = false;
+		var timer = setTimeout(function () {
+			killed = true;
+			try {
+				child.kill("SIGKILL");
+			} catch (e) {
+				// ignore
+			}
+		}, timeoutMs);
+
+		child.stdout.on("data", function (d) {
+			out.push(d);
+		});
+		child.stderr.on("data", function (d) {
+			err.push(d);
+		});
+		child.on("error", function (e) {
+			clearTimeout(timer);
+			reject(e);
+		});
+		child.on("close", function (code) {
+			clearTimeout(timer);
+			resolve({
+				code: code,
+				timedOut: killed,
+				infile: infile,
+				stdout: Buffer.concat(out).toString("utf8"),
+				stderr: Buffer.concat(err).toString("utf8"),
+			});
+		});
+	});
+}
+
+function getAudioLogInfo(dir) {
+	dir = typeof dir === "string" && dir ? dir : "/tmp";
+	var base = dir.replace(/\/+$/, "");
+	var candidates = [base + "/audiolog.bin", "/tmp/audiolog.bin", "/opt/tmp/audiolog.bin", "/audiolog.bin"];
+	for (var i = 0; i < candidates.length; i += 1) {
+		var p = candidates[i];
+		try {
+			var st = fs.statSync(p);
+			if (st && st.isFile && st.isFile() && st.size > 0) {
+				return { path: p, exists: true, bytes: st.size, mtimeMs: st.mtime ? st.mtime.getTime() : null };
+			}
+		} catch (e) {
+			// ignore
+		}
+	}
+	return { path: candidates[0], exists: false, candidates: candidates };
+}
+
+function httpTextGet(urlString, timeoutMs) {
+	timeoutMs = typeof timeoutMs === "number" ? timeoutMs : 3000;
+	var parsed = urlLib.parse(urlString);
+	var isHttps = parsed.protocol === "https:";
+	var requestOptions = {
+		protocol: parsed.protocol,
+		hostname: parsed.hostname,
+		port: parsed.port || (isHttps ? 443 : 80),
+		path: parsed.path || "/",
+		method: "GET",
+		headers: { Accept: "application/json,text/plain,*/*" },
+		timeout: timeoutMs,
+	};
+	return new Promise(function (resolve, reject) {
+		var req = (isHttps ? https : http).request(requestOptions, function (res) {
+			var chunks = [];
+			res.on("data", function (d) {
+				chunks.push(d);
+			});
+			res.on("end", function () {
+				var raw = Buffer.concat(chunks).toString("utf8");
+				resolve({ statusCode: res.statusCode, headers: res.headers || {}, body: raw });
+			});
+		});
+		req.on("error", reject);
+		req.on("timeout", function () {
+			req.destroy(new Error("GET timeout"));
+		});
+		req.end();
+	});
+}
+
+function listTmpAudioFiles(dir) {
+	dir = typeof dir === "string" && dir ? dir : "/tmp";
+	try {
+		var names = fs.readdirSync(dir);
+		var out = [];
+		names.forEach(function (n) {
+			if (!/\.(raw|wav)$/i.test(n)) return;
+			try {
+				var p = dir.replace(/\/+$/, "") + "/" + n;
+				var st = fs.statSync(p);
+				if (!st || !st.isFile || !st.isFile()) return;
+				out.push({ name: n, bytes: st.size, mtimeMs: st.mtime ? st.mtime.getTime() : null });
+			} catch (e) {
+				// ignore
+			}
+		});
+		out.sort(function (a, b) {
+			return (b.mtimeMs || 0) - (a.mtimeMs || 0);
+		});
+		return out;
+	} catch (e) {
+		return [];
+	}
+}
+
+function pickBestDumpWav(dir) {
+	// Prefer multi-mic capture if present.
+	dir = typeof dir === "string" && dir ? dir : "/tmp";
+	var candidates = ["sin.wav", "sout.wav", "ref.wav", "rin.wav", "rout.wav"];
+	for (var i = 0; i < candidates.length; i += 1) {
+		var p = dir.replace(/\/+$/, "") + "/" + candidates[i];
+		try {
+			var st = fs.statSync(p);
+			if (st && st.isFile && st.isFile() && st.size > 64) {
+				return { path: p, wav: fs.readFileSync(p) };
+			}
+		} catch (e) {
+			// ignore
+		}
+	}
+	return null;
+}
+
+function extractAsrText(turnResult) {
+	// Different builds/components surface listen results differently.
+	// Prefer the "real" ASR transcript, but accept multiple shapes.
+	try {
+		if (!turnResult) return null;
+		// Already a string
+		if (typeof turnResult === "string") return turnResult;
+		// jetstream global/local turn result (common)
+		if (turnResult.result && turnResult.result.asr && typeof turnResult.result.asr.text === "string") {
+			return turnResult.result.asr.text;
+		}
+		// Sometimes the payload is already the listen result
+		if (turnResult.asr && typeof turnResult.asr.text === "string") {
+			return turnResult.asr.text;
+		}
+		// Some command-library style payloads use Speech
+		if (typeof turnResult.Speech === "string") {
+			return turnResult.Speech;
+		}
+		// Some internal events embed options
+		if (turnResult.options && turnResult.options.asr && typeof turnResult.options.asr.text === "string") {
+			return turnResult.options.asr.text;
+		}
+		// Some events wrap details under `message`
+		if (turnResult.message) {
+			var msg = turnResult.message;
+			// JSON string?
+			if (typeof msg === "string") {
+				var trimmed = msg.trim();
+				if (trimmed && (trimmed[0] === "{" || trimmed[0] === "[")) {
+					try {
+						var parsed = JSON.parse(trimmed);
+						var nested = extractAsrText(parsed);
+						if (nested) return nested;
+					} catch (e) {
+						// ignore parse errors
+					}
+				}
+				// Sometimes the message is literally the transcript
+				if (trimmed) return trimmed;
+			}
+			if (typeof msg === "object") {
+				var nested2 = extractAsrText(msg);
+				if (nested2) return nested2;
+			}
+		}
+		// Defensive last resort: asr.text
+		if (turnResult.asr && typeof turnResult.asr === "object" && typeof turnResult.asr.text === "string") {
+			return turnResult.asr.text;
+		}
+		return null;
+	} catch (e) {
+		return null;
+	}
+}
+
+function safePreview(obj, limit) {
+	limit = typeof limit === "number" ? limit : 400;
+	try {
+		var s = JSON.stringify(obj);
+		if (typeof s !== "string") return null;
+		if (s.length > limit) return s.slice(0, limit) + "...";
+		return s;
+	} catch (e) {
+		return null;
+	}
+}
+
+function normalizeServerBaseUrl(input) {
+	if (typeof input !== "string") return null;
+	var s = input.replace(/\s+/g, "").trim();
+	if (!s) return null;
+
+	// Common paste mistakes from the tunables UI (fires on each keystroke)
+	// - http://http://...
+	// - http://host/:8020
+	s = s.replace(/^https?:\/\/https?:\/\//i, function (m) {
+		// keep the first scheme only
+		var scheme = m.toLowerCase().indexOf("https://") === 0 ? "https://" : "http://";
+		return scheme;
+	});
+	if (!/^https?:\/\//i.test(s)) {
+		s = "http://" + s;
+	}
+	// Fix "/:8020" after host
+	s = s.replace(/\/:(\d{2,5})(\/|$)/, ":$1$2");
+	// Remove any path; we only want scheme://host:port
+	var m = s.match(/^(https?:\/\/[^\/]+)(\/.*)?$/i);
+	if (m && m[1]) {
+		s = m[1];
+	}
+	// Strip trailing slash
+	s = s.replace(/\/+$/, "");
+
+	// Validate very loosely: scheme://host[:port]
+	if (!/^https?:\/\/[^\/:]+(:\d{2,5})?$/i.test(s)) {
+		return null;
+	}
+
+	return s;
+}
+
+function isCloudAsrFailureText(text) {
+	if (typeof text !== "string") return false;
+	var s = text.trim();
+	if (!s) return false;
+	// Heuristics: avoid sending cloud connectivity errors as "ASR text".
+	// Observed examples:
+	//   CloudConnection::open (poco exception): Host not found: neo-hub.jibo.com
+	if (/CloudConnection::open/i.test(s)) return true;
+	if (/poco exception/i.test(s) && /Host not found/i.test(s)) return true;
+	if (/neo-hub\.jibo\.com/i.test(s)) return true;
+	return false;
+}
+
+function isMicBusyError(err) {
+	var s = String(err || "");
+	return /Device or resource busy/i.test(s) || /audio device is busy/i.test(s);
+}
+
+function looksLikeHeyJiboIntent(results) {
+	try {
+		if (!results || typeof results !== "object") return false;
+		var nlu = results.nlu;
+		if (!nlu || typeof nlu !== "object") return false;
+		var intent = nlu.intent || nlu.intentName || nlu.topIntent;
+		if (typeof intent !== "string") return false;
+		return /heyjibo/i.test(intent);
+	} catch (e) {
+		return false;
+	}
+}
+
+
+function AIBridge(skill, jibo) {
+	this.skill = skill;
+	this.jibo = jibo;
+
+	this.enabled = true;
+	// Default to TEXT because the built-in ASR pipeline already owns the mic
+	// on many builds; AUDIO/arecord often fails with "Device or resource busy".
+	this.mode = InputMode.TEXT;
+	this.serverBaseUrl = "http://127.0.0.1:8020";
+	this.recordSeconds = 5;
+	this.arecordDevice = "";
+	this.audioSampleRate = 16000;
+	this.audioChannels = 1;
+	this.audioFormat = "S16_LE";
+	this.debugAudioCapture = false;
+	// Prefer grabbing audio from the system audio service (avoids ALSA mic lock).
+	this.useDumpStateAudio = true;
+	this.dumpStateDir = "/tmp";
+
+	this._inFlight = false;
+	this._lastHJAt = 0;
+	this._hjWindowMs = 15000;
+	this._pendingTextFallback = false;
+	this._allowAnyTextNoHJ = false;
+	this._lastSentText = "";
+	this._lastSentAt = 0;
+	this._openHookInstalled = false;
+	this._offlineAudioAttempts = 0;
+	this._audioFallbackTimer = null;
+
+	var self = this;
+	this._onHJHeard = function () {
+		return self._handleHJHeard();
+	};
+	this._onGlobalTurnResult = function (data) {
+		return self._handleTurnResult(data, "globalTurnResult");
+	};
+	this._onLocalTurnResult = function (data) {
+		return self._handleTurnResult(data, "localTurnResult");
+	};
+}
+
+AIBridge.prototype._scheduleOfflineAudioFallback = function (reason, delayMs) {
+	var self = this;
+	if (!self.enabled) return;
+	if (self._offlineAudioAttempts >= 2) return;
+	if (!self._allowAnyTextNoHJ && Date.now() - self._lastHJAt > self._hjWindowMs) return;
+	if (self._inFlight) return;
+
+	if (self._audioFallbackTimer) {
+		clearTimeout(self._audioFallbackTimer);
+		self._audioFallbackTimer = null;
+	}
+
+	delayMs = typeof delayMs === "number" ? delayMs : 1200;
+	if (rlog) {
+		rlog.warn("ai-bridge", "scheduling offline audio fallback", { reason: String(reason || ""), delayMs: delayMs });
+	}
+
+	self._audioFallbackTimer = setTimeout(function () {
+		self._audioFallbackTimer = null;
+		self._offlineAudioAttempts += 1;
+		self
+			._captureAndSendAudio("offlineFallback:" + String(reason || ""))
+			.catch(function (e) {
+				if (rlog) {
+					rlog.warn("ai-bridge", "offline audio fallback failed", { err: String(e && (e.stack || e.message || e)) });
+				}
+				// Common case: mic is still owned by the built-in pipeline. Retry once.
+				if (isMicBusyError(String(e && (e.stack || e.message || e)))) {
+					self._scheduleOfflineAudioFallback("retryMicBusy:" + String(reason || ""), 2400);
+				}
+			});
+	}, delayMs);
+};
+
+AIBridge.prototype._captureAndSendAudio = function (source) {
+	var self = this;
+	if (!self.enabled) {
+		return Promise.resolve();
+	}
+	if (self._inFlight) {
+		return Promise.resolve();
+	}
+	self._inFlight = true;
+
+	var t0 = Date.now();
+	var rate = typeof self.audioSampleRate === "number" ? self.audioSampleRate : 16000;
+	var ch = typeof self.audioChannels === "number" ? self.audioChannels : 1;
+	var dev = typeof self.arecordDevice === "string" ? self.arecordDevice : "";
+	var fmt = typeof self.audioFormat === "string" ? self.audioFormat : "S16_LE";
+	if (["S16_LE", "S32_LE"].indexOf(fmt) < 0) fmt = "S16_LE";
+	var dbg = !!self.debugAudioCapture;
+
+	var dumpDir = typeof self.dumpStateDir === "string" && self.dumpStateDir ? self.dumpStateDir : "/tmp";
+
+	var captureViaDumpState = function () {
+		var tDump0 = Date.now();
+		return runAudioDumpState(dumpDir, 7000).then(function (res) {
+			if (rlog) {
+				rlog.info("ai-bridge", "dump-state complete", {
+					ms: Date.now() - tDump0,
+					code: res.code,
+					timedOut: res.timedOut,
+							infile: res.infile || null,
+					stdout: String(res.stdout || "").slice(0, 700),
+					stderr: String(res.stderr || "").slice(0, 700),
+				});
+			}
+			var picked = pickBestDumpWav(dumpDir);
+			if (!picked || !picked.wav) {
+						throw new Error(
+							"dump-state produced no wavs; files=" +
+								JSON.stringify(listTmpAudioFiles(dumpDir).slice(0, 12)) +
+								" audiolog=" +
+								JSON.stringify(getAudioLogInfo(dumpDir))
+						);
+			}
+			var hdr = parseWavHeader(picked.wav);
+			return { wav: picked.wav, meta: { method: "dump-state", path: picked.path, header: hdr } };
+		});
+	};
+
+	var captureViaArecord = function () {
+		return recordWavWithArecord(self.recordSeconds, rate, ch, dev, fmt, dbg).then(function (wav) {
+			return { wav: wav, meta: { method: "arecord", device: dev || "(default)", rate: rate, ch: ch, format: fmt } };
+		});
+	};
+
+	var capturePromise;
+	if (self.useDumpStateAudio) {
+		capturePromise = captureViaDumpState().catch(function (e) {
+			if (rlog) {
+				rlog.warn("ai-bridge", "dump-state capture failed; falling back to arecord", { err: String(e && (e.stack || e.message || e)) });
+			}
+			return captureViaArecord();
+		});
+	} else {
+		capturePromise = captureViaArecord().catch(function (e) {
+			if (isMicBusyError(String(e && (e.stack || e.message || e)))) {
+				return captureViaDumpState();
+			}
+			throw e;
+		});
+	}
+
+	return capturePromise
+		.then(function (cap) {
+			var wav = cap && cap.wav ? cap.wav : null;
+			var meta = cap && cap.meta ? cap.meta : null;
+			if (!wav) throw new Error("no audio captured");
+			var url = self.serverBaseUrl.replace(/\/+$/, "") + "/v1/chat/audio";
+			if (rlog) {
+				rlog.info("ai-bridge", "audio captured", {
+					bytes: wav.length,
+					ms: Date.now() - t0,
+					url: url,
+					source: source || "audio",
+					capture: meta || { method: "unknown" },
+				});
+			}
+			var t1 = Date.now();
+			return httpJsonPost(url, {
+				wav_base64: wav.toString("base64"),
+				source: source || "audio",
+				capture: meta || null,
+			}).then(function (resp) {
+				if (rlog) {
+					rlog.info("ai-bridge", "audio request complete", { ms: Date.now() - t1, ok: !!(resp && resp.reply), source: source || "audio" });
+				}
+				if (rlog && resp && typeof resp.text === "string") {
+					rlog.info("ai-bridge", "server transcript", {
+						chars: resp.text.length,
+						text: resp.text.slice(0, 160),
+					});
+				}
+				if (resp && resp.reply) {
+					return self._speak(resp.reply);
+				}
+			});
+		})
+		.catch(function (e) {
+			self.skill.log && self.skill.log.warn && self.skill.log.warn("AI Bridge audio capture error", e && (e.stack || e.message || e));
+			if (rlog) {
+				rlog.warn("ai-bridge", "audio capture error", { err: String(e && (e.stack || e.message || e)), source: source || "audio" });
+			}
+			throw e;
+		})
+		.then(
+			function (v) {
+				self._inFlight = false;
+				return v;
+			},
+			function (e) {
+				self._inFlight = false;
+				throw e;
+			}
+		);
+};
+
+AIBridge.prototype._installOpenHook = function () {
+	var self = this;
+	if (self._openHookInstalled) return;
+	self._openHookInstalled = true;
+
+	if (!beFramework || !beFramework.BeSkill || typeof beFramework.BeSkill.registerOpenHook !== "function") {
+		if (rlog) {
+			rlog.warn("ai-bridge", "be-framework open hook unavailable; cannot intercept skill launches", {});
+		}
+		return;
+	}
+
+	try {
+		beFramework.BeSkill.registerOpenHook(function (lastSkill, nextSkill, results) {
+			return function (resolve) {
+				try {
+					if (!self.enabled) return resolve();
+					if (self.mode !== InputMode.TEXT && !self._pendingTextFallback) return resolve();
+					if (!self._allowAnyTextNoHJ && Date.now() - self._lastHJAt > self._hjWindowMs) return resolve();
+
+					var text = extractAsrText(results);
+					if (!text) {
+						if (rlog) {
+							rlog.debug("ai-bridge", "open hook saw no asr text", {
+								nextSkill: String(nextSkill || ""),
+								keys: results && typeof results === "object" ? Object.keys(results).slice(0, 25) : [],
+								preview: safePreview(results, 320),
+							});
+						}
+						// If cloud ASR is down, Hey-Jibo intents often have empty asr.text.
+						// Try a one-shot offline audio fallback after the pipeline releases the mic.
+						if (looksLikeHeyJiboIntent(results)) {
+							self._scheduleOfflineAudioFallback("openHookNoText", 1400);
+						}
+						return resolve();
+					}
+					text = String(text);
+					if (!text.trim()) return resolve();
+					if (isCloudAsrFailureText(text)) {
+						if (rlog) {
+							rlog.warn("ai-bridge", "ignoring cloud ASR error text (open hook)", { text: text.slice(0, 200) });
+						}
+						self._scheduleOfflineAudioFallback("cloudAsrErrorText", 1400);
+						return resolve();
+					}
+
+					if (rlog) {
+						rlog.info("ai-bridge", "open hook asr", {
+							nextSkill: String(nextSkill || ""),
+							text: text.slice(0, 160),
+						});
+					}
+					self._sendText(text, "openHook:" + String(nextSkill || ""));
+					return resolve();
+				} catch (e) {
+					if (rlog) {
+						rlog.warn("ai-bridge", "open hook error", { err: String(e && (e.stack || e.message || e)) });
+					}
+					return resolve();
+				}
+			};
+		});
+
+		if (rlog) {
+			rlog.info("ai-bridge", "installed BeSkill open hook", {});
+		}
+	} catch (e) {
+		if (rlog) {
+			rlog.warn("ai-bridge", "failed to install open hook", { err: String(e && (e.stack || e.message || e)) });
+		}
+	}
+};
+
+AIBridge.prototype.setupTunables = function () {
+		if (!tunable || !tunable.Tunable) {
+			if (rlog && typeof rlog.raw === "function") {
+				rlog.raw("[AI-BRIDGE] jibo-tunable not available; UI controls disabled");
+			}
+			return;
+		}
+
+		var self = this;
+		var Tunable = tunable.Tunable;
+		var safe = function (fn) {
+			try {
+				return fn();
+			} catch (e) {
+				if (rlog && typeof rlog.raw === "function") {
+					rlog.raw("[AI-BRIDGE] Tunable registration failed: " + String(e && (e.stack || e.message || e)));
+				}
+				return null;
+			}
+		};
+
+		safe(function () {
+			return Tunable.getCheckboxField(LABEL.enabled, self.enabled, WIN).events.change.on(function (v) {
+				self.enabled = !!v;
+				if (rlog) {
+					rlog.info("ai-bridge", "enabled changed", { enabled: self.enabled });
+				}
+			});
+		});
+
+		// Prefer dropdown if available; otherwise fallback to a checkbox.
+		if (typeof Tunable.getDropdownField === "function") {
+			safe(function () {
+				return Tunable.getDropdownField(LABEL.input, [InputMode.AUDIO, InputMode.TEXT], 0, WIN).events.change.on(function (idxOrVal) {
+					var options = [InputMode.AUDIO, InputMode.TEXT];
+					self.mode = options[idxOrVal] || idxOrVal || InputMode.AUDIO;
+					if (rlog) {
+						rlog.info("ai-bridge", "mode changed", { mode: self.mode });
+					}
+				});
+			});
+		} else {
+			safe(function () {
+				return Tunable.getCheckboxField(LABEL.audioCheckbox, self.mode === InputMode.AUDIO, WIN).events.change.on(function (v) {
+					self.mode = v ? InputMode.AUDIO : InputMode.TEXT;
+					if (rlog) {
+						rlog.info("ai-bridge", "mode changed", { mode: self.mode });
+					}
+				});
+			});
+		}
+
+		safe(function () {
+			return Tunable.getStringField(LABEL.serverUrl, self.serverBaseUrl, WIN).events.change.on(function (v) {
+				var normalized = normalizeServerBaseUrl(v);
+				if (normalized) {
+					self.serverBaseUrl = normalized;
+					if (rlog) {
+						rlog.info("ai-bridge", "server url changed", { url: self.serverBaseUrl });
+					}
+				} else {
+					if (rlog) {
+						rlog.warn("ai-bridge", "ignored invalid server url", { url: String(v).slice(0, 120) });
+					}
+				}
+			});
+		});
+
+		// Audio capture tuning for offline fallback and AUDIO mode.
+		safe(function () {
+			return Tunable.getStringField(LABEL.alsaDevice, self.arecordDevice, WIN).events.change.on(function (v) {
+				self.arecordDevice = String(v || "").trim();
+				if (rlog) {
+					rlog.info("ai-bridge", "alsa device changed", { device: self.arecordDevice || "(default)" });
+				}
+			});
+		});
+
+		var setRate = function (v) {
+			var n = Number(v);
+			if (Number.isNaN(n)) return;
+			self.audioSampleRate = Math.max(8000, Math.min(48000, Math.floor(n)));
+			if (rlog) {
+				rlog.info("ai-bridge", "audio sample rate changed", { hz: self.audioSampleRate });
+			}
+		};
+		if (typeof Tunable.getNumberField === "function") {
+			safe(function () {
+				return Tunable.getNumberField(LABEL.audioSampleRate, self.audioSampleRate, 8000, 48000, 1000, WIN).events.change.on(setRate);
+			});
+		} else {
+			safe(function () {
+				return Tunable.getStringField(LABEL.audioSampleRate, String(self.audioSampleRate), WIN).events.change.on(setRate);
+			});
+		}
+
+		var setCh = function (v) {
+			var n = Number(v);
+			if (Number.isNaN(n)) return;
+			self.audioChannels = Math.max(1, Math.min(8, Math.floor(n)));
+			if (rlog) {
+				rlog.info("ai-bridge", "audio channels changed", { ch: self.audioChannels });
+			}
+		};
+		if (typeof Tunable.getNumberField === "function") {
+			safe(function () {
+				return Tunable.getNumberField(LABEL.audioChannels, self.audioChannels, 1, 8, 1, WIN).events.change.on(setCh);
+			});
+		} else {
+			safe(function () {
+				return Tunable.getStringField(LABEL.audioChannels, String(self.audioChannels), WIN).events.change.on(setCh);
+			});
+		}
+
+		// Sample format (default S16_LE). Keep it whitelisted.
