All about Keyframes edition

Editing the Frame and Joint values

Observe and test

https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/edit_key.png
Use … To edit … How …
Inspector Frame and Joint values. Enter a value.
Dopesheet view Frame values. Drag the key horizontally.
Robot 3D view Joint values. Drag the sliders or drag the wheels.
Curves view Frame and Joint values.

Drag the key horizontally and vertically.

Tip: you can hold the Shift key while dragging a key: it will make the key stick to an axis.

Selecting key(s)

To select … Result

A key

Click on it.

https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/selected_key.png

Several keys

Drag the mouse around the keys to select.

Note

Tip: to easily select one limb, think about hiding the others.

https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/select_keyframes.png

A whole sequence

Drag the mouse on the Frame axis.

A blue bar surrounded by red triangles materializes the selection.

Note

Tip: the shortcut R switches the selection type between Keys and Sequence selection.

https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/condense_expand_sel.png

Adjusting the speed of a sequence

To modify the speed of a movement, reduce or increase the number of time frames between 2 Keys.

To modify a sequence of Keys:

Step Action  

On the Frame axis, drag the mouse to select a part of the animation.

A blue bar surrounded by red triangles materializes the selection.

https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/condense_expand_sel.png

Drag one of the red triangle to condense or expand the selected part.

Tip: hold CRTL key to shift the end of the animation.

https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/condense_expand.png

Note

Keys can only slip on an empty frame, existing keys are blocking obstacles, unless you hold CRTL key to shift the end of the animation.

Moving a sequence

To move a sequence of Keys:

Step Action  
On the Frame axis, select a sequence of Key. https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/move_range.png
Drag the blue bar in order to move the selection.

Cut, Copy, Paste, or Delete key(s)

Step Action  
Select one or several key(s), on the Dopesheet view or on the Curves view. https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/key_contextual_menu.png
Right click to display the contextual menu and choose Cut, Copy, or Delete.

Flip command

The Flip command applies on selected key(s).

https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/flip_command_sample.png

The flip is performed on the Left/Right axis.

  • on Arms, the flip exchanges the keys between the two arms.
  • on Head and Leg, the flip inverts the movement on the Left/Right axis or does nothing if the movement is not on the Left/Right axis.

Mirror command

The Mirror command duplicates the selected key(s), from left to right or from right to left.

https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/mirror_command_sample.png

There is also a Mirror Mode, for further details, see: Mirror Mode.


Tuning curve interpolations

By default, the interpolation between two keys is automatically calculated, using the method: Bezier automatic.

It is possible to choose another method, and to tune manually the tangents.

Choosing an interpolation method

To set an interpolation method, use:

  • the toolbar of the Curves view, to set the same interpolation type on the both sides of the selected key.
  • the Inspector, to set each tangent independently.
https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/curves_view_btns.png

Configuring Tangents

When selecting an interpolation type, if the tangents are configurable, then black handles appear.

Configurable tangents

  • appears in black.
  • Drag the handle to set the tangent offset and ratio.

Non configurable tangents

  • by default do not appear.

  • Click the Show all tangents button:

    the non configurable tangents appear in blue.

 
https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/tangents.png

List of Interpolation types

Bezier Automatic

Bezier interpolation - non configurable.

This is the default mode for new keys.

The curve parameters are computed automatically in order to give smooth and good looking movements.

Bezier

Configurable Bezier interpolation.

Two tangent handles appears next to the key to control the curve slope.

Linear

Linear interpolation - non configurable.

the value is interpolated linearly toward the next key.

Bezier Smooth

Configurable Bezier interpolation, with Colinear tangents.

Two tangent handles appears next to the key to control the curve slope.

When handled:

  • the two tangents of the key stay aligned.
Bezier Symmetrical

Configurable Bezier interpolation, with Symmetrical tangents.

Two tangent handles appears next to the key to control the curve slope.

When handled:

  • the two tangents of the key stay aligned, i.e. moving one tangent also moves the other.
  • the length of the two key tangents keep the same ratio relative to the curve.