# SoftBank Robotics documentation What's new in NAOqi 2.8?

# Animation Mode

See also

- Creating a movement using Animation mode

## What is the Animation Mode

The Animation Mode allows you to create movements easily, in conjunction with the Timeline Editor. In this mode, the robot behaves like a puppet that you can manipulate, letting you record its posture in a Timeline.

In this mode, tactile commands help you manipulate the robot.
For further details, see: Stiffness-control tactile commands.

## Getting started with the Animation Mode

Cannot be used on a virtual robot.

### Starting an animation

To start an animation using Animation Mode:

Step | Action
--- | ---
| Make sure Choregraphe is connected to a real robot.
| Make sure Life is off. For further details, see: Switching Autonomous life on and off.
| Create a Timeline box. For further details, see: How to create a Timeline box.
| Double-click the box in order to display the Timeline.
| Click the Wake up button in the toolbar.
| Click the Animation Mode button. The button turns red: , meaning the Animation Mode is on.
| Hold your robot by the waist or the torso to prevent it from falling down.

### Defining and storing postures

To define and store postures, repeat the following steps for each posture:

Step | Action
--- | ---
| Use Stiffness-control tactile commands to manipulate its limbs one by one in order to make the robot take the posture you want to store.
| Tap the head tactile sensors with your hand: The current posture is stored at the Insertion point of the Timeline which then moves automatically forward.

### Exiting Animation Mode

To exit the Animation Mode:

Step | Action
--- | ---
| Click the Animation Mode button, or Lay you hand on the 3 Head tactile sensors for 3 seconds. The button turns green: , meaning the Animation Mode is off.

Note: if Choregraphe is disconnected from your robot, the Animation Mode is automatically stopped .

## Stiffness-control tactile commands

You can use tactile commands to manage the stiffness:

Limb | Stiffness control
--- | ---
Head | Touch the middle head tactile sensor to toggle the stiffness.
Arms | Keep touching hand tactile sensors to maintain stiffness off. Note: if your robot does not have such sensors, touch the back and front head tactile sensors to toggle the stiffness of each arm.
Legs | Press the foot bumpers to toggle the stiffness.

### Visual feedback

A visual feedback let you know which limb is currently stiffened or not:

- Yellow means that the Stiffness is On,
- Green means that the Stiffness is Off.

Limb | Visual Feed-back location
--- | ---
Head | Upper Eye LEDs.
Arms | All Eye LEDs (except upper).
Legs | Foot LEDs.

Example of visual information for head and arms
Visual information | Stiffened parts | Visual information | Stiffened parts
--- | --- | --- | ---
| Head and both arms |  | Nothing
| Head |  | Head and right arm
| Left arm |  | Right arm

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