Webots

Anki used Webots to test Cozmo and Vector's emotion model on the desktop before downloading. And perhaps the behavior tree.

Cozmo’s Mood Manager can be visualized in Webots, a software program designed for the development and simulation of robots. Labeled by the small, multi-color words (top right-hand corner of the photo), data points change over time based on Cozmo’s mood.(Interview with Sr Sound Designer Ben Gabaldon)