+		if (typeof Tunable.getDropdownField === "function") {
+			safe(function () {
+				var opts = ["S16_LE", "S32_LE"];
+				var idx = Math.max(0, opts.indexOf(self.audioFormat));
+				return Tunable.getDropdownField(LABEL.audioFormat, opts, idx, WIN).events.change.on(function (idxOrVal) {
+					var v = opts[idxOrVal] || idxOrVal;
+					v = String(v || "").trim();
+					if (opts.indexOf(v) >= 0) {
+						self.audioFormat = v;
+						if (rlog) {
+							rlog.info("ai-bridge", "audio format changed", { format: self.audioFormat });
+						}
+					}
+				});
+			});
+		} else {
+			safe(function () {
+				return Tunable.getStringField(LABEL.audioFormat, String(self.audioFormat), WIN).events.change.on(function (v) {
+					v = String(v || "").trim();
+					if (["S16_LE", "S32_LE"].indexOf(v) >= 0) {
+						self.audioFormat = v;
+						if (rlog) {
+							rlog.info("ai-bridge", "audio format changed", { format: self.audioFormat });
+						}
+					} else if (rlog) {
+						rlog.warn("ai-bridge", "ignored invalid audio format", { format: String(v).slice(0, 32) });
+					}
+				});
+			});
+		}
+
+		safe(function () {
+			return Tunable.getCheckboxField(LABEL.debugAudio, self.debugAudioCapture, WIN).events.change.on(function (v) {
+				self.debugAudioCapture = !!v;
+				if (rlog) {
+					rlog.info("ai-bridge", "debug audio capture changed", { enabled: self.debugAudioCapture });
+				}
+			});
+		});
+
+		// Prefer the system audio service's dump-state output over arecord (avoids mic busy).
+		safe(function () {
+			return Tunable.getCheckboxField(LABEL.useDumpStateAudio, self.useDumpStateAudio, WIN).events.change.on(function (v) {
+				self.useDumpStateAudio = !!v;
+				if (rlog) {
+					rlog.info("ai-bridge", "use dump-state audio changed", { enabled: self.useDumpStateAudio });
+				}
+			});
+		});
+
+		if (typeof Tunable.getButtonField === "function") {
+			safe(function () {
+				return Tunable.getButtonField("AI Bridge: Dump /tmp audio files", WIN).events.change.on(function () {
+					try {
+						var dir = typeof self.dumpStateDir === "string" && self.dumpStateDir ? self.dumpStateDir : "/tmp";
+						var files = listTmpAudioFiles(dir);
+						if (rlog) {
+								rlog.info("ai-bridge", "tmp audio files", { dir: dir, files: files.slice(0, 60), audiolog: getAudioLogInfo(dir) });
+						}
+					} catch (e) {
+						if (rlog) {
+							rlog.warn("ai-bridge", "dump tmp audio files failed", { err: String(e && (e.stack || e.message || e)) });
+						}
+					}
+				});
+			});
+		}
+
+		if (typeof Tunable.getButtonField === "function") {
+			safe(function () {
+				return Tunable.getButtonField("AI Bridge: Run audio dump-state now", WIN).events.change.on(function () {
+					try {
+						var dir = typeof self.dumpStateDir === "string" && self.dumpStateDir ? self.dumpStateDir : "/tmp";
+						var t0 = Date.now();
+						runAudioDumpState(dir, 8000)
+							.then(function (res) {
+								var picked = pickBestDumpWav(dir);
+								if (rlog) {
+									rlog.info("ai-bridge", "manual dump-state", {
+										ms: Date.now() - t0,
+										code: res.code,
+										timedOut: res.timedOut,
+											infile: res.infile || null,
+										picked: picked ? picked.path : null,
+										files: listTmpAudioFiles(dir).slice(0, 20),
+											audiolog: getAudioLogInfo(dir),
+										stderr: String(res.stderr || "").slice(0, 500),
+									});
+								}
+							})
+							.catch(function (e) {
+								if (rlog) {
+									rlog.warn("ai-bridge", "manual dump-state failed", { err: String(e && (e.stack || e.message || e)) });
+								}
+							});
+					} catch (e) {
+						if (rlog) {
+							rlog.warn("ai-bridge", "manual dump-state crashed", { err: String(e && (e.stack || e.message || e)) });
+						}
+					}
+				});
+			});
+		}
+
+		// Dump hardware params for the currently-selected settings.
+		if (typeof Tunable.getButtonField === "function") {
+			safe(function () {
+				return Tunable.getButtonField("AI Bridge: Dump hw params", WIN).events.change.on(function () {
+					try {
+						var dev = (self.arecordDevice || "").trim();
+						var rate = typeof self.audioSampleRate === "number" ? self.audioSampleRate : 16000;
+						var ch = typeof self.audioChannels === "number" ? self.audioChannels : 1;
+						var fmt = (self.audioFormat || "S16_LE").trim();
+						if (["S16_LE", "S32_LE"].indexOf(fmt) < 0) fmt = "S16_LE";
+						var args = ["--dump-hw-params", "-d", "1", "-t", "wav", "-f", fmt, "-r", String(rate), "-c", String(ch)];
+						if (dev) {
+							args.unshift(dev);
+							args.unshift("-D");
+						}
+						args.push("/dev/null");
+						var child = spawn("arecord", args, { stdio: ["ignore", "pipe", "pipe"] });
+						var out = [];
+						var err = [];
+						child.stdout.on("data", function (d) {
+							out.push(d);
+						});
+						child.stderr.on("data", function (d) {
+							err.push(d);
+						});
+						child.on("close", function (code) {
+							var o = Buffer.concat(out).toString("utf8");
+							var e = Buffer.concat(err).toString("utf8");
+							if (rlog) {
+								rlog.info("ai-bridge", "arecord hw params", {
+									code: code,
+									device: dev || "(default)",
+									rate: rate,
+									ch: ch,
+									format: fmt,
+									stdout: (o || "").slice(0, 1400),
+									stderr: (e || "").slice(0, 1400),
+								});
+							}
+						});
+					} catch (e) {
+						if (rlog) {
+							rlog.warn("ai-bridge", "dump hw params failed", { err: String(e && (e.stack || e.message || e)) });
+						}
+					}
+				});
+			});
+		}
+
+		// Quick probes for the built-in audio service HTTP API.
+		if (typeof Tunable.getButtonField === "function") {
+			safe(function () {
+				return Tunable.getButtonField("AI Bridge: AudioSvc stream_state", WIN).events.change.on(function () {
+					try {
+						var u = "http://127.0.0.1:8383/stream_state";
+						var dir = typeof self.dumpStateDir === "string" && self.dumpStateDir ? self.dumpStateDir : "/tmp";
+						httpTextGet(u, 2500)
+							.then(function (res) {
+								if (rlog) {
+									rlog.info("ai-bridge", "audiosvc stream_state", {
+										url: u,
+										status: res.statusCode,
+										body: String(res.body || "").slice(0, 1200),
+										audiolog: getAudioLogInfo(dir),
+									});
+								}
+							})
+							.catch(function (e) {
+								if (rlog) {
+									rlog.warn("ai-bridge", "audiosvc stream_state failed", { err: String(e && (e.stack || e.message || e)) });
+								}
+							});
+					} catch (e) {
+						if (rlog) rlog.warn("ai-bridge", "audiosvc stream_state crashed", { err: String(e && (e.stack || e.message || e)) });
+					}
+				});
+			});
+		}
+
+		if (typeof Tunable.getButtonField === "function") {
+			safe(function () {
+				return Tunable.getButtonField("AI Bridge: AudioSvc log", WIN).events.change.on(function () {
+					try {
+						var u = "http://127.0.0.1:8383/log";
+						var dir = typeof self.dumpStateDir === "string" && self.dumpStateDir ? self.dumpStateDir : "/tmp";
+						httpTextGet(u, 2500)
+							.then(function (res) {
+								if (rlog) {
+									rlog.info("ai-bridge", "audiosvc log", {
+										url: u,
+										status: res.statusCode,
+										body: String(res.body || "").slice(0, 1200),
+										audiolog: getAudioLogInfo(dir),
+									});
+								}
+							})
+							.catch(function (e) {
+								if (rlog) {
+									rlog.warn("ai-bridge", "audiosvc log failed", { err: String(e && (e.stack || e.message || e)) });
+								}
+							});
+					} catch (e) {
+						if (rlog) rlog.warn("ai-bridge", "audiosvc log crashed", { err: String(e && (e.stack || e.message || e)) });
+					}
+				});
+			});
+		}
+
+		// Probe a few candidate devices to find a usable mic tap when the real ADC is busy.
+		if (typeof Tunable.getButtonField === "function") {
+			safe(function () {
+				return Tunable.getButtonField("AI Bridge: Probe audio devices", WIN).events.change.on(function () {
+					try {
+						if (self._inFlight) {
+							if (rlog) rlog.warn("ai-bridge", "probe skipped; in flight", {});
+							return;
+						}
+						var rate = typeof self.audioSampleRate === "number" ? self.audioSampleRate : 16000;
+						var ch = typeof self.audioChannels === "number" ? self.audioChannels : 1;
+						var fmt = typeof self.audioFormat === "string" ? self.audioFormat : "S16_LE";
+						if (["S16_LE", "S32_LE"].indexOf(fmt) < 0) fmt = "S16_LE";
+						// Signal stats helper only understands 16-bit PCM, so probe with S16_LE even if
+						// the main audio capture is set to S32_LE.
+						var probeFmt = "S16_LE";
+						var devices = [];
+						// 1) configured
+						devices.push((self.arecordDevice || "").trim());
+						// 2) default
+						devices.push("");
+						// 3) Try shareable plugin PCMs (may work even if hw is busy)
+						devices.push("dsnoop");
+						devices.push("dsnoop:CARD=ADC,DEV=0");
+						devices.push("dsnoop:CARD=1,DEV=0");
+						devices.push("plughw:1,0");
+						devices.push("hw:1,0");
+						// 4) ALSA Loopback common capture endpoints
+						devices.push("plughw:2,0");
+						devices.push("plughw:2,1");
+						// 5) Dummy (should be silence)
+						devices.push("plughw:3,0");
+						// De-dupe
+						var seen = {};
+						devices = devices.filter(function (d) {
+							d = String(d || "");
+							if (seen[d]) return false;
+							seen[d] = true;
+							return true;
+						});
+
+						if (rlog) {
+							rlog.info("ai-bridge", "probe starting", { rate: rate, ch: ch, format: fmt, probeFormat: probeFmt, devices: devices });
+						}
+
+						var p = Promise.resolve();
+						devices.forEach(function (dev) {
+							p = p.then(function () {
+								return recordWavWithArecord(1, rate, ch, dev, probeFmt, true)
+									.then(function (wav) {
+										var stats = wavSignalStats16(wav, Math.max(8000, rate));
+										if (rlog) {
+											rlog.info("ai-bridge", "probe result", {
+												device: dev || "(default)",
+												bytes: wav.length,
+												format: probeFmt,
+												stats: stats,
+											});
+										}
+									});
+							}).catch(function (e) {
+								if (rlog) {
+									rlog.warn("ai-bridge", "probe error", { device: dev || "(default)", err: String(e && (e.stack || e.message || e)) });
+								}
+							});
+						});
+
+						p.then(function () {
+							if (rlog) rlog.info("ai-bridge", "probe done", {});
+						});
+					} catch (e) {
+						if (rlog) {
+							rlog.warn("ai-bridge", "probe failed", { err: String(e && (e.stack || e.message || e)) });
+						}
+					}
+				});
+			});
+		}
+
+		// Helper for finding the right -D device string.
+		if (typeof Tunable.getButtonField === "function") {
+			safe(function () {
+				return Tunable.getButtonField("AI Bridge: Dump ALSA (arecord -l)", WIN).events.change.on(function () {
+					try {
+						var child = spawn("arecord", ["-l"], { stdio: ["ignore", "pipe", "pipe"] });
+						var out = [];
+						var err = [];
+						child.stdout.on("data", function (d) {
+							out.push(d);
+						});
+						child.stderr.on("data", function (d) {
+							err.push(d);
+						});
+						child.on("close", function (code) {
+							var o = Buffer.concat(out).toString("utf8");
+							var e = Buffer.concat(err).toString("utf8");
+							if (rlog) {
+								rlog.info("ai-bridge", "arecord -l", { code: code, stdout: (o || "").slice(0, 2000), stderr: (e || "").slice(0, 500) });
+							}
+						});
+					} catch (e) {
+						if (rlog) {
+							rlog.warn("ai-bridge", "arecord -l failed", { err: String(e && (e.stack || e.message || e)) });
+						}
+					}
+				});
+			});
+		}
+
+		// Helper for listing all ALSA PCMs (useful for discovering dsnoop/plug routes).
+		if (typeof Tunable.getButtonField === "function") {
+			safe(function () {
+				return Tunable.getButtonField("AI Bridge: Dump ALSA PCMs (arecord -L)", WIN).events.change.on(function () {
+					try {
+						var child = spawn("arecord", ["-L"], { stdio: ["ignore", "pipe", "pipe"] });
+						var out = [];
+						var err = [];
+						child.stdout.on("data", function (d) {
+							out.push(d);
+						});
+						child.stderr.on("data", function (d) {
+							err.push(d);
+						});
+						child.on("close", function (code) {
+							var o = Buffer.concat(out).toString("utf8");
+							var e = Buffer.concat(err).toString("utf8");
+							if (rlog) {
+								rlog.info("ai-bridge", "arecord -L", { code: code, stdout: (o || "").slice(0, 4000), stderr: (e || "").slice(0, 500) });
+							}
+						});
+					} catch (e) {
+						if (rlog) {
+							rlog.warn("ai-bridge", "arecord -L failed", { err: String(e && (e.stack || e.message || e)) });
+						}
+					}
+				});
+			});
+		}
+
+		// Dump who owns the Tobor ADC capture device, via /proc/asound and (if available) fuser.
+		if (typeof Tunable.getButtonField === "function") {
+			safe(function () {
+				return Tunable.getButtonField("AI Bridge: Dump ADC owner (/proc/asound)", WIN).events.change.on(function () {
+					try {
+						var fs = require("fs");
+						function readText(path) {
+							try {
+								return fs.readFileSync(path, "utf8");
+							} catch (e) {
+								return "";
+							}
+						}
+
+						var statusPath = "/proc/asound/card1/pcm0c/sub0/status";
+						var hwParamsPath = "/proc/asound/card1/pcm0c/sub0/hw_params";
+						var infoPath = "/proc/asound/card1/pcm0c/sub0/info";
+						var pcmPath = "/proc/asound/pcm";
+						var cardsPath = "/proc/asound/cards";
+						var idPath = "/proc/asound/card1/id";
+
+						var status = readText(statusPath);
+						var hwParams = readText(hwParamsPath);
+						var info = readText(infoPath);
+						var pcm = readText(pcmPath);
+						var cards = readText(cardsPath);
+						var cardId = readText(idPath);
+
+						// Extract owning PID if present.
+						var pid = null;
+						var m = (status || "").match(/owner_pid\s*:\s*(\d+)/);
+						if (m && m[1]) pid = Number(m[1]);
+						var cmdline = "";
+						if (pid && pid > 0) {
+							cmdline = readText("/proc/" + pid + "/cmdline").replace(/\u0000/g, " ").trim();
+						}
+
+						if (rlog) {
+							rlog.info("ai-bridge", "adc owner", {
+								cardId: (cardId || "").trim(),
+								status: (status || "").trim().slice(0, 2000),
+								hw_params: (hwParams || "").trim().slice(0, 2000),
+								info: (info || "").trim().slice(0, 2000),
+								pcm: (pcm || "").trim().slice(0, 2000),
+								cards: (cards || "").trim().slice(0, 2000),
+								owner_pid: pid || null,
+								owner_cmdline: cmdline || "",
+							});
+						}
+					} catch (e) {
+						if (rlog) {
+							rlog.warn("ai-bridge", "dump adc owner failed", { err: String(e && (e.stack || e.message || e)) });
+						}
+					}
+				});
+			});
+		}
+
+		if (typeof Tunable.getButtonField === "function") {
+			safe(function () {
+				return Tunable.getButtonField("AI Bridge: Dump ADC owner (fuser)", WIN).events.change.on(function () {
+					try {
+						var devs = ["/dev/snd/pcmC1D0c", "/dev/snd/controlC1", "/dev/snd/timer"]; // best-effort
+						var child = spawn("fuser", ["-v"].concat(devs), { stdio: ["ignore", "pipe", "pipe"] });
+						var out = [];
+						var err = [];
+						child.stdout.on("data", function (d) {
+							out.push(d);
+						});
+						child.stderr.on("data", function (d) {
+							err.push(d);
+						});
+						child.on("close", function (code) {
+							var o = Buffer.concat(out).toString("utf8");
+							var e = Buffer.concat(err).toString("utf8");
+							if (rlog) {
+								rlog.info("ai-bridge", "fuser adc", { code: code, stdout: (o || "").slice(0, 2000), stderr: (e || "").slice(0, 2000) });
+							}
+						});
+					} catch (e) {
+						if (rlog) {
+							rlog.warn("ai-bridge", "fuser failed", { err: String(e && (e.stack || e.message || e)) });
+						}
+					}
+				});
+			});
+		}
+
+		// Simple one-shot connectivity test.
+		if (typeof Tunable.getButtonField === "function") {
+			safe(function () {
+				return Tunable.getButtonField("AI Bridge: Test server", WIN).events.change.on(function () {
+					try {
+						self._sendText("(test) hello from Jibo", "test");
+					} catch (e) {
+						if (rlog) {
+							rlog.warn("ai-bridge", "test send failed", { err: String(e && (e.stack || e.message || e)) });
+						}
+					}
+				});
+			});
+		}
+
+		if (typeof Tunable.getNumberField === "function") {
+			safe(function () {
+				return Tunable.getNumberField(LABEL.recordSeconds, self.recordSeconds, 1, 15, 1, WIN).events.change.on(function (v) {
+					var n = Number(v);
+					if (!Number.isNaN(n)) {
+						self.recordSeconds = Math.max(1, Math.min(15, Math.floor(n)));
+						if (rlog) {
+							rlog.info("ai-bridge", "record seconds changed", { seconds: self.recordSeconds });
+						}
+					}
+				});
+			});
+		} else {
+			safe(function () {
+				return Tunable.getStringField(LABEL.recordSeconds, String(self.recordSeconds), WIN).events.change.on(function (v) {
+					var n = Number(v);
+					if (!Number.isNaN(n)) {
+						self.recordSeconds = Math.max(1, Math.min(15, Math.floor(n)));
+						if (rlog) {
+							rlog.info("ai-bridge", "record seconds changed", { seconds: self.recordSeconds });
+						}
+					}
+				});
+			});
+		}
+	};
+
+AIBridge.prototype.start = function () {
+		try {
+			this.setupTunables();
+		} catch (e) {
+			if (rlog && typeof rlog.raw === "function") {
+				rlog.raw("[AI-BRIDGE] setupTunables crashed: " + String(e && (e.stack || e.message || e)));
+			}
+		}
+		try {
+			var ev = this.jibo && this.jibo.jetstream && this.jibo.jetstream.events;
+			if (ev && ev.hjHeard && typeof ev.hjHeard.on === "function") {
+				ev.hjHeard.on(this._onHJHeard);
+			}
+			if (ev && ev.globalTurnResult && typeof ev.globalTurnResult.on === "function") {
+				ev.globalTurnResult.on(this._onGlobalTurnResult);
+			}
+			if (ev && ev.localTurnResult && typeof ev.localTurnResult.on === "function") {
+				ev.localTurnResult.on(this._onLocalTurnResult);
+			}
+			if (rlog) {
+				rlog.info("ai-bridge", "started", { mode: this.mode, serverUrl: this.serverBaseUrl, recordSeconds: this.recordSeconds });
+			}
+			if (rlog && typeof rlog.raw === "function") {
+				rlog.raw("[AI-BRIDGE] started mode=" + this.mode + " url=" + this.serverBaseUrl);
+			}
+			this._installOpenHook();
+		} catch (e) {
+			this.skill.log && this.skill.log.warn && this.skill.log.warn("AI Bridge failed to attach listeners", e);
+			if (rlog) {
+				rlog.error("ai-bridge", "failed to attach listeners", { err: String(e && (e.stack || e.message || e)) });
+			}
+			if (rlog && typeof rlog.raw === "function") {
+				rlog.raw("[AI-BRIDGE] failed to attach listeners: " + String(e && (e.stack || e.message || e)));
+			}
+		}
+	};
+
+AIBridge.prototype._speak = function (text) {
+	var self = this;
+	if (!text || !String(text).trim()) {
+		return Promise.resolve();
+	}
+
+	// Keep TTS inputs conservative: some builds have fragile service-client JSON parsing
+	// on long or multi-line payloads.
+	try {
+		text = String(text)
+			.replace(/[\r\n\t]+/g, " ")
+			.replace(/\s{2,}/g, " ")
+			.trim();
+		if (text.length > 280) {
+			text = text.slice(0, 280);
+		}
+	} catch (e) {
+		// ignore
+	}
+
+	try {
+		if (rlog) {
+			rlog.info("ai-bridge", "speaking", { chars: String(text).length });
+		}
+	} catch (e) {
+		// ignore
+	}
+
+	var ret;
+	try {
+		ret = self.jibo.tts.speak(String(text), { mode: self.jibo.tts.TTSMode.TEXT });
+	} catch (e) {
+		self.skill.log && self.skill.log.warn && self.skill.log.warn("AI Bridge TTS error", e);
+		if (rlog) {
+			rlog.warn("ai-bridge", "tts error", { err: String(e && (e.stack || e.message || e)) });
+		}
+		return Promise.resolve();
+	}
+
+	return Promise.resolve(ret).catch(function (e) {
+		self.skill.log && self.skill.log.warn && self.skill.log.warn("AI Bridge TTS error", e);
+		if (rlog) {
+			rlog.warn("ai-bridge", "tts error", { err: String(e && (e.stack || e.message || e)) });
+		}
+	});
+};
+
+AIBridge.prototype._handleHJHeard = function () {
+	var self = this;
+	self._lastHJAt = Date.now();
+	// Clear any prior fallback request window.
+	self._pendingTextFallback = false;
+	self._offlineAudioAttempts = 0;
+	if (self._audioFallbackTimer) {
+		clearTimeout(self._audioFallbackTimer);
+		self._audioFallbackTimer = null;
+	}
+	if (rlog) {
+		rlog.debug("ai-bridge", "hjHeard", { mode: self.mode, enabled: self.enabled });
+	}
+	if (!self.enabled) {
+		return;
+	}
+	if (self.mode !== InputMode.AUDIO) {
+		return;
+	}
+	if (self._inFlight) {
+		return;
+	}
+
+	return self._captureAndSendAudio("hjHeard")
+		.then(function () {
+			// done
+		})
+		.catch(function (e) {
+			// _captureAndSendAudio already logs; keep compatibility with existing fallback behavior
+			var msg = String(e && (e.stack || e.message || e));
+			if (isMicBusyError(msg)) {
+				self._scheduleOfflineAudioFallback("micBusyAfterHJ", 1600);
+			}
+			self._pendingTextFallback = true;
+		});
+};
+
+AIBridge.prototype._handleTurnResult = function (data, eventName) {
+	var self = this;
+	if (!self.enabled) {
+		return;
+	}
+	if (rlog) {
+		try {
+			rlog.debug("ai-bridge", "turn result", { event: eventName });
+		} catch (e) {
+			// ignore
+		}
+	}
+	// Normal behavior: only send ASR in TEXT mode.
+	// Fallback behavior: if AUDIO failed during this HJ window, allow a one-shot
+	// ASR send even though the mode is AUDIO.
+	if (self.mode !== InputMode.TEXT && !self._pendingTextFallback) {
+		return;
+	}
+	if (!self._allowAnyTextNoHJ && Date.now() - self._lastHJAt > self._hjWindowMs) {
+		return;
+	}
+
+	var text = extractAsrText(data);
+	if (!text) {
+		if (rlog) {
+			try {
+				var t = typeof data;
+				var keys = data && typeof data === "object" ? Object.keys(data).slice(0, 25) : [];
+				rlog.debug("ai-bridge", "turn result had no text", { event: eventName, type: t, keys: keys });
+			} catch (e) {
+				// ignore
+			}
+		}
+		return;
+	}
+	text = String(text);
+	if (!text.trim()) {
+		return;
+	}
+	if (isCloudAsrFailureText(text)) {
+		if (rlog) {
+			rlog.warn("ai-bridge", "ignoring cloud ASR error text", { event: eventName, text: text.slice(0, 220) });
+		}
+		self._scheduleOfflineAudioFallback("cloudAsrErrorText:" + String(eventName || "turnResult"), 1400);
+		return;
+	}
+
+	// Deduplicate rapid double-emits (some builds fire both local & global).
+	var now = Date.now();
+	if (self._lastSentText === text && now - self._lastSentAt < 2000) {
+		if (rlog) {
+			rlog.debug("ai-bridge", "deduped transcript", { event: eventName });
+		}
+		return;
+	}
+	self._lastSentText = text;
+	self._lastSentAt = now;
+
+	if (rlog) {
+		rlog.info("ai-bridge", "asr text", { event: eventName, text: String(text).slice(0, 160) });
+	}
+	if (self._inFlight) {
+		return;
+	}
+
+	return self._sendText(text, "asr:" + String(eventName || "turnResult"));
+};
+
+AIBridge.prototype._sendText = function (text, source) {
+	var self = this;
+	if (!text) {
+		return Promise.resolve();
+	}
+	if (self._inFlight) {
+		return Promise.resolve();
+	}
+
+	self._inFlight = true;
+	self._pendingTextFallback = false;
+
+	var t0 = Date.now();
+	var url = self.serverBaseUrl.replace(/\/+$/, "") + "/v1/chat/text";
+	if (rlog) {
+		rlog.info("ai-bridge", "sending text", {
+			source: source || "text",
+			chars: String(text).length,
+			url: url,
+			text: String(text).slice(0, 160),
+		});
+	}
+
+	return httpJsonPost(url, { text: text })
+		.then(function (resp) {
+			if (rlog) {
+				rlog.info("ai-bridge", "text request complete", { ms: Date.now() - t0, ok: !!(resp && resp.reply) });
+			}
+			if (resp && resp.reply) {
+				return self._speak(resp.reply);
+			}
+		})
+		.catch(function (e) {
+			self.skill.log && self.skill.log.warn && self.skill.log.warn("AI Bridge text mode error", e && (e.stack || e.message || e));
+			if (rlog) {
+				rlog.warn("ai-bridge", "text mode error", { err: String(e && (e.stack || e.message || e)) });
+			}
+		})
+		.then(function () {
+			self._inFlight = false;
+		});
+};
+
+exports.InputMode = InputMode;
+exports.AIBridge = AIBridge;
+
+exports.initAIBridge = function initAIBridge(skill, jibo) {
+	try {
+		var bridge = new AIBridge(skill, jibo);
+		bridge.start();
+		return bridge;
+	} catch (e) {
+		skill && skill.log && skill.log.warn && skill.log.warn("AI Bridge init failed", e);
+		return null;
+	}
+};
diff --git a/V3.1/build/opt/jibo/Jibo/Skills/@be/be/be/postinit.js b/V3.1/build/opt/jibo/Jibo/Skills/@be/be/be/postinit.js
index a796252e..c9641c1b 100644
--- a/V3.1/build/opt/jibo/Jibo/Skills/@be/be/be/postinit.js
+++ b/V3.1/build/opt/jibo/Jibo/Skills/@be/be/be/postinit.js
@@ -1,8 +1,27 @@
 "use strict";
 const jibo = require('jibo');
 
+let rlog = null;
+try {
+    rlog = require('./robot-logger');
+} catch (e) {
+    // ignore
+}
+
 exports.postInit = function (err) {
     this.log.debug('postInit !!');
+
+    try {
+        if (rlog && typeof rlog.raw === 'function') {
+            rlog.raw('[BE] postInit starting');
+        }
+        if (rlog) {
+            rlog.info('be', 'postInit starting');
+        }
+    } catch (e) {
+        // ignore
+    }
+
     if (err) {
         this.log.error(err);
         this.initDoneCallback(err);
@@ -34,6 +53,31 @@ exports.postInit = function (err) {
     catch (e) {
         this.log.warn('Dynamic skills patch failed (non-fatal):', e.message || e);
     }
+
+    // Optional: AI Bridge (modular; can run models off-robot for now)
+    try {
+        if (rlog && typeof rlog.raw === 'function') {
+            rlog.raw('[BE] initializing AI bridge');
+        }
+        require('./ai-bridge').initAIBridge(this, jibo);
+        this.log.info('AI bridge initialized');
+        if (rlog && typeof rlog.raw === 'function') {
+            rlog.raw('[BE] AI bridge initialized');
+        }
+    }
+    catch (e) {
+        this.log.warn('AI bridge init failed (non-fatal):', e.message || e);
+        try {
+            if (rlog && typeof rlog.raw === 'function') {
+                rlog.raw('[BE] AI bridge init failed: ' + String(e && (e.stack || e.message || e)));
+            }
+            if (rlog) {
+                rlog.warn('be', 'ai bridge init failed', { err: String(e && (e.stack || e.message || e)) });
+            }
+        } catch (e2) {
+            // ignore
+        }
+    }
     
     jibo.face.views.changeView({ removeAll: true, leaveEmpty: true }, () => {
         this.selectFirstSkill(this.launchFirstSkill.bind(this));
diff --git a/V3.1/build/opt/jibo/Jibo/Skills/@be/be/node_modules/jibo-embodied-dialog/lib/jibo-embodied-dialog.js b/V3.1/build/opt/jibo/Jibo/Skills/@be/be/node_modules/jibo-embodied-dialog/lib/jibo-embodied-dialog.js
index d0129aca..92253f1a 100644
--- a/V3.1/build/opt/jibo/Jibo/Skills/@be/be/node_modules/jibo-embodied-dialog/lib/jibo-embodied-dialog.js
+++ b/V3.1/build/opt/jibo/Jibo/Skills/@be/be/node_modules/jibo-embodied-dialog/lib/jibo-embodied-dialog.js
@@ -684,6 +684,7 @@ const log = logs.listenLog;
 const USE_CENTER_ROBOT = false;
 const TIMEOUT = 3000;
 const ENGAGE_HJ_FAILSAFE_TIMEOUT_MS = 6000;
+const LISTENING_FAILSAFE_TIMEOUT_MS = 12000;
 const ANIM_CLEAR_TIMEOUT = 'ANIM_CLEAR_TIMEOUT';
 class EmbodiedListen extends jibo_state_machine_1.StateMachine {
     constructor(_ed) {
@@ -781,6 +782,8 @@ class EmbodiedListen extends jibo_state_machine_1.StateMachine {
             this._idle.onEntry = () => {
                 log.debug('Entering Idle');
                 this._jibo.performance.log('EmbodiedListenReturnedToIdleSkill');
+                // Safety: ensure we don't stay in a listening LED state indefinitely.
+                Utils_1.Utils.setLED(this._jibo, Assets_1.Led.OFF);
                 this.eventsOut.finished.emit();
                 this._jibo.timer.removeListener('update', updateBind);
                 if (this._pendingActiveMode) {
@@ -966,19 +969,59 @@ class EmbodiedListen extends jibo_state_machine_1.StateMachine {
             this._listening.addTypedEventTransition(this.eventsIn.cloudFinished, this._offExpression);
             this._listening.addTypedEventTransition(this.eventsIn.hjHeard, this._hjExpression);
             let incrementalHandler = this._handleIncremental.bind(this);
+            let listeningFailsafe = null;
             this._listening.onEntry = () => {
                 log.debug('Entering Listening');
                 this.eventsIn.sos.on(incrementalHandler);
+                if (listeningFailsafe) {
+                    clearTimeout(listeningFailsafe);
+                }
+                listeningFailsafe = setTimeout(() => {
+                    try {
+                        if (this.current === this._listening) {
+                            Utils_1.Utils.setLED(this._jibo, Assets_1.Led.OFF);
+                            this._listening.transitionTo(this._idle);
+                        }
+                    }
+                    catch (e) {
+                        // ignore
+                    }
+                }, LISTENING_FAILSAFE_TIMEOUT_MS);
             };
             this._listening.onExit = () => {
                 this.eventsIn.sos.removeListener(incrementalHandler);
+                if (listeningFailsafe) {
+                    clearTimeout(listeningFailsafe);
+                    listeningFailsafe = null;
+                }
             };
             this._thinking.addTypedEventTransition(this.eventsIn.cloudFinished, this._waitForAnimFinish);
             this._thinking.addTypedEventTransition(this.eventsIn.hjHeard, this._hjExpression);
+            let thinkingFailsafe = null;
             this._thinking.onEntry = () => __awaiter(this, void 0, void 0, function* () {
                 log.debug('Entering Thinking (+ Off Expression)');
                 Utils_1.Utils.setLED(jibo, Assets_1.Led.OFF);
+                if (thinkingFailsafe) {
+                    clearTimeout(thinkingFailsafe);
+                }
+                thinkingFailsafe = setTimeout(() => {
+                    try {
+                        if (this.current === this._thinking) {
+                            Utils_1.Utils.setLED(this._jibo, Assets_1.Led.OFF);
+                            this._thinking.transitionTo(this._idle);
+                        }
+                    }
+                    catch (e) {
+                        // ignore
+                    }
+                }, LISTENING_FAILSAFE_TIMEOUT_MS);
             });
+            this._thinking.onExit = () => {
+                if (thinkingFailsafe) {
+                    clearTimeout(thinkingFailsafe);
+                    thinkingFailsafe = null;
+                }
+            };
         });
     }
     dispose() {
diff --git a/V3.1/build/usr/local/bin/jibo-audio-convert b/V3.1/build/usr/local/bin/jibo-audio-convert
new file mode 100644
index 00000000..e0fb16f8
Binary files /dev/null and b/V3.1/build/usr/local/bin/jibo-audio-convert differ
diff --git a/V3.1/build/usr/local/bin/jibo-audio-convertall b/V3.1/build/usr/local/bin/jibo-audio-convertall
new file mode 100644
index 00000000..6f54d920
--- /dev/null
+++ b/V3.1/build/usr/local/bin/jibo-audio-convertall
@@ -0,0 +1,28 @@
+#!/bin/sh
+
+CONVERT="jibo-audio-convert -f planar -F interleaved -w"
+
+if [ -z "$1" ]; then
+    LOC="/tmp"
+else
+    LOC="$1"
+fi
+
+if [ -s $LOC/sin.raw ]; then
+    $CONVERT --infile $LOC/sin.raw --outfile $LOC/sin.wav -c 6 -r 16000
+fi
+if [ -s $LOC/sout.raw ]; then
+    $CONVERT --infile $LOC/sout.raw --outfile $LOC/sout.wav -c 2 -r 16000
+fi
+if [ -s $LOC/ref.raw ]; then
+    $CONVERT --infile $LOC/ref.raw --outfile $LOC/ref.wav -c 2 -r 16000
+fi
+if [ -s $LOC/rin.raw ]; then
+    $CONVERT --infile $LOC/rin.raw --outfile $LOC/rin.wav -c 1 -r 48000
+fi
+if [ -s $LOC/rout.raw ]; then
+    $CONVERT --infile $LOC/rout.raw --outfile $LOC/rout.wav -c 1 -r 48000
+fi
+if [ -s $LOC/hotphrase.raw ]; then
+    $CONVERT --infile $LOC/hotphrase.raw --outfile $LOC/hotphrase.wav -c 2 -r 16000
+fi
diff --git a/V3.1/build/usr/local/bin/jibo-audio-dump-state b/V3.1/build/usr/local/bin/jibo-audio-dump-state
new file mode 100644
index 00000000..9b44eeca
Binary files /dev/null and b/V3.1/build/usr/local/bin/jibo-audio-dump-state differ
diff --git a/V3.1/build/usr/local/bin/jibo-audio-ping-test b/V3.1/build/usr/local/bin/jibo-audio-ping-test
new file mode 100644
index 00000000..c0ba773a
Binary files /dev/null and b/V3.1/build/usr/local/bin/jibo-audio-ping-test differ
diff --git a/V3.1/build/usr/local/bin/jibo-audio-pong-test b/V3.1/build/usr/local/bin/jibo-audio-pong-test
new file mode 100644
index 00000000..15e5fb31
Binary files /dev/null and b/V3.1/build/usr/local/bin/jibo-audio-pong-test differ
diff --git a/V3.1/build/usr/local/bin/jibo-audio-pump-device b/V3.1/build/usr/local/bin/jibo-audio-pump-device
new file mode 100644
index 00000000..c7194174
Binary files /dev/null and b/V3.1/build/usr/local/bin/jibo-audio-pump-device differ
diff --git a/V3.1/build/usr/local/bin/jibo-audio-service b/V3.1/build/usr/local/bin/jibo-audio-service
new file mode 100644
index 00000000..00571239
Binary files /dev/null and b/V3.1/build/usr/local/bin/jibo-audio-service differ
diff --git a/V3.1/build/usr/local/etc/jibo-asr-service.json b/V3.1/build/usr/local/etc/jibo-asr-service.json
new file mode 100644
index 00000000..3dd50652
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-asr-service.json
@@ -0,0 +1,84 @@
+{
+    "webCore" : {
+        "serverPort": 8088,
+        "fileRoot": "/usr/local/var/www/asrservice",
+	"requestLogging": false
+    },
+    "AsrService" : {
+	"cloud_establish_http_timeout": 5000,
+	"language": "en-US",
+	"post_to_performance_service": true,
+      	"log_audio": true,
+	"log_text" : true,
+	"log_path" : "/var/log/asr",
+	"log_level" : "INFO",
+	"log_server_url" : "https://speech-logging.jibo.com/logdrop/logdrop.py",
+	"speaker_id_resource_path" : "/var/jibo/asr/",
+	"name_learning_resource_path" : "/usr/local/share/asr/namelearning",
+	"name_learning_temp_path" : "/var/jibo/asr/namelearning_temp/",
+	"name_learning_nbest" : 70,
+	"active_sleep_duration" : 5000,
+	"idle_sleep_duration" : 50000,
+	"block_duration" : 50,
+	"audio_loop_sleep_us": 10000,
+	"use_nuance_upload_voc": false,
+	"dictation_type" : "dictation",
+	"nuance_uId" : "b8fb02f2c5794963aaafb8c716ef384c",
+	"contacts_checksum": "",
+        "loop_checksum": "1",
+	"customs_checksum": "",
+	"upload_voc_url": "ws.nuancemobility.net",
+	"cloud_url": "https://jibo-ncs-engusa-http.nuancemobility.net/NmspServlet/",
+	"cloud_appid": "HTTP_NMDPPRODUCTION_Jibo_Jibo_Robot_20151231124503",
+	"cloud_appkey": "a8c18159a8e3ca49471c56d867552bc77693ccdcc041375ee97b7c867160ae1a212f73c9123d1359596931c0be5c8734ef5310af95470d7ec3890434e9b24e0b",
+	"upload_voc_rootcert": "",
+	"google_credential": "/usr/local/share/asr/google_asr/credentials-key.json",
+	"fadeout_duration": 5000000,
+	"max_logfile_size": 1000,
+	"log_upload_time_interval": 60000,
+	"min_available_log_partition_space": 5000,
+	"max_asr_log_dir_size_before_upload_trigger": 10000,
+	"max_asr_log_dir_size": 12000,
+	"size_to_free_up_when_dir_overflowing": 1000,
+  "asr_resource_path" : "/usr/local/share/asr/",    
+	"max_memory": 150000,
+	"wipable_files": ["/var/log/asr/*.pcm", "/var/log/asr/*.wav",
+			  "/var/log/asr/*.log", "/var/jibo/asr/sensory_data_td/client_model.bin", "/var/jibo/asr/sensory_data_td/audio/*", "/var/jibo/asr/namelearning_temp/*"
+                         ],
+	"resident_task" : "{\"command\":\"start\",\"task_id\":\"task0\",\"audio_source_id\":\"alsa1\",\"hotphrase\":\"hey_jibo\",\"request_id\":\"resident_hey_jibo_self_start\",\"residency\":true}",
+	"resident_audio_channel" : "{\"action\":\"start\", \"audio_source_id\":\"alsa1\", \"wav_files\":[], \"audio_source\":\"alsa\", \"request_id\":\"self_start_audio_source_request_id\"}",
+	"task_templates" : {
+	    	    "hey_jibo_resident": {"input_template": "{\"name\":\"hey jibo\",\"path\":\"/usr/local/share/asr/hey_jibo\",\"timeout\":0} * {\"name\":\"Speaker ID TD\",\"path\":\"/usr/local/share/asr/sensory_spkr_id_td\",\"audio_tail_length\":1}",
+			 "emitting_recogs": ["hey jibo", "Speaker ID TD"]},
+	    "hey_jibo": {"input_template": "{\"name\":\"hey jibo\",\"path\":\"/usr/local/share/asr/hey_jibo\",\"timeout\":0} * ({\"name\":\"pcmwriter\",\"path\":\"/usr/local/share/asr/pcm_writer\",\"timeout\":0,\"audio_tail_length\":0, \"audio_overshoot_duration\":0} | {\"name\":\"Speaker ID TD\",\"path\":\"/usr/local/share/asr/sensory_spkr_id_td\",\"audio_tail_length\":1})",
+			 "emitting_recogs": ["hey jibo", "Speaker ID TD"]
+			},
+	    "cloud": {"input_template":"({\"name\":\"google_asr\",\"path\":\"/usr/local/share/asr/google_asr\",\"timeout\":14000,\"bargein\":false,\"nbest\":1,\"speaker_name\":\"\",\"incremental\":false,\"audio_tail_length\":300}| {\"name\":\"sensory_sdet\",\"path\":\"/usr/local/share/asr/jibo_energy_fake_eos\",\"timeout\":50000,\"bargein\":false,\"nbest\":1,\"speaker_name\":\"\",\"incremental\":false})",
+		      "emitting_recogs": ["google_asr","sensory_sdet"]
+		     },
+	    "hey_jibo_cloud": {"input_template":"{\"name\":\"hey jibo\",\"path\":\"/usr/local/share/asr/hey_jibo\",\"timeout\":0,\"bargein\":true,\"nbest\":1,\"speaker_name\":\"\",\"incremental\":false,\"speaker_id\":true} * ({\"name\":\"Speaker ID TD\",\"path\":\"/usr/local/share/asr/sensory_spkr_id_td\",\"audio_tail_length\":1} & ({\"name\":\"pcmwriter\",\"path\":\"/usr/local/share/asr/pcm_writer\",\"timeout\":0,\"audio_tail_length\":400, \"audio_overshoot_duration\":0, \"prebuffer\":true} | {\"name\":\"google_asr\",\"path\":\"/usr/local/share/asr/google_asr\",\"timeout\":14000,\"bargein\":false,\"nbest\":1,\"speaker_name\":\"\",\"incremental\":false,\"trim_audio_tail\":true,\"wakeup_phrase_detection\":false,\"audio_tail_length\":0}|{\"name\":\"sensory_sdet\",\"path\":\"/usr/local/share/asr/jibo_energy_fake_eos\",\"timeout\":50000,\"bargein\":false,\"nbest\":1,\"speaker_name\":\"\",\"incremental\":false}))",
+			       "emitting_recogs": ["hey jibo", "Speaker ID TD", "google_asr","sensory_sdet"]
+			      }
+	},
+	"rewrite_rules" : {
+	    "log_audio_no_trigger" : "^(?!.*?hey_jibo)(.*)->{\"name\":\"pcmwriter\",\"path\":\"/usr/local/share/asr/pcm_writer\",\"timeout\":0,\"audio_tail_length\":300, \"audio_overshoot_duration\":0,\"prebuffer\":false} | ($1)",
+	    "namelearning_EOS" : "^(.*?\"name\":\"\\s*name_learning.*)->{\"name\":\"jibo_energy_eos\",\"path\":\"/usr/local/share/asr/jibo_energy_eos\",\"timeout\":10000,\"bargein\":false,\"nbest\":1,\"speaker_name\":\"\",\"incremental\":false} | ($1)"
+	}
+    },
+    "logging" : {
+	"jibo_message_prefix": "C",
+	"loggers" : {
+            "root": {
+                "level": "information"
+            },
+            "l1" : {
+                "name" : "ASRService",
+                "level" : "information"
+            },
+            "l2" : {
+                "name" : "Application",
+                "level" : "information"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-audio-service.json b/V3.1/build/usr/local/etc/jibo-audio-service.json
new file mode 100644
index 00000000..4b413ebf
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-audio-service.json
@@ -0,0 +1,111 @@
+{
+    "WebCore" : {
+        "serverPort" : 8383,
+        "fileRoot": "/usr/local/var/www/audioservice",
+        "requestLogging": false
+    },
+    "AudioService": {
+        "registryPort": 8181,
+        "serverPort": 8383,
+        "AlsaAudio": {
+            "energy": {
+                "high_freq": 1000,
+                "high_q": 2.0,
+                "mid_freq": 500,
+                "mid_q": 2.0,
+                "low_freq": 200,
+                "low_q": 1.0
+            },
+            "LocationEstimate": {
+                "adjust_confidence_scale": 0.9,
+                "alternate_confidence_scale": 0.5
+            },
+            "LocationHistory": {
+                "adjust_confidence_scale": 0.9,
+                "alternate_confidence_scale": 0.5
+            },
+            "PlaybackDetector": {
+                "quiet_threshold": 50,
+                "sub_samples": 10,
+                "consec_active_threshold": 2,
+                "consec_inactive_threshold": 10
+            }
+        },
+        "alsaCaptureDevice": "hw:ADC",
+        "alsaPlaybackDevice": "hw:TLV320DAC3100",
+        "routerCaptureDevice": "services_sink",
+        "routerCaptureLatency": 64000,
+        "routerPlaybackDevice": "as_source",
+        "routerPlaybackLatency": 64000,
+        "useMMFx": true,
+        "SEDiags": {
+            "injector_white_noise_rx_magnitude_q15": [2048],
+            "injector_white_noise_tx_magnitude_q15": [2048],
+            "senr_res_echo_fullband_weight_factor": [3]
+        },
+        "kinematic_model": "/usr/local/etc/jibo-kinematic-model.json",
+        "hotphrase_begin_time": 0.800,
+        "hotphrase_end_time": 0.200,
+        "log_hotphrase_audio": false,
+        "enable_vis_sockets": false,
+        "ping_pong_test": false,
+        "log_directory": "/tmp",
+        "moving_noise_enabled": false,
+        "moving_noise_file": "/usr/local/share/audioservice/brown_noise.wav",
+        "moving_noise_duration": 2.0,
+        "moving_noise_min_vel": 0.05
+    },
+    "ErrorTracker": {
+        "views": [
+            {
+                "name": "AudioService",
+                "errors": [
+                    "ALSA_CAPTURE_XRUN",
+                    "ALSA_PLAYBACK_XRUN",
+                    "ROUTER_CAPTURE_XRUN",
+                    "ROUTER_CAPTURE_SHORT",
+                    "ROUTER_PLAYBACK_XRUN",
+                    "ROUTER_PLAYBACK_SHORT",
+                    "ROUTER_GET_UNDERRUN",
+                    "ROUTER_PUT_OVERRUN",
+                    "ROUTER_READ_OVERRUN",
+                    "ROUTER_WRITE_UNDERRUN",
+                    "ROUTER_ON_STREAM_OVERFLOW",
+                    "ROUTER_ON_STREAM_UNDERFLOW"
+                ]
+            }
+        ]
+    },
+    "logging": {
+        "loggers": {
+            "root": {
+                "level": "notice"
+            },
+            "pr": {
+                "name": "PulseRouter",
+                "level": "notice"
+            },
+            "ar": {
+                "name": "AlsaRouter",
+                "level": "notice"
+            },
+            "as": {
+                "name": "AudioService",
+                "level": "notice"
+            },
+            "aa": {
+                "name": "AlsaAudio",
+                "level": "notice"
+            },
+            "aalh": {
+                "name": "AlsaAudio.LocationHistory",
+                "level": "notice"
+            },
+            "aala": {
+                "name": "AlsaAudio.LocationAccumulator",
+                "level": "notice"
+            }
+        }
+    }
+}
+
diff --git a/V3.1/build/usr/local/etc/jibo-body-service.json b/V3.1/build/usr/local/etc/jibo-body-service.json
new file mode 100644
index 00000000..e3891ac7
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-body-service.json
@@ -0,0 +1,177 @@
+{
+    "WebCore" : {
+        "serverPort" : 8282,
+        "fileRoot": "/usr/local/var/www/bodyservice",
+        "requestLogging": false
+    },
+    "bodyBoard" : {
+        "pelvisDevice" : "/dev/ttyTHS1",
+        "pelvisOffset" : 2.742,
+        "pelvisFlipped" : true,
+        "pelvisVelLimit" : 10.0,
+        "pelvisAccLimit" : 30.0,
+        "torsoDevice" : "/dev/ttyTHS1",
+        "torsoOffset" : 0.052,
+        "torsoFlipped" : true,
+        "torsoVelLimit" : 10.0,
+        "torsoAccLimit" : 30.0,
+        "neckDevice" : "/dev/ttyTHS0",
+        "neckOffset" : 0.061,
+        "neckFlipped" : true,
+        "neckVelLimit" : 10.0,
+        "neckAccLimit" : 30.0,
+        "headTouchMapping" : [3, 5, 4, 0, 2, 1],
+        "hatchLowThreshold": 1.0,
+        "hatchHighThreshold": 1.5,
+        "lowBattCapHiThresh": 0.42,
+        "lowBattCapLowThresh": 0.35,
+        "battMinTemp": 0.0,
+        "battMaxTemp": 47.0,
+        "motorCmdTimeout": 500,
+        "ledCmdTimeout": 5000
+    },
+    "BodyService" : {
+        "registryPort": 8181,
+        "serverPort": 8282,
+        "backlightDutyFile": "/sys/class/backlight/backlight.9/brightness",
+        "backlightPeriodFile": "/sys/class/backlight/backlight.9/max_brightness",
+        "fanControl": false,
+        "fanPWMFile": "/sys/class/hwmon/hwmon5/pwm1",
+        "fanPWMMax": 255,
+        "fanOnTemp" : 70,
+        "fanOffTemp" : 60,
+        "mainBoardTempFile": "/sys/class/thermal/thermal_zone0/temp",
+        "cpuThermalZone": "/sys/class/thermal/thermal_zone1",
+        "fanCurrentFile": "/sys/class/hwmon/hwmon6/in3_input",
+        "fanCurrentResistor": 0.5,
+        "pmicTempFile": "/sys/class/hwmon/hwmon6/temp1_input",
+        "cpuDCDC1TempFile": "/sys/class/hwmon/hwmon6/temp2_input",
+        "cpuDCDC2TempFile": "/sys/class/hwmon/hwmon6/temp3_input",
+        "coreDCDCTempFile": "/sys/class/hwmon/hwmon6/temp4_input",
+        "gpuDCDC1TempFile": "/sys/class/hwmon/hwmon6/temp5_input",
+        "gpuDCDC2TempFile": "/sys/class/hwmon/hwmon6/temp6_input",
+        "minCommandRate": 4.0,
+        "maxCommandRate": 40.0,
+        "commandOKCount": 25,
+        "cpuTempHiThresh": 90,
+        "cpuTempLowThres": 85,
+        "kinematic_model": "/usr/local/etc/jibo-kinematic-model.json"
+    },
+    "motionLimiter" : {
+        "maxTorque": 70,
+        "maxTime": 0.250,
+        "velAlphaDn": 0.80,
+        "velAlphaUp": 0.05,
+        "kVelLim": 0.25,
+        "logFile": "/tmp/motion-limiter.log",
+        "logEnable": false,
+        "disable": false,
+        "unindexedAcc": 10.0,
+        "unindexedVel": 1.0
+    },
+    "imu" : {
+        "driver": {
+            "deviceName": "/dev/spidev1.0",
+            "calibrationFile": "/var/jibo/imu/imu-cal.json"
+        },
+        "fallDetector": {
+            "low_g_start_thresh": 2.0,
+            "low_g_end_thresh": 4.0,
+            "high_g_start_thresh": 30.0,
+            "high_g_end_thresh": 25.0,
+            "max_low_high_sep": 0.1,
+            "min_low": 0.1,
+            "max_high": 0.1,
+            "min_falling": 1.0
+        },
+        "gyroOffset": {
+            "avg_samples": 250,
+            "still_seconds": 2.0,
+            "thresh_acc": 0.20,
+            "thresh_rot": 0.05
+        },
+        "movingDetector": {
+            "a_acc": 0.01,
+            "a_rot": 0.02,
+            "thresh_acc": 0.30,
+            "thresh_rot": 0.25
+        },
+        "upEstimator": {
+            "alpha": 0.5
+        },
+        "upMovingDetector": {
+            "a_acc": 0.50,
+            "a_rot": 0.05,
+            "thresh_acc": 0.15,
+            "thresh_rot": 0.05
+        },
+        "tip_start_thresh": 0.7,
+        "tip_end_thresh": 0.9
+    },
+    "ErrorTracker":{
+        "views": [
+            {
+                "name": "BodyService",
+                "errors": [
+                    "NECK_THERMISTOR_HIGH_FAULT",
+                    "NECK_THERMISTOR_LOW_FAULT",
+                    "NECK_ENCODER_FAULT",
+                    "NECK_STALL_FAULT",
+                    "NECK_BOARD_TIMEOUT",
+                    "NECK_POWER_FAULT_COUNT",
+                    "NECK_STALL_FAULT_COUNT",
+                    "NECK_ENCODER_FAULT_COUNT",
+                    "NECK_ENCODER_BACKWARDS_FAULT_COUNT",
+                    "NECK_THERMISTOR_FAULT_COUNT",
+                    "NECK_POWER_FAULT",
+                    "NECK_ENCODER_BACKWARDS_FAULT",
+                    
+                    "TORSO_THERMISTOR_HIGH_FAULT",
+                    "TORSO_THERMISTOR_LOW_FAULT",
+                    "TORSO_ENCODER_FAULT",
+                    "TORSO_STALL_FAULT",
+                    "TORSO_BOARD_TIMEOUT",
+                    "TORSO_POWER_FAULT_COUNT",
+                    "TORSO_STALL_FAULT_COUNT",
+                    "TORSO_ENCODER_FAULT_COUNT",
+                    "TORSO_ENCODER_BACKWARDS_FAULT_COUNT",
+                    "TORSO_THERMISTOR_FAULT_COUNT",
+                    "TORSO_POWER_FAULT",
+                    "TORSO_ENCODER_BACKWARDS_FAULT",
+                    
+                    "PELVIS_THERMISTOR_HIGH_FAULT",
+                    "PELVIS_THERMISTOR_LOW_FAULT",
+                    "PELVIS_ENCODER_FAULT",
+                    "PELVIS_STALL_FAULT",
+                    "PELVIS_BOARD_TIMEOUT",
+                    "PELVIS_POWER_FAULT_COUNT",
+                    "PELVIS_STALL_FAULT_COUNT",
+                    "PELVIS_ENCODER_FAULT_COUNT",
+                    "PELVIS_ENCODER_BACKWARDS_FAULT_COUNT",
+                    "PELVIS_THERMISTOR_FAULT_COUNT",
+                    "PELVIS_POWER_FAULT",
+                    "PELVIS_ENCODER_BACKWARDS_FAULT",
+                    
+                    "NOT_UPRIGHT_LOCKOUT",
+                    "NO_BATTERY_LOCKOUT",
+                    "FALLING_LOCKOUT",
+                    "CPU_TEMP_HIGH",
+                    "BATTERY_TEMP_LOW",
+                    "BATTERY_TEMP_HIGH",
+                    "BATTERY_LOW",
+                    "FALL_DETECTED",
+                    "BB_PACKET_INVALID",
+                    "BB_PACKET_WRONG_DEST",
+                    "BB_PACKET_WRONG_SRC"
+                ]
+            }
+        ]
+    },
+    "logging": {
+        "loggers": {
+            "root": {
+                "level": "notice"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-camera-calibrator.json b/V3.1/build/usr/local/etc/jibo-camera-calibrator.json
new file mode 100644
index 00000000..91e4026f
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-camera-calibrator.json
@@ -0,0 +1,208 @@
+{
+    "calibrator" : {
+        "setup" : {
+            "output": "/var/jibo/lps",
+            "num_distances": 3,
+            "circleDistance": 0.117,
+            "pixSize": 4e-6,
+            "recordDelay" : 1000,
+            "maxTries": 5,
+            "num_calibrators": 2,
+            "calibrators" : [
+                {
+                    "filename": "CameraModelParamsR.json",
+                    "frame_name" : "right_eye",
+                    "debug":false
+                },
+                {
+                    "filename": "CameraModelParamsL.json",
+                    "frame_name" : "left_eye",
+                    "debug":false
+                }
+            ],
+            "num_transforms": 1,
+            "transforms" : [
+                {
+                    "filename": "InterCameraTransform.json",
+                    "cameraA": 0,
+                    "cameraB": 1
+
+                }
+            ],
+            "num_positions" : 10,
+            "positions": [
+                {
+                    "message" : "Wide Position 1 - press Enter",
+                    "num_cameras": 1,
