Motion widget

What is the Motion widget

The Motion widget enables you to modify the joint values of each limb.

To display the Motion widget, in the Robot view, click any moving part of the robot (head or limbs).

../../../_images/chore_tuto_motion.png

The table below describes in details the control buttons and indicators of the Motion widget:

Part Name Description
A Slider

Allows you to adjust the joint value.

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

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

For further details, see:

B Current joint value

The color indicates if the requested value has been reached.

green-arrow (green) means the current joint value = the last requested value.

blue-arrow (blue) means that the joint value is not (or not yet) the requested value. It could could be:

  • because the command execution is still ongoing, or

  • because 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.
C Record button

Saves the defined value, when a Timeline box is currently opened.

This button can be:

motion-record-disabled (grey): you cannot store joint values because you are not currently editing a Timeline box.

motion-record-enabled (black): the current joint value is not stored at the current selected frame.

motion-record-red (black and red): the current joint value is being stored at the current selected frame.

For further details, see: Storing joint value using the Motion widget.

D Mirroring option

If selected, actions (send a command value, register a joint value, etc) are also executed on the symmetric limb.

For example left and right arms will move the same way.

E Stiffen chain on/off button

Sets on/off the Stiffness of the whole selected chain of joints (Head, Arm or Leg).

This button can be:

stiffen-green (green): Stiffness off, you can move this part manually on the real robot, but commands have no effect.
stiffen-orange (orange): intermediate state depending on the Stiffness value.
stiffen-red (red): Stiffness on, the robot is able to move this part when requested, but you cannot move it manually.

Moving joints using the Motion widget

Simulated robot

To move joints of a simulated robot, using the Motion widget:

Step Action

In the Robot view, click any moving part of the robot (head or limbs).

The Motion widget appears.

Use one of the Sliders to adjust the joint value.

The simulated robot moves.

Real robot

To use the Motion widget to make a real robot move:

Step Action
Make sure Choregraphe is connected to a real robot.

In the Robot view, click any moving part of the robot (head or limbs).

The Motion widget appears.

Make sure the Stiffness is on.

If not, click the Stiffen chain on/of button.

Use one of the Sliders to adjust the joint value.

Simulated and real robots move together.

Moving the real robot to update the Motion widget

To edit the Motion widget using the real robot:

Step Action
Make sure Choregraphe is connected to a real robot.

In the Robot view, click any moving part of the robot (head or limbs).

The Motion widget appears.

If you chose a leg, hold your robot by the waist/torso to prevent it to fall down.

Make sure the Stiffness is off.

If not, click the Stiffen chain on/of button.

Move the real robot manually.

Simulated and real robots move together.

Storing joint value using the Motion widget

To store a joint value using the Motion widget:

Step Action
Make sure a Timeline box is opened.
Click on the Timeline in order to select the Motion keyframe you want to modify.

In the Robot view, click any moving part of the robot (head or limbs).

The Motion widget appears.

Use one of the Sliders or click the motion-record-enabled Record button of a joint that already exists in the timeline.

The Record button becomes red motion-record-red and the joint value is stored in the current Motion keyframe.

Note

You can register new joints in the timeline by right-clicking on it and using the “Store” commands.

Deleting joint value using the Motion widget

To delete a joint value in a Motion keyframe:

Step Action
Click on the Motion keyframe you want to modify.

In the Robot view, click any moving part of the robot (head or limbs).

The Motion widget appears.

Click the motion-record-red red Record button.

the Record button becomes black and white motion-record-enabled and the joint value is removed from the current Motion keyframe.

For further details, see: