Goal - Make Pepper execute a series of movements with his limbs and head, or follow a predefined trajectory.
Typical usage - You want Pepper to execute a dance or mimic an animal.
How it works¶
To configure how Pepper should animate, use an Animation. Typically, these animations are created from .qianim and .pmt files.
Animation from a .qianim file and build the animate action with it:
How to know when a label is reached¶
Animate action allows you to add a listener to react when a label is reached:
Make Pepper dance¶
You can create an animation file (.qianim) containing a dance, create an
Animation with it and make Pepper dance.
Performance & Limitations¶
Pepper is able to avoid obstacles when performing an animation.
If Pepper animates his joints but an obstacle prevents him to do the entire animation safely, the animation will only be partially performed.
When performing a trajectory, if Pepper encounters an obstacle on his way, he will avoid it and try to perform the trajectory as accurately as possible. However, the total animation time remains unchanged: Pepper may not have enough time to reach his destination while avoiding obstacles. In this case, he will stop moving without finishing the entire trajectory.