+                    "cameras" : [ 0 ],
+                    "saveBlobData" : true,
+                    "fileMessage" : "wide_pos_1",
+                    "saveImage" : true,
+                    "saveBlobToCal": true
+                },
+                {
+                    "message" : "Wide Position 2 - press Enter",
+                    "num_cameras": 1,
+                    "cameras" : [ 0 ],
+                    "saveBlobData" : true,
+                    "fileMessage" : "wide_pos_2",
+                    "saveImage" : true,
+                    "saveBlobToCal": true
+                },
+                {
+                    "message" : "Wide Position 3 - press Enter",
+                    "num_cameras": 1,
+                    "cameras" : [ 0 ],
+                    "saveBlobData" : true,
+                    "fileMessage" : "wide_pos_3",
+                    "saveImage" : true,
+                    "saveBlobToCal": true
+                },
+                {
+                    "message" : "Wide Position 4 - press Enter",
+                    "num_cameras": 1,
+                    "cameras" : [ 0 ],
+                    "saveBlobData" : true,
+                    "fileMessage" : "wide_pos_4",
+                    "saveImage" : true,
+                    "saveBlobToCal" : true
+                },
+                {
+                    "message" : "Wide Position 5- press Enter",
+                    "num_cameras": 1,
+                    "cameras" : [ 0 ],
+                    "saveBlobData" : true,
+                    "fileMessage" : "wide_pos_5",
+                    "saveImage" : true,
+                    "saveBlobToCal" : true
+                },
+                {
+                    "message" : "Both Position 1 - press Enter",
+                    "num_cameras": 2,
+                    "cameras" : [ 0, 1 ],
+                    "saveBlobData" : true,
+                    "fileMessage" : "both_pos_1",
+                    "saveImage" : true,
+                    "saveBlobToCal": true
+                },
+                {
+                    "message" : "Both Position 2 - press Enter",
+                    "num_cameras": 2,
+                    "cameras" : [ 0, 1 ],
+                    "saveBlobData" : true,
+                    "fileMessage" : "both_pos_2",
+                    "saveImage" : true,
+                    "saveBlobToCal": true
+                },
+                {
+                    "message" : "Both Position 3 - press Enter",
+                    "num_cameras": 2,
+                    "cameras" : [ 0, 1 ],
+                    "saveBlobData" : true,
+                    "fileMessage" : "both_pos_3",
+                    "saveImage" : true,
+                    "saveBlobToCal": true
+                },
+                {
+                    "message" : "Both Position 4 - press Enter",
+                    "num_cameras": 2,
+                    "cameras" : [ 0, 1 ],
+                    "saveBlobData" : true,
+                    "fileMessage" : "both_pos_4",
+                    "saveImage" : true,
+                    "saveBlobToCal": true
+                },
+                {
+                    "message" : "Both Position 5 - press Enter",
+                    "num_cameras": 2,
+                    "cameras" : [ 0, 1 ],
+                    "saveBlobData" : true,
+                    "fileMessage" : "both_pos_5",
+                    "saveImage" : true,
+                    "saveBlobToCal": true
+                }
+            ]
+        },
+        "camera": {
+            "type": "CUDA",
+            "cuda": {
+                "devices": [
+                    {
+                        "enabled": true,
+                        "name": "Camera-0",
+                        "path": "/dev/video1",
+                        "bufferPoolSize": 4,
+                        "width": 1280,
+                        "height": 720,
+                        "hFlip":true,
+                        "vFlip":true,
+                        "gamma" : {
+                            "R": 1.0,
+                            "G": 1.0,
+                            "B": 1.0
+                        },
+                        "ae" : {
+                            "exposureP":0.05,
+                            "gainP":0.02,
+                            "targetY":0.35,
+                            "errorY":0.0001
+                        },
+                        "awb" : {
+                            "grayThreshold":0.3,
+                            "numSamples":1000,
+                            "P":0.15,
+                            "targetU":0.5,
+                            "targetV":0.53,
+                            "seed":0
+                        }
+                    },
+                    {
+                        "enabled": true,
+                        "name": "Camera-1",
+                        "path": "/dev/video0",
+                        "bufferPoolSize": 4,
+                        "width": 1280,
+                        "height": 720,
+                        "hFlip":true,
+                        "vFlip":true,
+                        "gamma" : {
+                            "R": 1.0,
+                            "G": 1.0,
+                            "B": 1.0
+                        },
+                        "ae" : {
+                            "exposureP":0.05,
+                            "gainP":0.02,
+                            "targetY":0.35,
+                            "errorY":0.0001
+                        },
+                        "awb" : {
+                            "grayThreshold":0.3,
+                            "numSamples":1000,
+                            "P":0.15,
+                            "targetU":0.5,
+                            "targetV":0.53,
+                            "seed":0
+                        }
+                    }
+                ],
+                "cuda" : {
+                    
+                }
+            },
+            "file": {
+                "videos": [
+                    "videos/video-000/video.json",
+                    "videos/video-001/video.json"
+                ],
+                "format": "YUV420p"
+            },
+            "v4l2": {
+                "devices": {
+                    "left": "/dev/video0",
+                    "right": "/dev/video1"
+                }
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-certification-service.json b/V3.1/build/usr/local/etc/jibo-certification-service.json
new file mode 100644
index 00000000..416ff40c
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-certification-service.json
@@ -0,0 +1,32 @@
+{
+    "WebCore": {
+        "serverPort": 9292,
+        "fileRoot": "/usr/local/var/www/certificationservice",
+        "requestLogging": false
+    },
+    "CertificationService": {
+        "registryPort": 8181,
+        "serverPort": 9292,
+        "enableDebugSocket": true
+    },
+    "ErrorTracker": {
+        "views": [
+            {
+                "name": "CertificationService",
+                "errors": []
+            }
+        ]
+    },
+    "logging": {
+        "channels": {
+            "splitter": {
+                "channels": "syslog"
+            }
+        },
+        "loggers": {
+            "root": {
+                "level": "notice"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-identity-service.json b/V3.1/build/usr/local/etc/jibo-identity-service.json
new file mode 100644
index 00000000..27f205c3
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-identity-service.json
@@ -0,0 +1,87 @@
+{
+    "WebCore": {
+        "serverPort": 8489,
+        "fileRoot": "/usr/local/var/www/identity"
+    },
+    "IdentityService":{
+        "registryPort":8181,
+        "serverPort":8489,
+        "global" : {
+            "face_landmark_68" : {
+                "file" :
+                "/usr/local/share/lps/shape_predictor_68_face_landmarks.dat"
+            }
+        },
+        "engine" : {
+            "processor":{
+                "max_requests":10,
+                "interval":1000
+            },
+            "manager" : {
+                "criteria" : { },
+                "kind" : "face",
+                "max_subjects" : 16,
+                "max_examples" : 5,
+                "max_attempts" : 3,
+                "directory" : "/var/jibo/identity/faces",
+                "detector": {
+                    "criteria": {},
+                    "min_hint_width" : 40,
+                    "min_hint_height" : 40
+                }
+            },
+            "identifier" : {
+                "identifier_type": "deepid",
+                "eigenfaces" : {
+                    "type" : "eigenfaces_identifier",
+                    "name" : "eigenfaces",
+                    "kind" : "face",
+                    "size" : 128,
+                    "radius" : 5,
+                    "attenuation" : 100.0,
+                    "filename" : "/var/jibo/identity/eigenfaces.data"
+                },
+                "deepid" : {
+                    "type" : "deepid_identifier",
+                    "name" : "deepid",
+                    "kind" : "face",
+                    "solver" : "/usr/local/share/lps/deepid/CASIA_solver.prototxt",
+                    "model" : "/usr/local/share/lps/deepid/CASIA_train_test.prototxt",
+                    "snapshot" : "/usr/local/share/lps/deepid",
+                    "weights" : "/usr/local/share/lps/deepid/CASIA_iter_666000.caffemodel",
+                    "iterations" : 50000,
+                    "size" : 128,
+                    "sigint_effect" : "stop",
+                    "sighup_effect" : "snapshot",
+                    "jlf" : "/var/jibo/identity/deepid",
+                    "filename" : "/var/jibo/identity/deepid.data",
+                    "gpu_id":0
+                },
+                "resnetfaceid" : {
+                    "type" : "resnetfaceid_identifier",
+                    "name" : "resnetfaceid",
+                    "kind" : "face",
+                    "model" : "/usr/local/share/identity/resnet/dlib_face_recognition_resnet_model_v1.dat",
+                    "size" : 150,
+                    "jlf" : "/var/jibo/identity/resnet",
+                    "filename" : "/var/jibo/identity/resnetfaceid.data"
+                }
+            }
+        }
+    },
+    "logging" : {
+        "loggers" : {
+            "root": {
+                "level": "warning"
+            },
+            "l8" : {
+                "name" : "IdentificationManager",
+                "level" : "information"
+            },
+            "l11" : {
+                "name" : "ImageIdentifier",
+                "level" : "information"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-jetstream-service.json b/V3.1/build/usr/local/etc/jibo-jetstream-service.json
new file mode 100644
index 00000000..eb303abc
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-jetstream-service.json
@@ -0,0 +1,158 @@
+{
+    "webCore": {
+        "serverPort": 8090,
+        "fileRoot": "/usr/local/var/www/jetstream",
+        "requestLogging": false
+    },
+    "JetstreamService": {
+        "stacktracing": false,
+        "registryPort": 8181,
+        "serverPort": 8090
+    },
+    "JetService": {
+        "log_directory": "/var/log/jetstream"
+    },
+    "HubClient": { 
+        "proactive_url": "/v1/proactive",
+        "listen_url": "/v1/listen",
+        "listen_language": "en-US",
+        "xxx_override": {
+            "hub_port": 9000,
+            "hub_hostname": "172.24.84.137",
+            "entrypoint_hostname": "dev-entrypoint.jibo.com"
+        },
+        "region-settings": {
+            "comment": "This is a switch, selected by the 'region' field setting in the robot's /var/jibo/credentials.json file",
+            "dev-entrypoint": {
+                "hub_port": 443,
+                "hub_hostname": "dev-hub.jibo.com",
+                "entrypoint_hostname": "dev-entrypoint.jibo.com"
+            },
+            "alpha-entrypoint": {
+                "hub_port": 443,
+                "hub_hostname": "alpha-hub.jibo.com",
+                "entrypoint_hostname": "alpha-entrypoint.jibo.com"
+            },
+            "stg-entrypoint": {
+                "hub_port": 443,
+                "hub_hostname": "stg-hub.jibo.com",
+                "entrypoint_hostname": "stg-entrypoint.jibo.com"
+            },
+            "preprod-entrypoint": {
+                "hub_port": 443,
+                "hub_hostname": "preprod-hub.jibo.com",
+                "entrypoint_hostname": "preprod-entrypoint.jibo.com"
+            },
+            "api": {
+                "hub_port": 443,
+                "hub_hostname": "neo-hub.jibo.com",
+                "entrypoint_hostname": "api.jibo.com"
+            }
+        },
+        "encoding_type_comment": "This can be either LINEAR16, FLAC, or OGG_OPUS",
+        "encoding_type": "OGG_OPUS",
+        "encoding-settings": {
+            "OGG_OPUS": {
+                "streaming_rate": 1.2,
+                "channels": 1,
+                "sample_rate": 16000,
+                "bitrate": 64000,
+                "vbr": true
+            },
+            "FLAC": {
+                "streaming_rate": 3.0,
+                "channels": 1,
+                "sample_rate": 16000,
+                "bps": 16
+            }
+        }
+    },
+    "AudioChannel": {
+        "block_duration_ms": 50,
+        "period_size": 85,
+        "buffer_size": 2048
+    },
+    "HJLogger": {
+        "speech_analytics_log_path": "/var/log/jetstream/hj_logs",
+        "comment-logging-fraction": "The probability that an HJ utterance will be logged -- range 0-1",
+        "logging_probability": 0.05,
+        "start_margin_ms": 500,
+        "end_margin_ms": 500
+    },
+    "RecogHJ": {
+        "config_path": "/usr/local/share/asr/hey_jibo",
+        "comment": "Positive margin values widen the HJ Phrase spotter's standard endpoints. The end_margin_ms also compensates for the Phrase Spotter's premature endpoint, which is around the beginning O in jibO",
+        "hj_start_margin_ms": 0,
+        "hj_end_margin_ms": 100
+    },
+    "HubAsr": {
+        "global_sosTimeout_sec": 3,
+        "global_maxSpeechTimeout_sec": 20,
+        "local_sosTimeout_sec": 2,
+        "local_maxSpeechTimeout_sec": 20
+    },
+    "RecogSpeakerID": {
+        "ubm_path": "/usr/local/share/asr/sensory_data_td/",
+        "client_path": "/var/jibo/asr/sensory_data_td/",
+        "comment": "change next property to 'sensory_log_path' to enable Sensory authenticator logging, 'xxxsensory_log_path' to disable",
+        "xxxsensory_log_path": "/var/jibo/asr/sensory_auth_logs",
+        "threshold": -1.2,
+        "confidence_margin": 2,
+        "margin-comment": "positive values for start and end margins widen the space around the speaker-id HJ",
+        "id_start_margin_ms": 250,
+        "comment2":"id_end_margin is used when retrying to ID with an audio segment, it also controls the end margin of the logged utts",
+        "id_end_margin_ms": 300,
+        "PHRASEver": "OFF"
+    },
+    "RecogSpeakerEnroll": {
+        "ubm_path": "/usr/local/share/asr/sensory_data_td/",
+        "client_path": "/var/jibo/asr/sensory_data_td/",
+        "comment": "change next property to 'sensory_log_path' to enable Sensory enroller logging, 'xxxsensory_log_path' to disable",
+        "xxxsensory_log_path": "/var/jibo/asr/sensory_enroller_logs",
+        "speech_analytics_log_path": "/var/log/jetstream/enroller_logs",
+        "minEnrollUtts": 6,
+        "checkQuality": "LOW",
+        "margin-comment": "positive values for the start margin increase the amount of silence fed to the enroller before the HJ occurs",
+        "enroll_start_margin_ms": 250
+    },
+    "RecogEOS": {
+        "resource_path": "/usr/local/share/asr/jibo_energy_eos"
+    },
+    "RecogNameLearning": {
+        "resource_path": "/usr/local/share/asr/namelearning",
+        "temp_path": "/var/jibo/asr/namelearning_temp/",
+        "speech_analytics_log_path": "/var/log/jetstream/namelearning_logs",
+        "g2p_service": "http://localhost:8089/tts_nbest_prons"
+    },
+    "logging": {
+        "jibo_message_prefix": "C",
+        "channels": {
+            "console": {
+                "class": "ConsoleChannel",
+                "pattern": "%Y-%m-%d %H:%M:%S %s: [%p] %t"
+            },
+            "syslog": {
+                "class": "RFC_5424_Channel",
+                "name": "jibo-jetstream-service",
+                "facility": "SYSLOG_DAEMON"
+            },
+            "splitter": {
+                "class": "SplitterChannel",
+                "channels": "syslog"
+            }
+        },
+        "loggers": {
+            "root": {
+                "level": "debug"
+            },
+            "l1": {
+                "name": "JetService",
+                "level": "debug"
+            },
+            "l2": {
+                "name": "Application",
+                "level": "debug"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-kinematic-model.json b/V3.1/build/usr/local/etc/jibo-kinematic-model.json
new file mode 100644
index 00000000..e59bba89
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-kinematic-model.json
@@ -0,0 +1,220 @@
+{
+    "transforms": [
+        {
+            "name": "root",
+            "frame_type": "STATIC",
+            "transform_type": "DH",
+            "parent": "",
+            "parameters": {
+                "d": 0,
+                "r": 0,
+                "a": 0,
+                "initial": 0,
+                "offset": 0
+            }
+        }, 
+        {
+            "name": "base",
+            "frame_type": "STATIC",
+            "transform_type": "DH",
+            "parent": "root",
+            "parameters": {
+                "d": 0,
+                "r": 0,
+                "a": 0,
+                "initial": 0,
+                "offset": 0,
+                "multiplier": 1
+            },
+            "mass": 1.541647,
+            "center_of_mass": {
+                "x":  0.004438,
+                "y":  0.000080,
+                "z":  0.021875
+            },
+            "inertia_tensor": {
+                "xx":  2.336131,
+                "yy":  1.869121,
+                "zz":  3.886624,
+                "xy": -0.006218,
+                "xz":  0.030549,
+                "yz":  0.003324
+            }
+        }, 
+        {
+            "name": "pelvis",
+            "frame_type": "DYNAMIC",
+            "transform_type": "DH",
+            "parent": "base",
+            "parameters": {
+                "d": 0.043125,
+                "r": 0.0,
+                "a": 0.2269,
+                "initial": 0,
+                "offset": 0
+            },
+            "mass": 0.486722,
+            "center_of_mass": {
+                "x": -0.005595,
+                "y":  0.001393,
+                "z":  0.020862
+            },
+            "inertia_tensor": {
+                "xx": 0.934733,
+                "yy": 1.049176,
+                "zz": 1.600895,
+                "xy": 0.005263,
+                "xz": 0.014859,
+                "yz": 0.006845
+            }
+        }, 
+        {
+            "name": "torso",
+            "frame_type": "DYNAMIC",
+            "transform_type": "DH",
+            "parent": "pelvis",
+            "parameters": {
+                "d": 0.056129,
+                "r": 0.0,
+                "a": -0.37874,
+                "initial": 0,
+                "offset": 0
+            },
+            "mass": 0.405103,
+            "center_of_mass": {
+                "x":  0.001299,
+                "y":  0.001032,
+                "z":  0.020476
+            },
+            "inertia_tensor": {
+                "xx":  0.765517,
+                "yy":  0.847899,
+                "zz":  1.027389,
+                "xy": -0.021990,
+                "xz":  0.005756,
+                "yz": -0.013292
+            }
+        }, 
+        {
+            "name": "head",
+            "frame_type": "DYNAMIC",
+            "transform_type": "DH",
+            "parent": "torso",
+            "parameters": {
+                "d": 0.073181,
+                "r": 0,
+                "a": 0,
+                "initial": 0,
+                "offset": 0
+            },
+            "mass": 1.105841,
+            "center_of_mass": {
+                "x": -0.006929,
+                "y": -0.000665,
+                "z":  0.047582
+            },
+            "inertia_tensor": {
+                "xx":  4.256305,
+                "yy":  3.001682,
+                "zz":  3.980863,
+                "xy":  0.028528,
+                "xz": -0.070913,
+                "yz":  0.025871
+            }
+        }, 
+        {
+            "name": "upper_head",
+            "frame_type": "STATIC",
+            "transform_type": "DH",
+            "parent": "head",
+            "parameters": {
+                "d": 0.108090,
+                "r": -0.005976,
+                "a": -0.32882,
+                "initial": 0,
+                "offset": 0
+            }
+        }, 
+        {
+            "name": "center_face",
+            "frame_type": "STATIC",
+            "transform_type": "DH",
+            "parent": "head",
+            "parameters": {
+                "d": 0.060362,
+                "r": 0.035301,
+                "a": -0.32882,
+                "initial": 0,
+                "offset": 0
+            }
+        }, 
+        {
+            "name": "imu_dh",
+            "frame_type": "STATIC",
+            "transform_type": "DH",
+            "parent": "center_face",
+            "parameters": {
+                "d": 0.0,
+                "r": 0.0,
+                "a": -1.5708,
+                "initial": 0,
+                "offset": 0
+            }
+        },
+        {
+            "name": "imu",
+            "frame_type": "STATIC",
+            "transform_type": "DOF6",
+            "parent": "imu_dh",
+            "parameters": {
+                "dx": -0.0410,
+                "dy": -0.0315,
+                "dz": 0.0150,
+                "rx": 0,
+                "ry": 0,
+                "rz": 0
+            } 
+        },
+        {
+            "name": "top_head",
+            "frame_type": "STATIC",
+            "transform_type": "DH",
+            "parent": "head",
+            "parameters": {
+                "d": 0.142443,
+                "r": 0.007506,
+                "a": 0,
+                "initial": 0,
+                "offset": 0
+            }
+        }, 
+        {
+            "name": "left_eye",
+            "frame_type": "STATIC",
+            "transform_type": "DOF6",
+            "parent": "upper_head",
+            "parameters": {
+                "dx": 0,
+                "dy": 0.041,
+                "dz": 0,
+                "rx": 0,
+                "ry": 0,
+                "rz": 0
+            }
+        }, 
+        {
+            "name": "right_eye",
+            "frame_type": "STATIC",
+            "transform_type": "DOF6",
+            "parent": "upper_head",
+            "parameters": {
+                "dx": 0,
+                "dy": -0.041,
+                "dz": 0,
+                "rx": 0,
+                "ry": 0,
+                "rz": 0
+            }
+        }
+    ]
+}
diff --git a/V3.1/build/usr/local/etc/jibo-lps-service.json b/V3.1/build/usr/local/etc/jibo-lps-service.json
new file mode 100644
index 00000000..860729b0
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-lps-service.json
@@ -0,0 +1,235 @@
+{
+    "WebCoreLPS" : {
+        "serverPort" : 8484,
+        "fileRoot" : "/usr/local/var/www/lps"
+    },
+    "LPSService" : {
+        "registryPort" : 8181,
+        "serverPort" : 8484,
+        "channels": [
+            "PFSearchRegion",
+            "CapDevCUDAExpMeta",
+            "CapDevCUDAExp_0",
+            "CapDevCUDAExp_1",
+            "CapDevCUDAExpStat"
+        ]
+    },
+    "WebCoreMedia" : {
+        "serverPort" : 8486,
+        "fileRoot" : "/usr/local/var/www/media"
+    },
+    "MediaService" : {
+        "registryPort" : 8181,
+        "serverPort" : 8486,
+        "photographer" : {
+            "compressor" : {
+                "quality" : 92,
+                "interval" : 1000
+            },
+            "oneMP" : { "width" : 1280, "height" : 720 },
+            "fourMP" : { "width" : 2688, "height" : 1520 },
+            "request_queue_max_size" : 5
+        },
+        "photo_path" : "/opt/jibo/Photos/",
+        "recording_path" : "/opt/jibo/Recordings/",
+        "audio_source" : "MediaIn.monitor",
+        "future_wait_ms" : 8000
+    },
+    "AudioSubsystem" : {
+        "registryPort" : 8181,
+        "player" : false
+    },
+    "BodySubsystem" : {
+        "registryPort" : 8181,
+        "player" : false
+    },
+    "CaptureSubsystem" : {
+        "player" : false,
+        "watchdog" : {
+            "enabled": false,
+            "timeout": 5000,
+            "period" : 3000,
+            "start" : 10000
+        },
+        "camera_config_file" : "/usr/local/etc/lps/cameras.json"
+    },
+    "EngineSubsystem" : {
+        "global" : {
+            "face_landmark_68" : {
+                "file" :
+                "/usr/local/share/lps/shape_predictor_68_face_landmarks.dat"
+            }
+        },
+        "schemas" : {
+            "normal" : "/usr/local/etc/lps/schemas/normal.json",
+            "focused" : "/usr/local/etc/lps/schemas/focused.json",
+            "minimal" : "/usr/local/etc/lps/schemas/minimal.json"
+        },
+        "engine" : {
+            "update_period" : 60,
+            "log" : {
+                "schema" : {
+                    "time" : {
+                        "stats" : false,
+                        "skip" : 600
+                    },
+                    "audio" : {
+                        "stats" : false,
+                        "skip" : 600
+                    },
+                    "axis" : {
+                        "stats" : false,
+                        "skip" : 900
+                    },
+                    "image" : {
+                        "stats" : false,
+                        "skip" : 600
+                    }
+                }
+            },
+            "state" : {
+                "entity_config_file" : "/usr/local/etc/lps/entityConfig.json",
+                "awareness" : {
+                    "num_sectors" : 8,
+                    "lighting" : {
+                        "criteria" : {
+                            "cameraIds" :[0],
+                            "dimensions" : [
+                                { "width" : 1280, "height" : 720 }
+                            ],
+                            "outputTypes" :[0],
+                            "outputLevels" :[0]
+                        },
+                        "max_luminance" : 1.0,
+                        "max_gain" : 16.0,
+                        "max_exposure" : 0.066667,
+                        "sensor" : [
+                            { "exposure" : 0.01067, "quality" : 0 },
+                            { "exposure" : 0.05333, "quality" : 1 },
+                            { "exposure" : 0.90667, "quality" : 1 },
+                            { "exposure" : 1.01333, "quality" : 0 }
+                        ],
+                        "quality" : [
+                            { "lighting" : 0.1, "quality" : 0 },
+                            { "lighting" : 0.2, "quality" : 1 },
+                            { "lighting" : 1.0, "quality" : 1 },
+                            { "lighting" : 1.5, "quality" : 0 }
+                        ]
+                    }
+                },
+                "identification" : {
+                    "face" : {
+                        "type" : "network_face_identification",
+                        "kind": "face",
+                        "registry_host": "127.0.0.1",
+                        "registry_port": 8181,
+                        "connection_timeout":60000,
+                        "criteria" : {
+                            "cameraIds" : [0],
+                            "dimensions" : [{ "width" : 1280, "height" : 720 }],
+                            "outputTypes" : [0]
