Getting Started

Here are few definitions about Animation Timeline and Robot 3D View. You can quickly browse them to discover the basics, or go directly to the Hello World then come back here when needed.

What is an Animation Timeline

An Animation Timeline allows assigning different values to the Actuators of the robot along a Timeline.

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

By default, it is displayed using 2 different views:

Both views allow assigning a value to an Actuator for a Frame, i.e. a point on the Timeline.


Dopesheet view

Dopesheet view displays keys as dots.

  • A Key assigns a value to an Actuator.
  • A Summary key groups all the keys defined for a limb.
https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/dopesheet_view.png

Curves view

Curves view displays keys as points on a curve.

A curve represents the variation of the value assigned to the related actuator.

It shows the interpolation between two keys.

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

Frame

Frames are numbered on the Timeline axis.

  • Green Flag indicates the beginning of the animation,
  • Red flag indicates the end
  • Blue line identifies the selected Frame.
 
https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/frame.png

Actuator

Actuators are listed on the left side of the views.

They are grouped by limbs: Head, LArm, Rarm, Leg.

For both views:

  • Limbs can be expanded or collapsed.
  • Lock curve prevents unwanted changes on a curve. When activated, the colour of the curve changes to grey and the keys cannot be edited.
  • Mute curve deactivates a curve when the animation is played.
  • AutoKey option allows to create keys by editing actuators on the Robot 3D view.

For the Curve view only:

  • Colour of each curve is displayed next to the actuator name. Click on it to choose another colour.
  • Hide curve allows you to simplify the curve view in order to focus on specific actuator.
 
https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/actuators.png

Robot 3D View

Robot 3D View allows you to preview the current animation and also to modify it.

https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/robot_3dview.png

Zooming and scrolling

To display the whole robot frontally, use Reset camera in front of the robot button.

Control the camera point of view on the robot:

  • Drag: move up, down, right left
  • Right drag: rotate
  • Mouse wheel: zoom in and out.

Settings

  • Activate/deactivate the Mirror mode.

    For further details, see: Mirror Mode.

  • Set the thickness of the Actuator Wheels.

    https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/wheel_size.png
  • Select a robot model.

Actuator value display

https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/robot_3dview_join_values.png

The Slider allows you to adjust the Requested value.

You can move it, as well as enter a value in the associated text box.

The robot tries to reach the command value as soon as possible.

The color of the Current value indicates if the requested value has been reached.

Green means the current value = the last requested value.

Blue means that the current value is not (or not yet) the requested value.

It could be because:

  • the command execution is still ongoing, or

  • the joint cannot reach the requested value.

    It is the case when there is an obstacle as an other body part or a wall for instance.

Mirror Mode

On Robot 3D view, it is possible to activate/deactivate the Mirror mode: mirror_mode

When activated, the slider, let say RShoulderRoll, will also modify the value of LShoulderRoll.

Tip: pressing the Shift key inverts the Mirror Mode.