Mimic an animal — Animate

Goal

In this tutorial, we will play an animation on Pepper, using the Animate action.

Prerequisites

Before stepping in this tutorial, you should:

Let’s start a new project

  • Start a new project, let’s call it AnimatePepper.
  • Robotify it and make sure it implements the QiSDK & the Robot Life Cycle.

For further details, see: Creating a robot application.

Adding an animation resource

We could create a new animation from scratch, using the Animation Editor or the Trajectory Editor, but for this first discovery, let’s select a predefined one.

Step Action

In Android Studio, choose File > New > Import animation…

The Animation Browser / Viewer opens:

https://developers.softbankrobotics.com/sites/default/files/repository/58_rst_pepper/public/source/_build/html/_images/animation_browser.png

In Action > Animals, select the elephant_a001 animation and click the Select button.

Result: The elephant_a001.qianim file is added to your res/raw folder and opens.

Good to know: Animations are stored in .qianim and .pmt files in the raw resources.

Close the animation file window and return to your MainActivity window.

Building the animation

From this animation file we must now build an Animation object.

To do this, we use the AnimationBuilder class.

In the onRobotFocusGained method, add the following code:

// Create an animation.
Animation animation = AnimationBuilder.with(qiContext) // Create the builder with the context.
                                      .withResources(R.raw.elephant_a001) // Set the animation resource.
                                      .build(); // Build the animation.

Using the animation

We will animate Pepper by using the Animate interface.

Add an Animate field in your MainActivity:

// Store the Animate action.
private Animate animate;

Create it with an AnimateBuilder in the onRobotFocusGained method:

// Create an animate action.
animate = AnimateBuilder.with(qiContext) // Create the builder with the context.
                                .withAnimation(animation) // Set the animation.
                                .build(); // Build the animate action.

We used the previously created Animation to set the animation Pepper will perform.

Running the animation

We can now run the Animate:

// Run the animate action asynchronously.
Future<Void> animateFuture = animate.async().run();

Adding some log

  • To be notified when the animate action starts, let’s use the addOnStartedListener method.

    Add this before the run:

    // Add an on started listener to the animate action.
    animate.addOnStartedListener(() -> Log.i(TAG, "Animation started."));
    
    

    Do not forget to remove this listener on Animate in the onRobotFocusLost method:

    // Remove on started listeners from the animate action.
    if (animate != null) {
        animate.removeAllOnStartedListeners();
    }
    
    

Note

Take advantage of the Animate.OnStartedListener to start some sound at the beginning of the animation, using the MediaPlayer class.

  • To display a log trace indicating that the animation finished with success or error, add after the run:

    // Add a lambda to the action execution.
    animateFuture.thenConsume(future -> {
        if (future.isSuccess()) {
            Log.i(TAG, "Animation finished with success.");
        } else if (future.hasError()) {
            Log.e(TAG, "Animation finished with error.", future.getError());
        }
    });
    
    

Let’s try it

github_icon The sources for this tutorial are available on GitHub.

Step Action

Install and run the application.

For further details, see: Running an application.

Choose “Mimic animals”.

You should observe the following:

  • the log “Animation started.” is displayed in the console,

  • Pepper executes the animation,

  • the log “Animation finished with success.” is displayed in the console.

    https://developers.softbankrobotics.com/sites/default/files/repository/58_rst_pepper/public/source/_build/html/_images/animate1.png

That’s it! You can now animate Pepper!