+                        }
+                    }
+                },
+                "geometry" : {
+                    "kinematic_model" :
+                    "/usr/local/etc/jibo-kinematic-model.json",
+                    "left_camera_file" : "/var/jibo/lps/CameraModelParamsL.json",
+                    "right_camera_file" :
+                    "/var/jibo/lps/CameraModelParamsR.json",
+                    "inter_cam_transform_file" :
+                    "/var/jibo/lps/InterCameraTransform.json"
+                }
+            }
+        }
+    },
+    "RecorderSubsystem" : {
+        "root" : "/opt/jibo/data/recorder",
+        "audio" : {
+            "detections" : {
+                "directory" : "/opt/jibo/data/recorder/audio/detections",
+                "padding" : 7
+            }
+        },
+        "body" : {
+            "axis" : {
+                "directory" : "/opt/jibo/data/recorder/body/axis",
+                "padding" : 7
+            }
+        },
+        "capture" : {
+            "frames" : {
+                "directory" : "/opt/jibo/data/recorder/capture/frames",
+                "padding" : 7,
+                "criteria" : {
+                    "cameraIds" :[],
+                    "dimensions" :[
+                        {"width" : 640,"height" : 360}
+                    ],
+                    "outputTypes" :[0]
+                }
+            }
+        },
+        "lps" : {
+            "visual-awareness" : {
+                "directory" : "/opt/jibo/data/recorder/lps/visual-awareness/",
+                "padding" : 7
+            },
+            "audio-awareness" : {
+                "directory" : "/opt/jibo/data/recorder/lps/audio-awareness/",
+                "padding" : 7
+            }
+        }
+    },
+    "PlayerSubsystem" : {
+        "root" : "/opt/jibo/data/player",
+        "audio" : {
+            "detections" : {
+                "directory" : "/opt/jibo/data/player/audio/detections"
+            }
+        },
+        "body" : {
+            "axis" : {
+                "directory" : "/opt/jibo/data/player/body/axis"
+            }
+        },
+        "capture" : {
+            "frames" : {
+                "directory" : "/opt/jibo/data/player/capture/frames"
+            }
+        }
+    },
+    "ErrorTracker":{
+        "views": [
+            {
+                "name": "LPSService",
+                "errors": [
+                    "CAMERA_FAILURE"
+                ]
+            },
+            {
+                "name": "MediaService",
+                "errors": [ ]
+            }
+        ]
+    },
+    "logging" : {
+        "loggers" : {
+            "root": {
+                "level": "warning"
+            },
+            "l1" : {
+                "name" : "ImageIdentifier",
+                "level" : "information"
+            },
+            "l2" : {
+                "name" : "IdentityFusion",
+                "level" : "information"
+            },
+            "l3" : {
+                "name" : "Util.Channel",
+                "level" : "warning"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-media-service.json b/V3.1/build/usr/local/etc/jibo-media-service.json
new file mode 100644
index 00000000..8add45cc
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-media-service.json
@@ -0,0 +1,88 @@
+{
+    "WebCore": {
+        "serverPort": 7979,
+        "fileRoot": "/usr/local/var/www/media"
+    },
+    "logging" : {
+        "channels" : {
+            "console" : {
+                "class" : "ConsoleChannel",
+                "pattern" : "%Y-%m-%d %H:%M:%S %s: [%p] %t"
+            },
+            "syslog" : {
+                "class" : "SyslogChannel",
+                "name" : "jibo-media-service",
+                "facility" : "SYSLOG_DAEMON",
+                "pattern" : "%s: [%p] %t"
+            },
+            "splitter" : {
+                "class" : "SplitterChannel",
+                "channels" : "syslog"
+            }
+        },
+        "loggers" : {
+            "l1" : {
+                "name" : "Application",
+                "level" : "debug",
+                "channel" : "splitter"
+            }
+        }
+    },
+    "MediaService": {
+        "registryPort":8181,
+        "serverPort":7979,
+        "camera": {
+            "type": "CUDA",
+            "cuda": {
+                "devices": [
+                    {
+                        "enabled": true,
+                        "name": "Camera-0",
+                        "path": "/dev/video0",
+                        "bufferPoolSize": 4,
+                        "width": 1280,
+                        "height": 720,
+                        "format": 3,
+                        "hFlip":true,
+                        "vFlip":true,
+                        "gamma" : {
+                            "Y":0.5,
+                            "U":1.0,
+                            "V":1.0
+                        },
+                        "ae" : {
+                            "exposureP":0.1,
+                            "gainP":0.05,
+                            "targetY":0.35,
+                            "errorY":0.0001
+                        },
+                        "awb" : {
+                            "grayThreshold":0.3,
+                            "numSamples":1000,
+                            "P":0.15,
+                            "targetU":0.5,
+                            "targetV":0.53,
+                            "seed":0
+                        }
+                    }
+                ],
+                "cuda" : {
+                    
+                }
+            },
+            "file": {
+                "videos": [
+                    "videos/video-000/video.json",
+                    "videos/video-001/video.json"
+                ],
+                "format": "YUV420p"
+            },
+            "v4l2": {
+                "devices": {
+                    "left": "/dev/video0",
+                    "right": "/dev/video1"
+                }
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-nlu-service.json b/V3.1/build/usr/local/etc/jibo-nlu-service.json
new file mode 100644
index 00000000..ec6f7adc
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-nlu-service.json
@@ -0,0 +1,50 @@
+{
+    "webCore" : {
+        "serverPort": 8787,
+	"requestLogging": false
+    },
+    "Service": {
+        "version":"v2.7.6",
+        "name":"nlu",
+        "host":"localhost",
+        "port":8787,
+        "path":"/",
+        "ttl":30,
+        "reg_timer":10000,
+        "tls":"",
+        "handler":"nlu_interface",
+        "log_ws":"nlu_logs",
+        "reset_memory_ws":"reset_memory",
+        "nlu_data_dir":"/usr/local/share/nlu-data",
+        "default_locale":"en-us",
+        "post_to_perf_monitor_service":true
+    },
+    "parsing": {
+        "cmp_params": {
+            "log_weights": false,
+            "minimize_fst": true,
+            "union_minimize_fst": false
+        },
+        "parsing_params": {
+            "max_num_states": 50,
+            "use_v8_interpreter": true
+        }
+    },
+
+    "logging" : {
+    	"jibo_message_prefix": "C",
+    	"loggers" : {
+		"root": {
+	            "level": "information"
+        	 },
+	         "l1" : {
+        	     "name" : "NluService",
+	             "level" : "information"
+        	 },
+	         "l2" : {
+        	     "name" : "Application",
+	             "level" : "information"
+        	 }
+      	}
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-server-service.json b/V3.1/build/usr/local/etc/jibo-server-service.json
new file mode 100644
index 00000000..09b491a3
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-server-service.json
@@ -0,0 +1,37 @@
+{
+    "WebCore": {
+        "serverPort": 8888,
+        "fileRoot": "/usr/local/var/www/server"
+    },
+    "ServerService": {
+        "registryPort":8181,
+        "serverPort":8888
+    },
+    "NotificationSubsystem":{
+        "registryPort":8181,
+        "refreshInterval": 15000,
+        "serverURLSuffix": "-socket.jibo.com"
+    },
+    "ErrorTracker":{
+        "views": [
+            {
+                "name": "ServerService",
+                "errors": [
+                    "CANNOT_CONNECT_TO_SERVER"
+                ]
+            }
+        ]
+    },
+    "logging" : {
+        "loggers" : {
+            "root": {
+                "level": "warning"
+            },
+            "l2": {
+                "name": "NotificationSubsystem", 
+                "level": "information", 
+                "channel": "splitter"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-service-center-service.json b/V3.1/build/usr/local/etc/jibo-service-center-service.json
new file mode 100644
index 00000000..3503f735
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-service-center-service.json
@@ -0,0 +1,35 @@
+{
+    "WebCore": {
+        "serverPort": 9797,
+        "fileRoot": "/usr/local/var/www/servicecenterservice",
+        "requestLogging": false
+    },
+    "ServiceCenterService": {
+        "registryPort": 8181,
+        "serverPort": 9797
+    },
+    "ErrorTracker": {
+        "views": [
+            {
+                "name": "ServiceCenterService",
+                "errors": []
+            }
+        ]
+    },
+    "logging": {
+        "channels": {
+            "splitter": {
+                "channels": "syslog"
+            }
+        },
+        "loggers": {
+            "root": {
+                "level": "notice"
+            },
+            "ServiceCenterService": {
+                "name": "ServiceCenterService",
+                "level": "notice"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-service-registry.json b/V3.1/build/usr/local/etc/jibo-service-registry.json
new file mode 100644
index 00000000..a4ddfe51
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-service-registry.json
@@ -0,0 +1,23 @@
+{
+    "WebCore" : {
+        "serverPort": 8181,
+        "fileRoot": "/usr/local/var/www/service-registry",
+        "requestLogging": false
+    },
+    "ManagementCore": {
+        "authenticate": false,
+        "validate": false,
+        "fileRoot": "/usr/local/var/www/service-management"
+    },
+    "ServiceRegistry": {
+        "registryPort": 8181,
+        "serverPort": 8181
+    },
+    "logging": {
+        "loggers": {
+            "root": {
+                "level": "notice"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-ssm/jibo-ssm-developer.json b/V3.1/build/usr/local/etc/jibo-ssm/jibo-ssm-developer.json
new file mode 100644
index 00000000..310e498f
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-ssm/jibo-ssm-developer.json
@@ -0,0 +1,69 @@
+{
+    "platformVersion": ">=3.1.0",
+    "services": {
+        "KBService": {
+            "port": 8778
+        },
+        "GlobalManagerService": {
+            "port": 8338
+        },
+        "SkillsService": {
+            "singleSkill": true,
+            "port": 8779
+        },
+        "NotificationsService": {
+            "port": 8001
+        },
+        "PerformanceService": {
+            "port": 10003
+        },
+        "PerformanceServiceSim": {},
+        "ErrorService": {
+            "port": 10004
+        },
+        "SchedulerService": {
+            "port": 10005,
+            "otaFilter": "fcs"
+        },
+        "RemoteService": {
+            "port": 10321
+        },
+        "WifiService": {
+            "port": 8668,
+            "region": "api"
+        },
+        "DevShell": {
+            "port": 8686,
+            "syncPort": 8989,
+            "debugPort": 9191,
+            "skillDest": "/opt/jibo/Skills",
+            "skillUser": "jibo-skill",
+            "sdkDest": "bin/on-robot/"
+        }
+    },
+    "RegistryClient": {
+        "port": 8181,
+        "host": "127.0.0.1"
+    },
+    "logging": {
+        "logUncaughtExceptions": true,
+        "logUnhandledRejections": true,
+        "stackTraceLimit": 30,
+        "outputs": {
+            "console": {
+                "outputFileAndLine": false
+            },
+            "syslog": {
+                "port": 514,
+                "target": "127.0.0.1",
+                "outputFileAndLine": false
+            }
+        },
+        "namespaces": {
+            "": {
+                "console": "info",
+                "syslog": "info"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-ssm/jibo-ssm-int-developer.json b/V3.1/build/usr/local/etc/jibo-ssm/jibo-ssm-int-developer.json
new file mode 100644
index 00000000..1c181956
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-ssm/jibo-ssm-int-developer.json
@@ -0,0 +1,71 @@
+{
+    "platformVersion": ">=3.1.0",
+    "services": {
+        "KBService": {
+            "port": 8778
+        },
+        "GlobalManagerService": {
+            "port": 8338
+        },
+        "SkillsService": {
+            "singleSkill": true,
+            "port": 8779
+        },
+        "NotificationsService": {
+            "port": 8001
+        },
+        "PerformanceService": {
+            "port": 10003
+        },
+        "PerformanceServiceSim": {},
+        "ErrorService": {
+            "port": 10004
+        },
+        "SchedulerService": {
+            "port": 10005,
+            "otaFilter": "fcs"
+        },
+        "RemoteService": {
+            "port": 10321
+        },
+        "WifiService": {
+            "port": 8668,
+            "region": "api"
+        },
+        "DevShell": {
+            "port": 8686,
+            "syncPort": 8989,
+            "debugPort": 9191,
+            "skillDest": "/opt/jibo/Jibo/Skills",
+            "skillUser": "jibo-skill",
+            "sdkDest": "bin/on-robot/"
+        }
+    },
+    "RegistryClient": {
+        "port": 8181,
+        "host": "127.0.0.1"
+    },
+    "logging": {
+        "logUncaughtExceptions": true,
+        "logUnhandledRejections": true,
+        "stackTraceLimit": 30,
+        "outputs": {
+            "console": {
+                "outputFileAndLine": false
+            },
+            "syslog": {
+                "port": 514,
+                "target": "127.0.0.1",
+                "outputFileAndLine": false
+            }
+        },
+        "namespaces": {
+            "SSM.Client.ASR": {"console": "info", "syslog": "debug" },
+            "C.AsrService": {"console": "info", "syslog": "debug" },
+            "": {
+                "console": "info",
+                "syslog": "info"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-ssm/jibo-ssm-normal.json b/V3.1/build/usr/local/etc/jibo-ssm/jibo-ssm-normal.json
new file mode 100644
index 00000000..692eb22a
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-ssm/jibo-ssm-normal.json
@@ -0,0 +1,60 @@
+{
+    "platformVersion": ">=3.1.0",
+    "services": {
+        "KBService": {
+            "port": 8778
+        },
+        "GlobalManagerService": {
+            "port": 8338
+        },
+        "SkillsService": {
+            "startSkill": "@be/be",
+            "singleSkill": true,
+            "port": 8779
+        },
+        "NotificationsService": {
+            "port": 8001
+        },
+        "ErrorService": {
+            "port": 10004
+        },
+        "SchedulerService": {
+          "port": 10005,
+          "otaFilter": "fcs"
+        },
+
+        "PerformanceServiceSim": {},
+        "RemoteService": {
+            "port": 10321
+        },
+        "WifiService": {
+          "port": 8668,
+          "region": "api"
+        }
+    },
+    "RegistryClient": {
+        "port": 8181,
+        "host": "127.0.0.1"
+    },
+    "logging": {
+        "logUncaughtExceptions": true,
+        "logUnhandledRejections": true,
+        "stackTraceLimit": 30,
+        "outputs": {
+            "console": {
+                "outputFileAndLine": false
+            },
+            "syslog": {
+                "port": 514,
+                "target": "127.0.0.1",
+                "outputFileAndLine": false
+            }
+        },
+        "namespaces": {
+            "": {
+                "console": "none",
+                "syslog": "info"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-ssm/jibo-ssm-oobe.json b/V3.1/build/usr/local/etc/jibo-ssm/jibo-ssm-oobe.json
new file mode 100644
index 00000000..ff438248
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-ssm/jibo-ssm-oobe.json
@@ -0,0 +1,57 @@
+{
+    "platformVersion": ">=3.1.0",
+    "services": {
+        "KBService": {
+            "port": 8778
+        },
+        "GlobalManagerService": {
+            "port": 8338
+        },
+        "SkillsService": {
+            "singleSkill": true,
+            "startSkill": "oobe-config",
+            "port": 8779
+        },
+        "NotificationsService": {
+            "port": 8001
+        },
+        "ErrorService": {
+            "port": 10004
+        },
+        "SchedulerService": {
+          "port": 10005,
+          "otaFilter": "fcs"
+        },
+
+        "PerformanceServiceSim": {},
+        "WifiService": {
+          "port": 8668,
+          "region": "api"
+        }
+    },
+    "RegistryClient": {
+        "port": 8181,
+        "host": "127.0.0.1"
+    },
+    "logging": {
+        "logUncaughtExceptions": true,
+        "logUnhandledRejections": true,
+        "stackTraceLimit": 30,
+        "outputs": {
+            "console": {
+                "outputFileAndLine": false
+            },
+            "syslog": {
+                "port": 514,
+                "target": "127.0.0.1",
+                "outputFileAndLine": false
+            }
+        },
+        "namespaces": {
+            "": {
+                "console": "none",
+                "syslog": "info"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-sts.json b/V3.1/build/usr/local/etc/jibo-sts.json
new file mode 100644
index 00000000..e69de29b
diff --git a/V3.1/build/usr/local/etc/jibo-system-manager.json b/V3.1/build/usr/local/etc/jibo-system-manager.json
new file mode 100644
index 00000000..d497e4c1
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-system-manager.json
@@ -0,0 +1,676 @@
+{
+    "WebCore": {
+        "serverPort": 8585,
+        "fileRoot": "/usr/local/var/www/system"
+    },
+    "ManagementCore": {
+        "authenticate": false,
+        "validate": false
+    },
+    "SystemManager": {
+        "registryPort": 8181,
+        "serverPort": 8585,
+        "service": {
+            "connection_timeout": 210000,
+            "backup":{
+                "file": "/opt/tmp/backup.tar.bz2",
+                "directory" : "/opt/tmp/backup",
+                "executable" : "/usr/local/bin/jibo-system-backup"
+            },
+            "restore":{
+                "file" : "/opt/tmp/restore.tar.bz2",
+                "directory": "/opt/tmp/restore",
+                "executable": "/usr/local/bin/jibo-system-restore"
+            },
+            "services" : [
+                {
+                    "name": "body",
+                    "order": 0,
+                    "executable": "/usr/local/bin/jibo-body-service",
+                    "modes": {
+                        "default": {
+                            "arguments": ["-c","/usr/local/etc/jibo-body-service.json"],
+                            "environment": {
+                                "DISPLAY": ":0",
+                                "XAUTHORITY": "/tmp/.Xauthority"
+                            },
+                            "directory": "",
+                            "enabled":true
+                        },
+                        "certification": {
+                            "enabled": false
+                        }
+                    },
+                    "startup_timeout":10000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_BODY"
+                },
+                {
+                    "name": "audio",
+                    "order": 1,
+                    "executable": "/usr/local/bin/jibo-audio-service",
+                    "modes": {
+                        "default": {
+                            "arguments": ["-c","/usr/local/etc/jibo-audio-service.json"],
+                            "environment": {},
+                            "directory": "",
+                            "enabled":true
+                        },
+                        "certification": {
+                            "enabled": false
+                        }
+                    },
+                    "startup_timeout":10000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_AUDIO"
+                },
+                {
+                    "name": "tts",
+                    "order": 2,
+                    "executable": "/usr/local/bin/jibo-tts-service",
+                    "modes": {
+                        "default": {
+                            "arguments": ["-c","/usr/local/etc/jibo-tts-service.json"],
+                            "environment": {},
+                            "directory": "",
+                            "enabled":true
+                        },
+                        "certification": {
+                            "enabled": false
+                        },
+                        "service": {
+                            "enabled": false
+                        }
+                    },
+                    "startup_timeout":10000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_TTS"
+                },
+                {
+                    "name": "asr",
+                    "order": 2,
+                    "executable": "/usr/local/bin/jibo-asr-service",
+                    "modes": {
+                        "default": {
+                            "arguments": ["-c","/usr/local/etc/jibo-asr-service.json"],
+                            "environment": {},
+                            "directory": "",
+                            "enabled":false
+                        },
+                        "certification": {
+                            "enabled": false
+                        },
+                        "service": {
+                            "enabled": false
+                        }
+                    },
+                    "startup_timeout":10000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_ASR"
+                },
+                {
+                    "name": "jetstream",
+                    "order": 2,
+                    "executable": "/usr/local/bin/jibo-jetstream-service",
+                    "modes": {
+                        "default": {
+                            "arguments": ["-c","/usr/local/etc/jibo-jetstream-service.json"],
+                            "environment": {},
+                            "directory": "",
+                            "enabled": true
+                        },
+                        "certification": {
+                            "enabled": false
+                        },
+                        "service": {
+                            "enabled": true
+                        }
+                    },
+                    "startup_timeout":10000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_JETSTREAM"
+                },
+                {
+                    "name": "nlu",
+                    "order": 2,
+                    "executable": "/usr/local/bin/jibo-nlu-service",
+                    "modes": {
+                        "default": {
+                            "arguments": ["-c","/usr/local/etc/jibo-nlu-service.json"],
+                            "environment": {},
+                            "directory": "",
+                            "enabled":false
+                        },
+                        "certification": {
+                            "enabled": false
+                        },
+                        "service": {
+                            "enabled": false
+                        }
+                    },
+                    "startup_timeout":10000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_NLU"
+                },
+                {
+                    "name": "identity",
+                    "order": 2,
+                    "executable": "/usr/local/bin/jibo-identity-service",
+                    "modes": {
+                        "default": {
+                            "arguments": ["-c","/usr/local/etc/jibo-identity-service.json"],
+                            "environment": {
+                                "GLOG_minloglevel": "2" 
+                            },
+                            "directory": "",
+                            "enabled":true
+                        },
+                        "certification": {
+                            "enabled": false
+                        },
+                        "service": {
+                            "enabled": false
+                        }
+                    },
+                    "startup_timeout":10000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_IDENTITY"
+                },
+                {
+                    "name": "lps",
+                    "order": 3,
+                    "executable": "/usr/local/bin/jibo-lps-service",
+                    "modes": {
+                        "default": {
+                            "arguments": ["-c","/usr/local/etc/jibo-lps-service.json"],
+                            "environment": {
+                                "DISPLAY": ":0",
+                                "XAUTHORITY": "/tmp/.Xauthority",
+                                "GST_REGISTRY": "/usr/share/gstreamer-1.0/registry.$(uname -m).bin",
+                                "GST_GL_XINITTHREADS": "1",
+                                "GST_REGISTRY_UPDATE": "no"
+                            },
+                            "directory": "",
+                            "enabled":true
+                        },
+                        "certification": {
+                            "enabled": false
+                        }
+                    },
+                    "startup_timeout":60000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_LPS"
+                },
+                {
+                    "name": "secure-transfer",
+                    "order": 4,
+                    "executable": "/usr/bin/node",
+                    "modes": {
+                        "default": {
+                            "arguments": ["/usr/local/bin/jibo-sts/index.js"],
+                            "environment": {},
+                            "directory": "",
+                            "enabled":true
+                        },
+                        "int-developer": {
+                            "arguments": [
+                                "--inspect=10775",
+                                "/usr/local/bin/jibo-sts/index.js"
+                            ],
+                            "environment": {},
+                            "directory" : "",
+                            "enabled":true
+                        },
+                        "certification": {
+                            "enabled": false
+                        },
+                        "service": {
+                            "enabled": false
+                        }
+                    },
+                    "startup_timeout":10000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_SECURE_TRANSFER"
+                },
+                {
+                    "name": "security-controller-service",
+                    "order": 4,
+                    "executable": "/usr/bin/node",
+                    "modes": {
+                        "default": {
+                            "arguments": [
+                                "/usr/local/bin/jibo-ssm/jibo-scs.js"
+                            ],
+                            "environment": {},
+                            "directory": "",
+                            "enabled":true
+                        },
+                        "int-developer": {
+                            "arguments": [
+                                "--inspect=10226",
+                                "/usr/local/bin/jibo-ssm/jibo-scs.js"
+                            ],
+                            "environment": {},
+                            "directory": "",
+                            "enabled":true
+                        },
