Aldebaran 2.0.6.8 documentation

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Animation Mode

See also

• Creating a movement using Animation mode

What is the Animation Mode

The Animation Mode allows you to create movements easily, in conjunction with the Timeline Editor. In this mode, the robot behaves like a puppet that you can manipulate, letting you record its posture in a Timeline.

In this mode, tactile commands help you manipulate the robot.

For further details, see: Stiffness-control tactile commands.

Getting started with the Animation Mode

Cannot be used on a virtual robot.

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Starting an animation

To start an animation using Animation Mode:

Step	Action
	Make sure Choregraphe is 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 Wake up button in the toolbar.
	Click the Animation Mode button. The button turns red: , meaning the Animation Mode is on.
	Hold your robot by the waist or the torso to prevent it from falling down.

Defining and storing postures

To define and store postures, repeat the following steps for each posture:

Step	Action
	Use Stiffness-control tactile commands to manipulate its limbs one by one in order to make the robot take the posture you want to store.
	Tap the head tactile sensors with your hand: The current posture is stored at the Insertion point of the Timeline which then moves automatically forward.

Exiting Animation Mode

To exit the Animation Mode:

Step	Action
	Click the Animation Mode button, or Lay you hand on the 3 Head tactile sensors for 3 seconds. The button turns green: , meaning the Animation Mode is off.

Note: if Choregraphe is disconnected from your robot, the Animation Mode is automatically stopped .

Stiffness-control tactile commands

You can use tactile commands to manage the stiffness:

Limb	Stiffness control
Head	Touch the middle head tactile sensor to toggle the stiffness.
Arms	Keep touching hand tactile sensors to maintain stiffness off. Note: if your robot does not have such sensors, touch the back and front head tactile sensors to toggle the stiffness of each arm.
Legs	Press the foot bumpers to toggle the stiffness.

Visual feedback

A visual feedback let you know which limb is currently stiffened or not:

• Yellow means that the Stiffness is On,
• Green means that the Stiffness is Off.

Limb	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
	Head and both arms		Nothing
	Head		Head and right arm
	Left arm		Right arm

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