Animation Mode

What is the Animation mode

The Animation mode is one of the tools you can use to create movements.
It allows you to define Motion keyframe using the real robot like a puppet.

The animation mode allows you to set the Stiffness of each part of the robot separately, so you can move manually this part in order to define the next Motion keyframe of your animation.

How to use the Animation Mode

no-virtual Cannot be tested on a simulated robot.

To store joints values using the Animation Mode:

Step Action
Make sure you are connected to a real robot.

Create a Timeline box.

For further details, see How to create a Timeline box.

Double click the box in order to display the Timeline.

Click the stiffen-button Set on/off the stiffness button in the toolbar.

The icon turns red unstiffen-button, meaning your robot is stiffened.

Click the animation-mode-green Animation mode button.

The button turns red: animation-mode-red, meaning the Animation Mode is on.

Hold your robot by the waist/torso to prevent it to fall down.

Store one by one the Motion keyframes.

For further details, see: How to store a position.

Click the animation-mode-red Animation mode button again to stop it, or touch all the Head tactile sensors.

The button turns green: animation-mode-green, meaning the Animation Mode is off.

How to store a position

To store a position:

Step Action

Create a new posture.

For each part you want to move:

  • Use the tactile commands to set the Stiffness off,
  • Move the part,
  • Use the tactile commands again in order to set the Stiffness on.

For further details, see: Tactile commands and Visual feed-back.

Store the position.

  • Press the Chest button or
  • say “Store Position”, “Store this position” or “Store the position” in the robot current language.

To hear the vocal commands said by the robot, say: “Help”.


  • The Motion keyframe appears on the Timeline and
  • the insertion point has jumped to the next Frame to define.

Tactile commands

To set the Stiffness:

Part Tactile command
  • touch the middle head tactile sensor
  • touch the back and front head tactile sensors, or
  • press continuously the Hand tactile sensors (if any).
  • touch the foot bumper.

Visual feed-back

LEDs give you some visual feed-back about which parts of the robot are stiffened or not:

  • Blue means that the Stiffness is On,
  • Green means that the Stiffness is Off.
Part Visual Feed-back location
Head Upper Eye LEDs.
Arms All Eye LEDs (except upper).
Legs Foot LEDs.
Example of visual information for head and arms
Visual information Stiffened parts Visual information Stiffened parts
../../_images/head_both_arms.png Head and both arms ../../_images/nothing.png Nothing
../../_images/head.png Head ../../_images/head_right_arm.png Head and right arm
../../_images/left_arm.png Left arm ../../_images/right_arm.png Right arm