+                        "certification": {
+                            "enabled": false
+                        },
+                        "service": {
+                            "enabled": false
+                        }
+                    },
+                    "startup_timeout":10000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_SECURITY_CONTROLLER_SERVICE"
+                },
+                {
+                    "name": "media-manager",
+                    "order": 4,
+                    "executable": "/usr/bin/node",
+                    "modes": {
+                        "default": {
+                            "arguments": [
+                                "/usr/local/bin/jibo-ssm/jibo-mms.js"
+                            ],
+                            "environment": {},
+                            "directory": "",
+                            "enabled":true
+                        },
+                        "int-developer": {
+                            "arguments": [
+                                "--inspect=10225",
+                                "/usr/local/bin/jibo-ssm/jibo-mms.js"
+                            ],
+                            "environment": {},
+                            "directory": "",
+                            "enabled":true
+                        },
+                        "certification": {
+                            "enabled": false
+                        },
+                        "service": {
+                            "enabled": false
+                        }
+                    },
+                    "startup_timeout":10000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_MEDIA_MANAGER"
+                },
+                {
+                    "name": "monitor",
+                    "order": 4,
+                    "executable": "/usr/local/bin/jibo-system-monitoring-service",
+                    "modes": {
+                        "default": {
+                            "arguments": ["-c","/usr/local/etc/jibo-system-monitoring-service.json"],
+                            "environment": {},
+                            "directory": "",
+                            "enabled":true
+                        },
+                        "certification": {
+                            "enabled": false
+                        }
+                    },
+                    "startup_timeout":10000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_MONITOR"
+                },
+                {
+                    "name": "server",
+                    "order": 4,
+                    "executable": "/usr/local/bin/jibo-server-service",
+                    "modes": {
+                        "default": {
+                            "arguments": ["-c","/usr/local/etc/jibo-server-service.json"],
+                            "environment": {},
+                            "directory": "",
+                            "enabled":true
+                        },
+                        "certification": {
+                            "enabled": false
+                        },
+                        "service": {
+                            "enabled": false
+                        }
+                    },
+                    "startup_timeout":10000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_SERVER"
+                },
+                {
+                    "name": "ssm",
+                    "order": 5,
+                    "executable": "/usr/bin/node",
+                    "modes": {
+                        "default": {
+                            "arguments": [
+                                "/usr/local/bin/jibo-ssm/jibo-ssm.js"
+                            ],
+                            "environment": {
+                                "DISPLAY": ":0",
+                                "XAUTHORITY": "/tmp/.Xauthority",
+                                "NODE_PATH": "/usr/lib/node_modules",
+                                "RUNMODE": "ON_ROBOT",
+                                "XDG_CONFIG_HOME": "/tmp/.config"
+                            },
+                            "directory" : "",
+                            "enabled":true
+                        },
+                        "int-developer": {
+                            "arguments": [
+                                "--inspect=10223",
+                                "/usr/local/bin/jibo-ssm/jibo-ssm.js"
+                            ],
+                            "environment": {
+                                "DISPLAY": ":0",
+                                "XAUTHORITY": "/tmp/.Xauthority",
+                                "NODE_PATH": "/usr/lib/node_modules",
+                                "RUNMODE": "ON_ROBOT",
+                                "XDG_CONFIG_HOME": "/tmp/.config"
+                            },
+                            "directory" : "",
+                            "enabled":true
+                        },
+                        "certification": {
+                            "enabled": false
+                        },
+                        "service": {
+                            "enabled": false
+                        }
+                    },
+                    "startup_timeout":60000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_SSM"
+                },
+                {
+                    "name": "expression",
+                    "order": 4,
+                    "executable": "/usr/bin/node",
+                    "modes": {
+                        "default": {
+                            "arguments": [
+                                "/usr/local/bin/jibo-ssm/lib/expression-process.js"
+                            ],
+                            "environment": {
+                                "NODE_PATH": "/usr/lib/node_modules",
+                                "RUNMODE": "ON_ROBOT"
+                            },
+                            "directory" : "",
+                            "enabled":true
+                        },
+                        "int-developer": {
+                            "arguments": [
+                                "--inspect=10224",
+                                "/usr/local/bin/jibo-ssm/jibo-expression.js"
+                            ],
+                            "environment": {
+                                "NODE_PATH": "/usr/lib/node_modules",
+                                "RUNMODE": "ON_ROBOT"
+                            },
+                            "directory" : "",
+                            "enabled":true
+                        },
+                        "certification": {
+                            "enabled": false
+                        },
+                        "service": {
+                            "enabled": false
+                        }
+                    },
+                    "startup_timeout":60000,
+                    "shutdown_timeout":10000,
+                    "crash_code": "SERVICE_CRASH_EXPRESSION"
+                },
+                {
+                    "name": "certification",
+                    "order": 0,
+                    "executable": "/usr/local/bin/jibo-certification-service",
+                    "modes": {
+                        "default": {
+                            "arguments": [
+                                "-c", "/usr/local/etc/jibo-certification-service.json"
+                            ],
+                            "environment": {},
+                            "directory": "",
+                            "enabled": false
+                        },
+                        "certification": {
+                            "arguments": [
+                                "-c", "/usr/local/etc/jibo-certification-service.json"
+                            ],
+                            "environment": {},
+                            "directory": "",
+                            "enabled": true
+                        },
+                        "service": {
+                            "arguments": [
+                                "-c", "/usr/local/etc/jibo-certification-service.json"
+                            ],
+                            "environment": {},
+                            "directory": "",
+                            "enabled": true
+                        }
+                    },
+                    "startup_timeout": 10000,
+                    "shutdown_timeout": 10000,
+                    "crash_code": "SERVICE_CRASH_CERTIFICATION"
+                },
+                {
+                    "name": "service-center",
+                    "order": 5,
+                    "executable": "/usr/local/bin/jibo-service-center-service",
+                    "modes": {
+                        "default": {
+                            "arguments": [
+                                "-c", "/usr/local/etc/jibo-service-center-service.json"
+                            ],
+                            "environment": {
+                                "DISPLAY": ":0",
+                                "XAUTHORITY": "/tmp/.Xauthority"
+                            },
+                            "environment": {},
+                            "directory": "",
+                            "enabled": false
+                        },
+                        "service": {
+                            "arguments": [
+                                "-c", "/usr/local/etc/jibo-service-center-service.json"
+                            ],
+                            "environment": {
+                                "DISPLAY": ":0",
+                                "XAUTHORITY": "/tmp/.Xauthority"
+                            },
+                            "directory": "",
+                            "enabled": true
+                        }
+                    },
+                    "startup_timeout": 10000,
+                    "shutdown_timeout": 10000,
+                    "crash_code": "SERVICE_CRASH_SERVICE_CENTER"
+                }
+            ]
+        },
+        "session": {
+
+        },
+        "skill":{
+            "executable": "/usr/bin/electron/electron",
+            "arguments": [
+                "--remote-debugging-port=9222",
+                "/usr/local/bin/jibo-ssm/skill-main.js"
+            ],
+            "environment": {
+                "DISPLAY": ":0",
+                "XAUTHORITY": "/tmp/.Xauthority",
+                "XDG_CONFIG_HOME": "/opt/home/jibo-skill/.config"
+            },
+            "path": {
+                "jibo": [
+                    "/opt/jibo/Jibo/Skills/@be",
+                    "/opt/jibo/Jibo/Skills"
+                ],
+                "devs": [
+                    "/opt/jibo/Skills"
+                ]
+            },
+            "modes":{
+            	"normal" : {
+                    "user" : "jibo-skill"
+                },
+            	"oobe" : {
+                    "user" : "jibo-skill"
+                },
+                "int-developer" : {
+                    "user" : "jibo-skill"
+                },
+                "developer" : {
+                    "user" : "jibo-skill"
+                }
+            }
+        },
+        "storage" : {
+            "mount_entries_file": "/proc/mounts",
+            "semantic": {
+                "jibo": "/opt/jibo/Jibo",
+                "skills": "/opt/jibo/Skills",
+                "photos": "/opt/jibo/Photos",
+                "recordings": "/opt/jibo/Recordings",
+                "knowledge": "/opt/jibo/Knowledge"
+            }
+        },
+        "credentials" : {
+            "path" : "/var/jibo/credentials.json"
+        },
+        "wifi" : {
+            "wpa" : {
+                "interface": "wlan0",
+                "runtime" : "/var/run/wpa_supplicant",
+                "reconnect_interval": 15000,
+                "monitor_interval": 1000
+            },
+            "udhcpc" : {
+                "executable" : "udhcpc",
+                "options" : "-R -b -t 3 -T 5 -A 5"
+            }
+        },
+        "powerButton" : {
+            "path" : "/dev/input/event0",
+            "duration" : 2000,
+            "warning" : 10000
+        },
+        "powerManager" : {
+            "warning" : 10000
+        },
+        "time": {
+            "timezone_path": "/var/etc/timezone",
+            "localtime_path": "/var/etc/localtime",
+            "zoneinfo_path": "/usr/share/zoneinfo",
+            "ntpd_init": "/etc/init.d/S66ntp",
+            "ntpdate": {
+                "command": "/usr/bin/ntpdate",
+                "arguments": [
+                    "-b",
+                    "-t",
+                    "3",
+                    "0.north-america.pool.ntp.org"
+                ]
+            },
+            "hwclock": {
+                "command": "/sbin/hwclock",
+                "arguments": [
+                    "--systohc"
+                ]
+            }
+        },
+        "update": {
+            "subsystems": {
+                "os": {
+                    "version_check": "os",
+                    "apply_method": "system",
+                    "default_order": 1
+                },
+                "services": {
+                    "version_check": "services",
+                    "apply_method": "system",
+                    "default_order": 2
+                },
+                "jibo-diagnostics": {
+                    "version_check": "skill",
+                    "apply_method": "skill",
+                    "default_order": 3
+                },
+                "fin-goods-test": {
+                    "version_check": "skill",
+                    "apply_method": "skill",
+                    "default_order": 4
+                },
+                "oobe-config": {
+                    "version_check": "skill",
+                    "apply_method": "skill",
+                    "default_order": 5
+                },
+                "@be/be": {
+                    "version_check": "skill",
+                    "apply_method": "skill",
+                    "default_order": 6
+                },
+                "jibo-rhino": {
+                    "version_check": "skill",
+                    "apply_method": "skill",
+                    "default_order": 7
+                },
+                "jibo-trivia": {
+                    "version_check": "skill",
+                    "apply_method": "skill",
+                    "default_order": 8
+                },
+                "jibo-tbd": {
+                    "version_check": "skill",
+                    "apply_method": "skill",
+                    "default_order": 9
+                }
+            }
+        },
+        "firewall": {
+            "mode_commands": {
+                "remote_operation": ["-p tcp --syn --dport 7160 -j ACCEPT"]
+            }
+        }
+    },
+    "ErrorTracker":{
+        "views": [
+            {
+                "name": "SystemManager",
+                "errors": [
+                    "SERVICE_CRASH_BODY",
+                    "SERVICE_CRASH_AUDIO",
+                    "SERVICE_CRASH_TTS",
+                    "SERVICE_CRASH_ASR",
+                    "SERVICE_CRASH_NLU",
+                    "SERVICE_CRASH_IDENTITY",
+                    "SERVICE_CRASH_LPS",
+                    "SERVICE_CRASH_MEDIA_MANAGER",
+                    "SERVICE_CRASH_SECURE_TRANSFER",
+                    "SERVICE_CRASH_MONITOR",
+                    "SERVICE_CRASH_SERVER",
+                    "SERVICE_CRASH_SSM",
+                    "SERVICE_CRASH_EXPRESSION",
+                    "WPA_CONTROL_INTERFACE_DOWN"
+                ]
+            }
+        ]
+    },
+    "logging" : {
+        "loggers" : {
+            "root": {
+                "level": "warning"
+            },
+            "l4" : {
+                "name" : "SystemManager",
+                "level" : "information"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-system-monitoring-service.json b/V3.1/build/usr/local/etc/jibo-system-monitoring-service.json
new file mode 100644
index 00000000..3673106f
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-system-monitoring-service.json
@@ -0,0 +1,57 @@
+{
+    "WebCore": {
+        "serverPort": 4111,
+        "fileRoot": "/usr/local/var/www/systemMonitor"
+    },
+    "SystemMonitoringService": {
+        "registryPort": 8181,
+        "serverPort": 4111,
+        "storage" : {
+            "mount_entries_file": "/proc/mounts",
+            "semantic": {
+                "jibo": "/opt/jibo/Jibo",
+                "skills": "/opt/jibo/Skills",
+                "photos": "/opt/jibo/Photos",
+                "recordings": "/opt/jibo/Recordings",
+                "knowledge": "/opt/jibo/Knowledge",
+                "tmp": "/tmp"
+            },
+            "low_storage_byte": 1073741824,
+            "polling_interval": 60000
+        },
+        "error" : {
+            "connection_timeout":5000,
+            "polling_interval":10000
+        },
+        "health" : {
+            "connection_timeout":30000,
+            "polling_interval": 1800000,
+            "upload" : {
+                "executable": "/usr/bin/jibo-log-client-async",
+                "arguments": [
+                    "--credentials","/var/jibo/credentials.json",
+                    "--kind","HEALTH"
+                ],
+                "environment": {},
+                "directory": ""
+            }
+        }
+    },
+    "ErrorTracker": {
+        "views": [
+            {
+                "name": "SystemMonitoringService",
+                "errors": [
+                    "LOW_ROBOT_STORAGE"
+                ]
+            }
+        ]
+    },
+    "logging" : {
+        "loggers" : {
+            "root": {
+                "level": "warning"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-test-capture-service.json b/V3.1/build/usr/local/etc/jibo-test-capture-service.json
new file mode 100644
index 00000000..8f6fb141
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-test-capture-service.json
@@ -0,0 +1,97 @@
+{
+    "WebCore": {
+        "serverPort": 7979,
+        "fileRoot": "/usr/local/var/www/capture-tools"
+    },
+    "TestCaptureService": {
+        "registryPort": 8181,
+        "serverPort": 7979,
+        "camera": {
+            "type": "CUDA",
+            "cuda": {
+                "devices": [
+                    {
+                        "enabled": true,
+                        "name": "Right Wide Eye",
+                        "path": "/dev/video1",
+                        "bufferPoolSize": 4,
+                        "width": 672,
+                        "height": 380,
+                        "outputBufferFormats" : 2,
+                        "hFlip":true,
+                        "vFlip":true,
+                        "gamma" : {
+                            "R":0.75,
+                            "G":0.7,
+                            "B":0.7
+                        },
+                        "ae" : {
+                            "exposureP":0.05,
+                            "gainP":0.02,
+                            "targetY":0.6,
+                            "skinSegmentedTargetY" : 0.5,
+                            "skinSegmentedAvgYThreshold" : 0.8,
+                            "skinRatioThreshold" : 0.010,
+                            "errorY":0.0001
+                        },
+                        "awb" : {
+                            "grayThreshold":0.3,
+                            "numSamples":1000,
+                            "P":0.15,
+                            "targetU":0.505,
+                            "targetV":0.50
+                        }
+                    },
+                    {
+                        "enabled": true,
+                        "name": "Left Narrow Eye",
+                        "path": "/dev/video0",
+                        "bufferPoolSize": 4,
+                        "width": 672,
+                        "height": 380,
+                        "outputBufferFormats" : 2,
+                        "hFlip":true,
+                        "vFlip":true,
+                        "gamma" : {
+                            "R":0.75,
+                            "G":0.7,
+                            "B":0.7
+                        },
+                        "ae" : {
+                            "exposureP":0.05,
+                            "gainP":0.02,
+                            "targetY":0.6,
+                            "skinSegmentedTargetY" : 0.5,
+                            "skinSegmentedAvgYThreshold" : 0.8,
+                            "skinRatioThreshold" : 0.010,
+                            "errorY":0.0001
+                        },
+                        "awb" : {
+                            "grayThreshold":0.3,
+                            "numSamples":1000,
+                            "P":0.15,
+                            "targetU":0.505,
+                            "targetV":0.50
+                        }
+                    }
+                ],
+                "cuda" : {
+                    
+                }
+            },
+            "file": {
+                "videos": [
+                    "videos/video-000/video.json",
+                    "videos/video-001/video.json"
+                ],
+                "format": "YUV420p"
+            },
+            "v4l2": {
+                "devices": {
+                    "left": "/dev/video0",
+                    "right": "/dev/video1"
+                }
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-test-capture.json b/V3.1/build/usr/local/etc/jibo-test-capture.json
new file mode 100644
index 00000000..3409a7cd
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-test-capture.json
@@ -0,0 +1,117 @@
+{
+    "test" : {
+        "handler" : {
+            "num_frames" : 0,
+            "awb_lock_count" : 190,
+            "ae_lock_count" : 190,
+            "min_exposure" : 0.012,
+            "max_exposure" : 0.033,
+            "record" : {
+                "enabled" : false,
+                "directory" : "/tmp/jibo-cap/",
+                "padding" : 5,
+                "skip_count" : 180
+            },
+            "recordAxes" : {
+                "enabled" : false,
+                "uri" : "http://localhost:8282/axis_state",
+                "padding" : 5
+            },
+            "display" : {
+                "enabled" : true
+            },
+            "displayCycle" : {
+                "enabled" : false
+            },
+            "profiler" : {
+                "enabled" : true
+            },
+            "fps" : {
+                "enabled" : false
+            }
+        },
+        "camera" : {
+            "type" : "CUDA",
+            "cuda" : {
+                "devices" : [
+                    {
+                        "enabled":true,
+                        "name" : "Right Wide Eye",
+                        "path" : "/dev/video1",
+                        "bufferPoolSize" : 4,
+                        "width" : 1280,
+                        "height" : 720,
+                        "outputBufferFormats" : 0,
+                        "hFlip" : true,
+                        "vFlip" : true,
+                        "gamma" : {
+                            "R" : 0.6,
+                            "G" : 0.6,
+                            "B" : 0.6
+                        },
+                        "ae" : {
+                            "exposureP" : 0.05,
+                            "gainP" : 0.02,
+                            "targetY" : 0.25,
+                            "errorY" : 0.0001
+                        },
+                        "awb" : {
+                            "grayThreshold" : 0.3,
+                            "numSamples" : 1000,
+                            "P" : 0.15,
+                            "targetU" : 0.505,
+                            "targetV" : 0.50,
+                            "seed" : 0
+                        }
+                    },
+                    {
+                        "enabled":true,
+                        "name" : "Left Narrow Eye",
+                        "path" : "/dev/video0",
+                        "bufferPoolSize" : 4,
+                        "width" : 672,
+                        "height" : 380,
+                        "outputBufferFormats" : 0,
+                        "hFlip" : true,
+                        "vFlip" : true,
+                        "gamma" : {
+                            "R" : 0.6,
+                            "G" : 0.6,
+                            "B" : 0.6
+                        },
+                        "ae" : {
+                            "exposureP" : 0.05,
+                            "gainP" : 0.02,
+                            "targetY" : 0.25,
+                            "errorY" : 0.0001
+                        },
+                        "awb" : {
+                            "grayThreshold" : 0.3,
+                            "numSamples" : 1000,
+                            "P" : 0.15,
+                            "targetU" : 0.505,
+                            "targetV" : 0.50,
+                            "seed" : 0
+                        }
+                    }
+                ],
+                "cuda" : {
+
+                }
+            },
+            "file" : {
+                "videos" : [
+                    "videos/video-000/video.json",
+                    "videos/video-001/video.json"
+                ],
+                "format" : "YUV420p"
+            },
+            "v4l2" : {
+                "devices" : {
+                    "left" : "/dev/video0",
+                    "right" : "/dev/video1"
+                }
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/jibo-tts-service.json b/V3.1/build/usr/local/etc/jibo-tts-service.json
new file mode 100644
index 00000000..90b14dd6
--- /dev/null
+++ b/V3.1/build/usr/local/etc/jibo-tts-service.json
@@ -0,0 +1,110 @@
+{
+    "webCore" : {
+        "serverPort": 8089,
+        "fileRoot": "/usr/local/var/www/ttsservice",
+        "requestLogging": false
+    },
+    "TTSService" : {
+        "alsaPlaybackDevice" : "TTSOut",
+	"audioDriver" : "alsa",
+        "effectsDir" : "/usr/local/share/ttsservice/effects",
+        "enableFadeOut" : "FALSE",
+        "enableJiboDefaultSwitch" : "FALSE",
+        "enablePD" : "FALSE",
+        "postToPerformanceService" : "TRUE",
+        "enableTextNorm" : "TRUE",
+        "maxRSSMemory" : 250000,
+        "frontEnd" : "JIBO",
+        "resourcePath" : "/usr/local/share/ttsservice/voices/en_us_world/"
+    },
+    "voiceParams" : {
+        "postFilter_b" : "0.40",
+        "samplerate_s" : "48000",
+	"framerate_p" : "240",
+	"pitchbw_jf" : "0.40",
+	"halftone_fm" : "3",
+	"unvoicedvoice_u" : "0.15",
+	"allPass_a" : "0.76",
+	"gvMCEP_jm" : "0.9",
+	"speed_r" : "1",
+        "mode" : "text",
+        "outmode" : "stream",
+        "mgc_order" : "60",      
+        "frontendResource" : "/usr/local/share/ttsservice/voices/en_us/griffin/fsts/",
+        "buffer_size" : "1024",
+	"fft_size" : "1024",
+	"volume_linear" : "0.65",
+	"maxChars" : "1000"
+    },
+    "PostFilterMap" : {
+        "pitchshiftSwitch" : "pitchStrength",
+        "freqshiftSwitch" : "freqshiftAmount",
+        "autotuneSwitch" : "autotunePitch",
+        "vocoderSwitch" : "vocoderChord",
+        "phaserSwitch" : "phaserAmount",
+        "resonatorSwitch" : "resonatorPitch",
+        "ringmodSwitch" : "ringmodFreq",
+        "aliasSwitch" : "aliasAmount",
+        "flangerSwitch" : "flangerAmount",
+        "chorusSwitch" : "chorusAmount",
+        "masteringSwitch" : "masteringAmount",
+        "excitedSwitch" : "excitedAmount",
+        "worriedSwitch" : "worriedAmount",
+        "disapproveSwitch" : "disapproveAmount",
+        "neutralSwitch" : "neutralAmount",
+        "affectionateSwitch" : "affectionateAmount",
+        "sorrowSwitch" : "sorrowAmount",
+        "laughterSwitch" : "laughterAmount",
+        "listSwitch" : "listAmount",
+        "emphasisSwitch" : "emphasisAmount",
+        "fadeSwitch" : "fadeAmount",
+        "makeSimilar" : "makeSimilar",
+        "analysisSwitch" : "analysisSwitch",
