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 Set on/off the stiffness button in the toolbar. The icon turns red , meaning your robot is stiffened.
	Click the Animation mode button. The button turns 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 button again to stop it, or touch all the Head tactile sensors. The button turns 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”.

Result:

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
Head	touch the middle head tactile sensor
Arms	touch the back and front head tactile sensors, or press continuously the Hand tactile sensors (if any).
Legs	touch the foot bumper.