Hello World

Let’s getting started with the Animation Editor.

Follow this Hello World to create your first, very simple, movement: lower and lift up the head, as if to greet.

Define an initial posture

Step Action

Choose Robot > Postures > Stand.

This is a perfect initial posture.

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

Choose Edition > Create whole body key(s).

The registered key(s) are displayed on both Dopesheet and Curves views.

They are positioned on the first frame, near the green start flag.

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

Add a new key to lower Pepper’s head

Step Action  

Select another Frame, let say the Frame 15.

The blue line shows the selected Frame.

https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/select_frame15.png

On the Robot 3D view, select the head.

Sliders and wheels appear, allowing you to move the head.

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

Drag the green wheel or the HeadPitch Slider in order to lower the head.

The head key is automatically created on Frame 15.

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

Add a new key to lift up Pepper’s head

Step Action  
Select another Frame, let say the Frame 30.  

Drag the green wheel or the HeadPitch Slider in order to lift up the head.

The head key is automatically created on Frame 30.

https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/frame30.png

Test your animation

Step Action

Choose Robot > Play animation.

You can see the defined motion played on the Robot 3D view.

Our head movement is a little bit brisk and stiff, let’s adjust the timing of execution by shifting the of the movement.

Tuning the timing

To move a sequence of Keys:

Step Action  
On the Frame axis, select the 2 last Keys. https://developer.softbankrobotics.com/sites/default/files/repository/60_rst_pepper/public/source/_build/html/_images/tune_timing.png
Drag the blue bar in order to move the selection on the right.

Test again

Now the head movement is more solemn.

What you have learned

Defining an initial posture using a predefined posture

Step Action

Choose Robot > Postures > Stand.

The Robot 3D view displays this posture, but, even with the AutoKey option activated, the TimeLine is not modified.

Choose Edition > Create whole body key(s).

Now the keys are created for all the Actuators.

Creating key(s)

Step Action
Select a Frame.
On the Robot 3D view, select an Actuator.
Drag the wheel or the Actuator’s slider.
  • If the AutoKey option is activated, the Actuator’s key is automatically created.

  • If the AutoKey option is deactivated, then use the Edition menu to create keys:

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

Note

AutoKey option allows to register one Actuator at a time, while Edition menu registers groups of Actuators.

Tip: explore the Shortcuts for more efficiency. For example, use Shift+F10 shortcut to create a left arm keys.


Additional tricks

Saving preferred postures

You can enrich the Posture menu with you preferred ones.

Step Action
Select a posture you would like to reuse.

Choose Robot > Postures > Save current posture.

A dialog Create custom posture appears.

Enter a posture name then click the OK button.

The posture is now available in the Robot > Postures menu.