+        "oo" : "1",
+        "wow" : "2",
+        "perfect" : "3",
+        "ok" : "4",
+        "ooo" : "5",
+        "ah" : "6",
+        "oh" : "7",
+        "your_welcome" : "8",
+        "cool" : "9",
+        "woo_hoo_hoo" : "10",
+        "laugh" : "11",
+        "laugh2" : "12",
+        "sweet" : "13",
+        "done" : "14",
+        "what" : "15",
+        "aw" : "16",
+        "my_bad" : "17",
+        "oops" : "18",
+        "um" : "19",
+        "huh" : "20",
+        "whoa" : "21",
+        "argh" : "22",
+        "nm_um" : "23",
+        "i_love_to_1" : "24",
+        "i_love_to_2" : "25",
+        "i_love_to_3" : "26",
+        "i_love_to_4" : "27",
+        "i_love_to_5" : "28",
+        "i_love_to_6" : "29",
+	"triggerJibonics" : "bang"
+    },
+    "logging" : {
+       "jibo_message_prefix": "C",
+       "loggers" : {
+            "root": {
+                "level": "warning"
+            },
+            "l1" : {
+                "name" : "TTSService",
+                "level" : "information"
+            },
+            "l2" : {
+                "name" : "Application",
+                "level" : "information"
+            }
+        }
+    }
+}
diff --git a/V3.1/build/usr/local/etc/lps/cameras.json b/V3.1/build/usr/local/etc/lps/cameras.json
new file mode 100644
index 00000000..5478f21e
--- /dev/null
+++ b/V3.1/build/usr/local/etc/lps/cameras.json
@@ -0,0 +1,168 @@
+{
+    "type" : "CUDA",
+    "cuda" : {
+        "devices" : [
+            {
+                "enabled" : true,
+                "name" : "Camera-0",
+                "path" : "/dev/video1",
+                "bufferPoolSize" : 10,
+                "width" : 1280,
+                "height" : 720,
+                "outputBufferFormats" : 2,
+                "hFlip" : true,
+                "vFlip" : true,
+                "gamma" : {
+                    "R" : 0.7,
+                    "G" : 0.7,
+                    "B" : 0.7
+                },
+                "numSamples" : 10000,
+                "ae" : {
+                    "exposureP" : 0.02,
+                    "gainP" : 0.02,
+                    "targetY" : 0.6,
+                    "avgYThreshold" : 0.8,
+                    "skinSegmentedTargetY" : 0.43,
+                    "skinSegmentedAvgYThreshold" : 0.8,
+                    "skinRatioThreshold" : 0.010,
+                    "numSamples" : 1000,
+                    "numRegions" : 64,
+                    "errorY" : 0.0001
+                },
+                "awb" : {
+                    "grayThreshold" : 0.3,
+                    "numSamples" : 1000,
+                    "P" : 0.15,
+                    "targetU" : 0.505,
+                    "targetV" : 0.50,
+                    "seed" : 0
+                }
+            },
+            {
+                "enabled" : true,
+                "name" : "Camera-1",
+                "path" : "/dev/video0",
+                "bufferPoolSize" : 4,
+                "width" : 1280,
+                "height" : 720,
+                "outputBufferFormats" : 2,
+                "hFlip" : true,
+                "vFlip" : true,
+                "gamma" : {
+                    "R" : 0.7,
+                    "G" : 0.7,
+                    "B" : 0.7
+                },
+                "numSamples" : 10000,
+                "ae" : {
+                    "exposureP" : 0.02,
+                    "gainP" : 0.02,
+                    "targetY" : 0.6,
+                    "avgYThreshold" : 0.8,
+                    "skinSegmentedTargetY" : 0.46,
+                    "skinSegmentedAvgYThreshold" : 0.8,
+                    "skinRatioThreshold" : 0.010,
+                    "numSamples" : 1000,
+                    "errorY" : 0.0001
+                },
+                "awb" : {
+                    "grayThreshold" : 0.3,
+                    "numSamples" : 1000,
+                    "P" : 0.15,
+                    "targetU" : 0.505,
+                    "targetV" : 0.50,
+                    "seed" : 0
+                }
+            }
+        ],
+        "cuda" : {
+
+        }
+    },
+    "file" : {
+        "videos" : [
+            "videos/video-000/video.json",
+            "videos/video-001/video.json"
+        ],
+        "format" : "YUV420p"
+    },
+    "v4l2" : {
+        "devices" : {
+            "left" : "/dev/video0",
+            "right" : "/dev/video1"
+        }
+    },
+    "controls" : [
+        {
+            "width" : 1280,
+            "height" : 720,
+            "hFlip" : true,
+            "vFlip" : true,
+            "ae" : {
+                "lock" : false,
+                "manual" : false,
+                "time" : {
+                    "low" : 0.0016667,
+                    "high" : 0.033
+                },
+                "regions" : [],
+                "targetY" : 0.4,
+                "manualMode" : "default",
+                "manualExposure" : 0.03333,
+                "manualGain" : 1,
+                "ev" : 0
+            },
+            "outputBuffers" : [],
+            "outputBuffersConfIndex" : 2,
+            "awb" : {
+                "lock" : false,
+                "manual" : false,
+                "gammaRed" : 0.7,
+                "gammaGreen" : 0.7,
+                "gammaBlue" : 0.7,
+                "regions" : [],
+                "manualRedGain" : 1024,
+                "manualGreenGain" : 1024,
+                "manualBlueGain" : 1024,
+                "gammaCr" : 0.78,
+                "gammaCb" : 0.78
+            }
+        },
+        {
+            "width" : 1280,
+            "height" : 720,
+            "hFlip" : true,
+            "vFlip" : true,
+            "ae" : {
+                "lock" : false,
+                "manual" : false,
+                "time" : {
+                    "low" : 0.0016667,
+                    "high" : 0.033
+                },
+                "regions" : [],
+                "targetY" : 0.4,
+                "manualMode" : "default",
+                "manualExposure" : 0.03333,
+                "manualGain" : 1,
+                "ev" : 0
+            },
+            "outputBuffers" : [],
+            "outputBuffersConfIndex" : 2,
+            "awb" : {
+                "lock" : false,
+                "manual" : false,
+                "gammaRed" : 0.7,
+                "gammaGreen" : 0.7,
+                "gammaBlue" : 0.7,
+                "regions" : [],
+                "manualRedGain" : 1024,
+                "manualGreenGain" : 1024,
+                "manualBlueGain" : 1024,
+                "gammaCr" : 0.78,
+                "gammaCb" : 0.78
+            }
+        }
+    ]
+}
diff --git a/V3.1/build/usr/local/etc/lps/entityConfig.json b/V3.1/build/usr/local/etc/lps/entityConfig.json
new file mode 100644
index 00000000..b181b910
--- /dev/null
+++ b/V3.1/build/usr/local/etc/lps/entityConfig.json
@@ -0,0 +1,318 @@
+{
+    "default_person" : {
+        "debug" : false,
+        "description" : "person",
+        "name" : "person",
+        "max_track_age" : 300.0,
+        "is_static" : false,
+        "min_part_confidence" : 0.001,
+        "max_part_measure_age" : 5.0,
+        "max_audio_measure_age" : 10.0,
+        "min_audio_confidence" : 0.4,
+        "out_fov_age_factor" : 1.5,
+        "in_fov_margin" : 0.10,
+        "min_detect_request_age" : 5.0,
+        "speaking_timeout" : 1.5,
+        "speaking_threshold" : 0.25,
+        "head" : {
+            "name" : "head",
+            "debug" : false,
+            "identity" : {
+                "alpha" : 0.75,
+                "cull" : 0.1
+            },
+            "enable_back_projection" : true,
+            "default_ramge" : 2.5,
+            "use_pseudo_range" : true,
+            "extent_x" : 0.25,
+            "extent_y" : 0.25,
+            "extent_z" : 0.25,
+            "vel_decay" : 0.5,
+            "vel_max" : 1.9,
+            "linear_psd" : 10.0,
+            "min_state_covariance" : 0.0001,
+            "pseudo_range_covariance" : 0.9,
+            "auto_add_tracker" : false,
+            "auto_add_tracker_skip" : 20,
+            "pose_filter":0.0,
+            "tracker_type" : "tracker_2",
+            "tracker_1" : {
+                "tracker_class" : "color_tracker",
+                "image_tracker" : {
+                    "debug" : false,
+                    "image_debug" : false,
+                    "name" : "A",
+                    "use_image_velocity" : true,
+                    "vel_scale" : 0.9,
+                    "vel_filter" : 0.75,
+                    "base_covar" : 220.0,
+                    "image_width" : 640,
+                    "image_height" : 360,
+                    "track_confidence_filter" : 0.6,
+                    "model_confidence_filter" : 0.9,
+                    "min_confidence" : 0.05,
+                    "measure_interval": 0.067
+                },
+                "color_tracker" : {
+                    "model_debug" : false,
+                    "track_debug" : false,
+                    "drop_area_too_big" : 120000.0,
+                    "drop_area_too_small" : 600.0,
+                    "search_size_horizontal_scale" : 20,
+                    "search_size_vertical_scale" : 20,
+                    "area_filter" : 0.6,
+                    "model" : {
+                        "y_min" : 25,
+                        "y_max" : 250,
+                        "color_threshold_min" : 10,
+                        "color_threshold_max" : 25
+                    },
+                    "camshift" : {
+                        "max_iterations" : 6,
+                        "area_scale" : 10.0,
+                        "area_aspect" : 1.2
+                    },
+                    "kmeans" : {
+                        "K" : 2,
+                        "max_iterations" : 10,
+                        "convergence" : 0.01
+                    }
+                }
+            },
+            "tracker_2" : {
+                "tracker_class" : "abcshift_tracker",
+                "image_tracker" : {
+                    "debug" : false,
+                    "image_debug" : false,
+                    "name" : "A",
+                    "use_image_velocity" : true,
+                    "vel_scale" : 0.9,
+                    "vel_filter" : 0.75,
+                    "base_covar" : 220.0,
+                    "image_width" : 640,
+                    "image_height" : 360,
+                    "track_confidence_filter" : 0.6,
+                    "model_confidence_filter" : 0.9,
+                    "min_confidence" : 0.05,
+                    "measure_interval": 0.067
+                },
+                "abcshift_tracker" : {
+                    "drop_area_too_big" : 120000.0,
+                    "drop_area_too_small" : 600.0,
+                    "search_size_horizontal_scale" : 20,
+                    "search_size_vertical_scale" : 20,
+                    "area_filter" : 0.6,
+                    "max_iterations" : 6,
+                    "area_scale" : 1.3,
+                    "area_aspect" : 1.2,
+                    "bhattacharyya_threshold" : 0.5,
+                    "model" : {
+                        "y_min" : 5,
+                        "y_max" : 250,
+                        "color_threshold_min" : 5,
+                        "color_threshold_max" : 10
+                    },
+                    "background" : {
+                        "minX" : 0,
+                        "maxX" : 255,
+                        "binsX" : 256,
+                        "minY" : 0,
+                        "maxY" : 255,
+                        "binsY" : 256
+                    },
+                    "foreground" : {
+                        "minX" : 0,
+                        "maxX" : 255,
+                        "binsX" : 256,
+                        "minY" : 0,
+                        "maxY" : 255,
+                        "binsY" : 256
+                    }
+                }
+            },
+            "tracker_3" : {
+                "tracker_class" : "correlation_tracker",
+                "image_tracker" : {
+                    "debug" : false,
+                    "image_debug" : false,
+                    "name" : "A",
+                    "use_image_velocity" : true,
+                    "vel_scale" : 0.9,
+                    "vel_filter" : 0.75,
+                    "base_covar" : 220.0,
+                    "image_width" : 640,
+                    "image_height" : 360,
+                    "track_confidence_filter" : 0.6,
+                    "model_confidence_filter" : 0.9,
+                    "min_confidence" : 0.05,
+                    "measure_interval": 0.067
+                },
+                "correlation_tracker" : { 
+                    "filter_size" : 6,
+                    "num_scale_levels" : 5,
+                    "scale_window_size" : 23,
+                    "regularizer_space" : 0.001,
+                    "nu_space" : 0.025,
+                    "regularizer_scale" : 0.001,
+                    "nu_scale" : 0.025,
+                    "scale_pyramid_alpha" : 1.020,
+                    "side_lobe_ratio_threshold": 12.0
+                }
+            },
+            "tracker_4" : {
+                "tracker_class" : "face_landmark_tracker",
+                "image_tracker" : {
+                    "debug" : false,
+                    "image_debug" : false,
+                    "name" : "A",
+                    "use_image_velocity" : true,
+                    "vel_scale" : 0.9,
+                    "vel_filter" : 0.75,
+                    "base_covar" : 220.0,
+                    "image_width" : 640,
+                    "image_height" : 360,
+                    "track_confidence_filter" : 0.6,
+                    "model_confidence_filter" : 0.9,
+                    "min_confidence" : 0.05,
+                    "measure_interval": 0.067
+                },
+                "face_landmark_tracker" : { }
+            },
+            "tracker_5" : {
+                "tracker_class" : "composite_tracker",
+                "image_tracker" : {
+                    "debug" : false,
+                    "image_debug" : false,
+                    "name" : "A",
+                    "use_image_velocity" : true,
+                    "vel_scale" : 0.9,
+                    "vel_filter" : 0.75,
+                    "base_covar" : 220.0,
+                    "image_width" : 1280,
+                    "image_height" : 720,
+                    "track_confidence_filter" : 0.6,
+                    "model_confidence_filter" : 0.9,
+                    "min_confidence" : 0.05,
+                    "measure_interval": 0.067
+                },
+                "composite_tracker" : {
+                    "trackers" : {
+                        "color" : {
+                            "tracker_class" : "abcshift_tracker",
+                            "image_tracker" : {
+                                "debug" : false,
+                                "image_debug" : false,
+                                "name" : "A",
+                                "use_image_velocity" : true,
+                                "vel_scale" : 0.9,
+                                "vel_filter" : 0.75,
+                                "base_covar" : 220.0,
+                                "image_width" : 640,
+                                "image_height" : 360,
+                                "track_confidence_filter" : 0.6,
+                                "model_confidence_filter" : 0.9,
+                                "min_confidence" : 0.05,
+                                "measure_interval": 0.067
+                            },
+                            "abcshift_tracker" : {
+                                "drop_area_too_big" : 120000.0,
+                                "drop_area_too_small" : 600.0,
+                                "search_size_horizontal_scale" : 20,
+                                "search_size_vertical_scale" : 20,
+                                "area_filter" : 0.6,
+                                "max_iterations" : 6,
+                                "area_scale" : 1.3,
+                                "area_aspect" : 1.2,
+                                "bhattacharyya_threshold" : 0.5,
+                                "model" : {
+                                    "y_min" : 5,
+                                    "y_max" : 250,
+                                    "color_threshold_min" : 5,
+                                    "color_threshold_max" : 25
+                                },
+                                "background" : {
+                                    "minX" : 0,
+                                    "maxX" : 255,
+                                    "binsX" : 64,
+                                    "minY" : 0,
+                                    "maxY" : 255,
+                                    "binsY" : 64
+                                },
+                                "foreground" : {
+                                    "minX" : 0,
+                                    "maxX" : 255,
+                                    "binsX" : 64,
+                                    "minY" : 0,
+                                    "maxY" : 255,
+                                    "binsY" : 64
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    },
+    "default_motion" : {
+        "debug" : false,
+        "description" : "motion",
+        "name" : "motion",
+        "max_track_age" : 20.0,
+        "is_static" : false,
+        "max_part_measure_age" : 1.0,
+        "max_audio_measure_age" : 0.1,
+        "out_fov_age_factor" : 0.1,
+        "motion" : {
+            "name" : "motion",
+            "debug" : false,
+            "enable_back_projection" : true,
+            "default_ramge" : 2.5,
+            "use_pseudo_range" : true,
+            "extent_x" : 0.25,
+            "extent_y" : 0.25,
+            "extent_z" : 0.25,
+            "vel_decay" : 0.999,
+            "vel_limit" : 3.0,
+            "linear_psd" : 0.10,
+            "min_state_covariance" : 0.001,
+            "pseudo_range_covariance" : 0.5,
+            "fixed_pseudo_range" : 2.0,
+            "auto_add_tracker" : false,
+            "auto_add_tracker_skip" : 5,
+            "confidence_filter" : 0.9,
+            "pose_filter":0.0,
+            "tracker_type" : "tracker_1",
+            "tracker_1" : {
+                "tracker_class" : "motion_tracker",
+                "image_tracker" : {
+                    "debug" : false,
+                    "image_debug" : false,
+                    "name" : "A",
+                    "use_image_velocity" : false,
+                    "vel_scale" : 0.9,
+                    "vel_filter" : 0.75,
+                    "base_covar" : 200.0,
+                    "image_width" : 128,
+                    "image_height" : 128,
+                    "track_confidence_filter" : 0.6,
+                    "model_confidence_filter" : 0.5,
+                    "min_confidence" : 0.001,
+                    "measure_interval": 0.001
+                },
+                "motion_tracker" : {
+                    "background_threshold" : 5,
+                    "drop_area_too_big" : 1600.0,
+                    "drop_area_too_small" : 100.0,
+                    "search_size_horizontal_scale" : 5,
+                    "search_size_vertical_scale" : 5,
+                    "camshift" : {
+                        "max_iterations" : 6,
+                        "area_scale" : 3.0,
+                        "area_aspect" : 2.0
+                    }
+                }
+            }
+        }
+    }
+}
+
diff --git a/V3.1/build/usr/local/etc/lps/schemas/focused.json b/V3.1/build/usr/local/etc/lps/schemas/focused.json
new file mode 100644
index 00000000..2624f4cd
--- /dev/null
+++ b/V3.1/build/usr/local/etc/lps/schemas/focused.json
@@ -0,0 +1,475 @@
+{
+    "schemas" :[
+        {
+            "name" : "FaceDetectSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "predicate" : {
+                "type" : "face_detection_predicate",
+                "enable" : true,
+                "start" : 0,
+                "skip_with_tracks" : 150,
+                "skip_without_tracks" : 10,
+                "criteria" : {
+                    "cameraIds" : [0]
+                }
+            },
+            "actions" :[
+                {
+                    "name" : "FaceDetectAction",
+                    "type" : "face_detection_action",
+                    "enable" : true,
+                    "policy_detector" : {
+                        "criteria" : {
+                            "cameraIds" : [0],
+                            "dimensions" : [
+                                { "width" : 640, "height" : 360 },
+                                { "width" : 80, "height" : 45 }
+                            ],
+                            "formats" : [3, 1],
+                            "outputTypes" : [0, 2]
+                        },
+                        "detector" : {
+                            "min_hint_width" : 40,
+                            "min_hint_height" : 40
+                        },
+                        "policies" : [
+                            {
+                                "weight": 0.75,
+                                "kind": "skincolor",
+                                "sub_image_width" : 200,
+                                "sub_image_height" : 200,
+                                "extra_horizontal" : 20,
+                                "extra_vertical" : 20
+                            },
+                            {
+                                "weight": 0.25,
+                                "kind": "gaussian",
+                                "sub_image_width" : 200,
+                                "sub_image_height" : 200,
+                                "extra_horizontal" : 20,
+                                "extra_vertical" : 20
+                            }
+                        ]
+                    }
+                },
+                {
+                    "name" : "FaceTrackerInitAction",
+                    "type" : "face_tracker_init_action",
+                    "enable" : true,
+                    "max_tracked" : 1
+                },
+                {
+                    "name" : "FaceRecognitionAction",
+                    "type" : "face_recognition_action",
+                    "enable" : true,
+                    "turn_threshold" : 0.5
+                }
+            ]
+        },
+        {
+            "name" : "FaceTrackSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "FaceTrackerUpdate",
+                    "type" : "face_tracker_update_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "FaceTrackPoseEstimateSchema",
+            "type" : "image_update_schema",
+            "enable" : false,
+            "predicate" : {
+                "type" : "face_tracker_pose_estimate_predicate",
+                "enable" : true,
+                "start" : 4,
+                "skip" : 11
+            },
+            "actions" :[
+                {
+                    "name" : "FaceTrackerPoseEstimate",
+                    "type" : "face_tracker_pose_estimate_action",
+                    "enable" : true,
+                    "hflip" : true,
+                    "vflip" : false,
+                    "criteria" : {
+                        "cameraIds" : [0],
+                        "dimensions" : [{ "width" : 640, "height" : 360 }],
+                        "formats" : [3],
+                        "outputTypes" : [0]
+                    },
+                    "detector" : {
+                        "criteria" : {
+                            "cameraIds" : [0],
+                            "dimensions" : [{ "width" : 640, "height" : 360 }],
+                            "formats" : [3],
+                            "outputTypes" : [0]
+                        },
+                        "min_hint_width" : 80,
+                        "min_hint_height" : 80
+                    }
+                }
+            ]
+        },
+        {
+            "name" : "FaceTrackReevaluateSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "predicate" : {
+                "type" : "face_reevaluate_predicate",
+                "enable" : true,
+                "start" : 0,
+                "skip" : 89
+            },
+            "actions" :[
+                {
+                    "name" : "FaceTrackerRedetectAction",
+                    "type" : "face_tracker_redetect_action",
+                    "enable" : true,
+                    "detector" : {
+                        "criteria" : {
+                            "cameraIds" : [0],
+                            "dimensions" : [{ "width" : 640, "height" : 360 }],
+                            "formats" : [3],
+                            "outputTypes" : [0]
+                        },
+                        "min_hint_width" : 80,
+                        "min_hint_height" : 80
+                    }
+                }
+            ]
+        },
+        {
+            "name" : "FaceTrainSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "predicate" : {
+                "type" : "face_training_predicate",
+                "enable" : true,
+                "criteria" : {
+                    "cameraIds" : [0]
+                }
+            },
+            "actions" :[
+                {
+                    "name" : "FaceTrainingAction",
+                    "type" : "face_training_action",
+                    "enable" : true,
+                    "criteria" : {
+                        "cameraIds" : [0],
+                        "dimensions" : [{ "width" : 640, "height" : 360 }],
+                        "outputTypes" : [0]
+                    }
+                }
+            ]
+        },
+        {
+            "name" : "EntityDetailSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "EntityDetailAction",
+                    "type" : "entity_detail_action",
+                    "enable" : true,
+                    "detector" : {
+                        "criteria" : {
+                            "dimensions" : [{ "width" : 640, "height" : 360 }],
+                            "formats" : [3],
+                            "outputTypes" : [0]
+                        }
+                    }
+                }
+            ]
+        },
+        {
+            "name" : "VisualAwarenessSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "actions" : [
+                {
+                    "name" : "VisualAwarenessUpdateAction",
+                    "type" : "visual_awareness_update_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "BarcodeSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "BarcodeRequestAction",
+                    "type" : "barcode_request_action",
+                    "enable" : true,
+                    "reader":{
+                        "types": {
+                            "EAN8" : false,
+                            "UPCE" : false,
+                            "ISBN10" : false,
+                            "UPCA" : false,
+                            "EAN13" : false,
+                            "ISBN13" : false,
+                            "I25" : false,
+                            "CODE39" : false,
+                            "PDF417" : false,
+                            "QRCODE" : true,
+                            "CODE128" : false
+                        }
+                    },
+                    "criteria" : {
+                        "cameraIds" : [0],
+                        "dimensions" : [{ "width" : 1280, "height" : 720 }],
+                        "outputTypes" : [0]
+                    }
+                }
+            ]
+        },
+        {
+            "name" : "ControlChangeSchema",
+            "type" : "image_update_schema",
+            "enable": true,
+            "actions": [
+                {
+                    "name" : "ControlChangeRequestAction",
+                    "type" : "control_change_request_action",
+                    "enable" : true,
+                    "defaultResetTimeout": 7000
+                }
+            ]
+        },
+        {
+            "name" : "MotionSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "MotionImagerAction",
+                    "type" : "motion_imager_action",
+                    "enable" : true,
+                    "moving_delay" : 400,
+                    "image_width" : 128,
+                    "image_height" : 128,
+                    "accumulator_alpha" : 0.75,
+                    "criteria" : {
+                        "cameraIds" : [0],
+                        "dimensions" : [{ "width" : 320, "height" : 180 }],
+                        "outputTypes" : [0]
+                    },
+                    "motion_timeout" : 100
+                },
+                {
+                    "name" : "MotionDetectionAction",
+                    "type" : "motion_detection_action",
+                    "enable" : true,
+                    "moving_delay" : 400,
+                    "detector": {
+                        "min_width" : 10,
+                        "min_height" : 10,
+                        "criteria" : {
+                            "cameraIds" : [0]
+                        },
+                        "threshold" : {
+                            "dynamic": true,
+                            "low": 5,
+                            "high": 50,
+                            "ae":{
+                                "gain":16.0,
+                                "time":0.0333
+                            },
+                            "awb":{
+                                "red":4.0,
+                                "green":4.0,
+                                "blue": 4.0
+                            }
+                        }
+                    }
+                },
+                {
+                    "name" : "MotionTrackerInitAction",
+                    "type" : "motion_tracker_init_action",
+                    "enable" : true,
+                    "moving_delay" : 400,
+                    "max_tracked" : 2,
+                    "pool" : {
+                        "format" : 1,
+                        "width" : 128,
+                        "height" : 128,
+                        "size" : 8
+                    }
+                },
+                {
+                    "name" : "MotionTrackerUpdateAction",
+                    "type" : "motion_tracker_update_action",
+                    "enable" : true,
+                    "moving_delay" : 400,
+                    "pool" : {
+                        "format" : 1,
+                        "width" : 128,
+                        "height" : 128,
+                        "size" : 8
+                    }
+                }
+            ]
+        },
+        {
+            "name" : "FaceTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "FaceTimeAction",
+                    "type" : "face_time_action",
+                    "enable" : true,
+                    "drop_radius" : 0.3,
+                    "fence_radius" : 4.0,
+                    "ceiling_height": 2.0,
+                    "floor_height": -2.0
+                }
+            ]
+        },
+        {
+            "name" : "FaceEvaluateTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "predicate" : {
+                "type" : "min_period_predicate",
+                "enable" : true,
+                "min_period" : 1.1
+            },
+            "actions" :[
+                {
+                    "name" : "PersonEvaluationAction",
+                    "type" : "person_evaluation_action",
+                    "enable" : true,
+                    "unknown_age_limit":1.5,
+                    "not_trained_age_limit":20.0,
+                    "refresh_limit":50.0
+                },
+                {
+                    "name" : "PresenceTimeAction",
+                    "type" : "presence_time_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "SpeakerTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "SpeakerTimeAction",
+                    "type" : "speaker_time_action",
+                    "enable" : true,
+                    "expiration": 60000
+                }
+            ]
+        },
+        {
+            "name" : "AwarenessTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "AwarenessTimeAction",
+                    "type" : "awareness_time_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "MotionTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "MotionTimeAction",
+                    "type" : "motion_time_action",
+                    "enable" : true,
+                    "drop_radius" : 0.3,
+                    "fence_radius" : 4.0
+                }
+            ]
+        },
+        {
+            "name" : "AudioTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "AudioTimeAction",
+                    "type" : "audio_time_action",
+                    "enable" : true,
+                    "event_timeout" : 5.0
+                }
+            ]
+        },
+        {
+            "name" : "PresenceTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "PresenceTimeAction",
+                    "type" : "presence_time_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "AudioDetectSchema",
+            "type" : "audio_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "AudioDetectionAction",
+                    "type" : "audio_detection_action",
+                    "enable" : true
+                },
+                {
+                    "name" : "AudioMeasurementAction",
+                    "type" : "audio_measurement_action",
+                    "enable" : true,
+                    "audio_angle_tolerance" : 0.5,
+                    "audio_time_tolerance" : 0.35,
+                    "in_fov_margin" : 0.1
+                }
+            ]
+        },
+        {
+            "name" : "AudioAwarenessSchema",
+            "type" : "audio_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "AudioAwarenessAction",
+                    "type" : "audio_awareness_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "AxisUpdateSchema",
+            "type" : "axis_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "GeometryUpdateAction",
+                    "type" : "geometry_update_action",
+                    "enable" : true
+                },
+                {
+                    "name" : "MotionTrackerAxisUpdateAction",
+                    "type" : "motion_tracker_axis_update_action",
+                    "enable" : true
+                }
+            ]
+        }
+    ]
+}
diff --git a/V3.1/build/usr/local/etc/lps/schemas/minimal.json b/V3.1/build/usr/local/etc/lps/schemas/minimal.json
new file mode 100644
index 00000000..cb902aec
--- /dev/null
+++ b/V3.1/build/usr/local/etc/lps/schemas/minimal.json
@@ -0,0 +1,212 @@
+{
+    "schemas" :[
+        {
+            "name" : "EntityDetailSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "EntityDetailAction",
+                    "type" : "entity_detail_action",
+                    "enable" : true,
+                    "detector" : {
+                        "criteria" : {
+                            "dimensions" : [{ "width" : 640, "height" : 360 }],
+                            "formats" : [3],
+                            "outputTypes" : [0]
+                        }
+                    }
+                }
+            ]
+        },
+        {
+            "name" : "VisualAwarenessSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "actions" : [
+                {
+                    "name" : "VisualAwarenessUpdateAction",
+                    "type" : "visual_awareness_update_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "BarcodeSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "BarcodeRequestAction",
+                    "type" : "barcode_request_action",
+                    "enable" : true,
+                    "reader":{
+                        "types": {
+                            "EAN8" : false,
+                            "UPCE" : false,
+                            "ISBN10" : false,
+                            "UPCA" : false,
+                            "EAN13" : false,
+                            "ISBN13" : false,
+                            "I25" : false,
+                            "CODE39" : false,
+                            "PDF417" : false,
+                            "QRCODE" : true,
+                            "CODE128" : false
+                        }
+                    },
+                    "criteria" : {
+                        "cameraIds" : [0],
+                        "dimensions" : [{ "width" : 1280, "height" : 720 }],
+                        "outputTypes" : [0]
+                    }
+                }
+            ]
+        },
+        {
+            "name" : "ControlChangeSchema",
+            "type" : "image_update_schema",
+            "enable": true,
+            "actions": [
+                {
+                    "name" : "ControlChangeRequestAction",
+                    "type" : "control_change_request_action",
+                    "enable" : true,
+                    "defaultResetTimeout": 7000
+                }
+            ]
+        },
+        {
+            "name" : "FaceTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "FaceTimeAction",
+                    "type" : "face_time_action",
+                    "enable" : true,
+                    "drop_radius" : 0.3,
+                    "fence_radius" : 4.0,
+                    "ceiling_height": 2.0,
+                    "floor_height": -2.0
+                }
+            ]
+        },
+        {
+            "name" : "AwarenessTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "AwarenessTimeAction",
+                    "type" : "awareness_time_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "MotionTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "MotionTimeAction",
+                    "type" : "motion_time_action",
+                    "enable" : true,
+                    "drop_radius" : 0.3,
+                    "fence_radius" : 4.0
+                }
+            ]
+        },
+        {
+            "name" : "AudioTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "AudioTimeAction",
+                    "type" : "audio_time_action",
+                    "enable" : true,
+                    "event_timeout" : 5.0
+                }
+            ]
+        },
+        {
+            "name" : "PresenceTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "PresenceTimeAction",
+                    "type" : "presence_time_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "AudioDetectSchema",
+            "type" : "audio_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "AudioDetectionAction",
+                    "type" : "audio_detection_action",
+                    "enable" : true
+                },
+                {
+                    "name" : "AudioMeasurementAction",
+                    "type" : "audio_measurement_action",
+                    "enable" : true,
+                    "audio_angle_tolerance" : 0.5,
+                    "audio_time_tolerance" : 0.35,
+                    "in_fov_margin" : 0.1
+                }
+            ]
+        },
+        {
+            "name" : "AudioPresenceSchema",
+            "type" : "audio_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "SpeakerPresenceAudioAction",
+                    "type" : "speaker_presence_audio_action",
+                    "enable" : true,
+                    "audio_angle_tolerance" : 0.5,
+                    "audio_time_tolerance" : 0.35,
+                    "in_fov_margin" : 0.1,
+                    "presence_timeout" : 10.0
+                }
+            ]
+        },
+        {
+            "name" : "AudioAwarenessSchema",
+            "type" : "audio_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "AudioAwarenessAction",
+                    "type" : "audio_awareness_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "AxisUpdateSchema",
+            "type" : "axis_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "GeometryUpdateAction",
+                    "type" : "geometry_update_action",
+                    "enable" : true
+                },
+                {
+                    "name" : "MotionTrackerAxisUpdateAction",
+                    "type" : "motion_tracker_axis_update_action",
+                    "enable" : true
+                }
+            ]
+        }
+    ]
+}
diff --git a/V3.1/build/usr/local/etc/lps/schemas/normal.json b/V3.1/build/usr/local/etc/lps/schemas/normal.json
new file mode 100644
index 00000000..dada7d77
--- /dev/null
+++ b/V3.1/build/usr/local/etc/lps/schemas/normal.json
@@ -0,0 +1,495 @@
+{
+    "schemas" :[
+        {
+            "name" : "FaceDetectSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "predicate" : {
+                "type" : "face_detection_predicate",
+                "enable" : true,
+                "start" : 0,
+                "skip_with_tracks" : 30,
+                "skip_without_tracks" : 10,
+                "criteria" : {
+                    "cameraIds" : [0]
+                }
+            },
+            "actions" :[
+                {
+                    "name" : "FaceDetectAction",
+                    "type" : "face_detection_action",
+                    "enable" : true,
+                    "policy_detector" : {
+                        "criteria" : {
+                            "cameraIds" : [0],
+                            "dimensions" : [
+                                { "width" : 1280, "height" : 720 },
+                                { "width" : 80, "height" : 45 }
+                            ],
+                            "formats" : [3, 1],
+                            "outputTypes" : [0, 2]
+                        },
+                        "detector" : {
+                            "min_hint_width" : 40,
+                            "min_hint_height" : 40
+                        },
+                        "policies" : [
+                            {
+                                "weight": 0.75,
+                                "kind": "skincolor",
+                                "sub_image_width" : 200,
+                                "sub_image_height" : 200,
+                                "extra_horizontal" : 20,
+                                "extra_vertical" : 20
+                            },
+                            {
+                                "weight": 0.25,
+                                "kind": "gaussian",
+                                "sub_image_width" : 200,
+                                "sub_image_height" : 200,
+                                "extra_horizontal" : 20,
+                                "extra_vertical" : 20
+                            }
+                        ]
+                    }
+                },
+                {
+                    "name" : "FaceTrackerInitAction",
+                    "type" : "face_tracker_init_action",
+                    "enable" : true,
+                    "max_tracked" : 3
+                },
+                {
+                    "name": "FaceTrackerIDAction",
+                    "type": "face_tracker_id_action",
+                    "enable": true,
+                    "criteria": {
+                        "cameraIds" : [0],
+                        "dimensions" : [{ "width" : 1280, "height" : 720 }],
+                        "formats" : [3],
+                        "outputTypes" : [0]
+                    }
+                }
+            ]
+        },
+        {
+            "name" : "FaceTrackSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "FaceTrackerUpdate",
+                    "type" : "face_tracker_update_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "FaceTrackPoseEstimateSchema",
+            "type" : "image_update_schema",
+            "enable" : false,
+            "predicate" : {
+                "type" : "face_tracker_pose_estimate_predicate",
+                "enable" : true,
+                "start" : 4,
+                "skip" : 11
+            },
+            "actions" :[
+                {
+                    "name" : "FaceTrackerPoseEstimate",
+                    "type" : "face_tracker_pose_estimate_action",
+                    "enable" : true,
+                    "hflip" : true,
+                    "vflip" : false,
+                    "criteria" : {
+                        "cameraIds" : [0],
+                        "dimensions" : [{ "width" : 640, "height" : 360 }],
+                        "formats" : [3],
+                        "outputTypes" : [0]
+                    },
+                    "detector" : {
+                        "criteria" : {
+                            "cameraIds" : [0],
+                            "dimensions" : [{ "width" : 640, "height" : 360 }],
+                            "formats" : [3],
+                            "outputTypes" : [0]
+                        },
+                        "min_hint_width" : 80,
+                        "min_hint_height" : 80
+                    }
+                }
+            ]
+        },
+        {
+            "name" : "FaceTrackRedetectSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "predicate" : {
+                "type" : "face_reevaluate_predicate",
+                "enable" : true,
+                "start" : 0,
+                "skip" : 3
+            },
+            "actions" :[
+                {
+                    "name" : "PersonRedetectAction",
+                    "type" : "person_redetect_action",
+                    "enable" : true,
+                    "detector" : {
+                        "criteria" : {
+                            "cameraIds" : [0],
+                            "dimensions" : [{ "width" : 1280, "height" : 720 }],
+                            "formats" : [3],
+                            "outputTypes" : [0]
+                        },
+                        "min_hint_width" : 80,
+                        "min_hint_height" : 80
+                    }
+                }
+            ]
+        },
+        {
+            "name" : "DeferredDetectSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "DeferredDetectionAction",
+                    "type" : "deferred_detection_action",
+                    "enable" : true,
+                    "detector" : {
+                        "criteria" : {
+                            "cameraIds" : [0],
+                            "dimensions" : [{ "width" : 640, "height" : 360 }],
+                            "formats" : [3],
+                            "outputTypes" : [0]
+                        },
+                        "min_hint_width" : 80,
+                        "min_hint_height" : 80
+                    },
+                    "max_tracked": 3
+                }
+            ]
+        },
+        {
+            "name" : "FaceTrainSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "predicate" : {
+                "type" : "face_training_predicate",
+                "enable" : true
+            },
+            "actions" :[
+                {
+                    "name" : "FaceTrainingAction",
+                    "type" : "face_training_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "EntityDetailSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "EntityDetailAction",
+                    "type" : "entity_detail_action",
+                    "enable" : true,
+                    "detector" : {
+                        "criteria" : {
+                            "dimensions" : [{ "width" : 640, "height" : 360 }],
+                            "formats" : [3],
+                            "outputTypes" : [0]
+                        }
+                    }
+                }
+            ]
+        },
+        {
+            "name" : "VisualAwarenessSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "actions" : [
+                {
+                    "name" : "VisualAwarenessUpdateAction",
+                    "type" : "visual_awareness_update_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "BarcodeSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "BarcodeRequestAction",
+                    "type" : "barcode_request_action",
+                    "enable" : true,
+                    "reader":{
+                        "types": {
+                            "EAN8" : false,
+                            "UPCE" : false,
+                            "ISBN10" : false,
+                            "UPCA" : false,
+                            "EAN13" : false,
+                            "ISBN13" : false,
+                            "I25" : false,
+                            "CODE39" : false,
+                            "PDF417" : false,
+                            "QRCODE" : true,
+                            "CODE128" : false
+                        }
+                    },
+                    "criteria" : {
+                        "cameraIds" : [0],
+                        "dimensions" : [{ "width" : 1280, "height" : 720 }],
+                        "outputTypes" : [0]
+                    }
+                }
+            ]
+        },
+        {
+            "name" : "ControlChangeSchema",
+            "type" : "image_update_schema",
+            "enable": true,
+            "actions": [
+                {
+                    "name" : "ControlChangeRequestAction",
+                    "type" : "control_change_request_action",
+                    "enable" : true,
+                    "defaultResetTimeout": 7000
+                }
+            ]
+        },
+        {
+            "name" : "MotionSchema",
+            "type" : "image_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "MotionImagerAction",
+                    "type" : "motion_imager_action",
+                    "enable" : true,
+                    "moving_delay" : 400,
+                    "image_width" : 128,
+                    "image_height" : 128,
+                    "accumulator_alpha" : 0.75,
+                    "criteria" : {
+                        "cameraIds" : [0],
+                        "dimensions" : [{ "width" : 320, "height" : 180 }],
+                        "outputTypes" : [0]
+                    },
+                    "motion_timeout" : 100
+                },
+                {
+                    "name" : "MotionDetectionAction",
+                    "type" : "motion_detection_action",
+                    "enable" : true,
+                    "moving_delay" : 400,
+                    "detector": {
+                        "min_width" : 10,
+                        "min_height" : 10,
+                        "criteria" : {
+                            "cameraIds" : [0]
+                        },
+                        "threshold" : {
+                            "dynamic": true,
+                            "low": 5,
+                            "high": 50,
+                            "ae":{
+                                "gain":16.0,
+                                "time":0.0333
+                            },
+                            "awb":{
+                                "red":4.0,
+                                "green":4.0,
+                                "blue": 4.0
+                            }
+                        }
+                    }
+                },
+                {
+                    "name" : "MotionTrackerInitAction",
+                    "type" : "motion_tracker_init_action",
+                    "enable" : true,
+                    "moving_delay" : 400,
+                    "max_tracked" : 3,
+                    "pool" : {
+                        "format" : 1,
+                        "width" : 128,
+                        "height" : 128,
+                        "size" : 8
+                    }
+                },
+                {
+                    "name" : "MotionTrackerUpdateAction",
+                    "type" : "motion_tracker_update_action",
+                    "enable" : true,
+                    "moving_delay" : 400,
+                    "pool" : {
+                        "format" : 1,
+                        "width" : 128,
+                        "height" : 128,
+                        "size" : 8
+                    }
+                }
+            ]
+        },
+        {
+            "name" : "FaceTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "FaceTimeAction",
+                    "type" : "face_time_action",
+                    "enable" : true,
+                    "drop_radius" : 0.3,
+                    "fence_radius": 4.0,
+                    "ceiling_height": 2.0,
+                    "floor_height": -2.0
+                }
+            ]
+        },
+        {
+            "name" : "FaceEvaluateTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "predicate" : {
+                "type" : "min_period_predicate",
+                "enable" : true,
+                "min_period" : 1.1
+            },
+            "actions" :[
+                {
+                    "name" : "PersonEvaluationAction",
+                    "type" : "person_evaluation_action",
+                    "enable" : true,
+                    "unknown_age_limit":10.0,
+                    "not_trained_age_limit":20.0,
+                    "refresh_limit":50.0
+                },
+                {
+                    "name" : "PresenceTimeAction",
+                    "type" : "presence_time_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "SpeakerTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "SpeakerTimeAction",
+                    "type" : "speaker_time_action",
+                    "enable" : true,
+                    "expiration": 60000
+                }
+            ]
+        },
+        {
+            "name" : "AwarenessTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "AwarenessTimeAction",
+                    "type" : "awareness_time_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "MotionTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "MotionTimeAction",
+                    "type" : "motion_time_action",
+                    "enable" : true,
+                    "drop_radius" : 0.3,
+                    "fence_radius": 4.0
+                }
+            ]
+        },
+        {
+            "name" : "AudioTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "AudioTimeAction",
+                    "type" : "audio_time_action",
+                    "enable" : true,
+                    "event_timeout" : 5.0
+                }
+            ]
+        },
+        {
+            "name" : "PresenceTimeSchema",
+            "type" : "time_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "PresenceTimeAction",
+                    "type" : "presence_time_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "AudioDetectSchema",
+            "type" : "audio_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "AudioDetectionAction",
+                    "type" : "audio_detection_action",
+                    "enable" : true
+                },
+                {
+                    "name" : "AudioMeasurementAction",
+                    "type" : "audio_measurement_action",
+                    "enable" : true,
+                    "audio_angle_tolerance" : 0.5,
+                    "audio_time_tolerance" : 0.35,
+                    "in_fov_margin" : 0.1
+                }
+            ]
+        },
+        {
+            "name" : "AudioAwarenessSchema",
+            "type" : "audio_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "AudioAwarenessAction",
+                    "type" : "audio_awareness_action",
+                    "enable" : true
+                }
+            ]
+        },
+        {
+            "name" : "AxisUpdateSchema",
+            "type" : "axis_update_schema",
+            "enable" : true,
+            "actions" :[
+                {
+                    "name" : "GeometryUpdateAction",
+                    "type" : "geometry_update_action",
+                    "enable" : true
+                },
+                {
+                    "name" : "MotionTrackerAxisUpdateAction",
+                    "type" : "motion_tracker_axis_update_action",
+                    "enable" : true
+                }
+            ]
+        }
+    ]
+}