lively-tk 1.0.0

A highly configurable toolkit for commanding robots in mixed modalities with liveliness.

Lively v1.0.0 (RC2)

NOTE: Since Lively is still in beta, the design is subject to change and should not be considered final!

About

Lively Package

The Lively framework provides a highly configurable toolkit for commanding robots in mixed modalities while incorporating liveliness motions. It is adapted from RelaxedIK framework, and compatible with Python and Javascript/Node.

To configure a robot, the easiest method is to use the LivelyStudio interface in the LivelyStudio repository, which is a system for configuring and programming the robot visually.

Documentation

Documentation is provided on our github pages site. It provides an API overview and online tutorials.

Getting Help

Please feel free to post in our Github Discussions, or if you found an issue, report it here.

Contributing

Python Instructions

To build, download and cd to this directory. Then run:

# Install Maturin
pip3 install maturin

# If you just want to install locally or develop:
maturin develop

Deploy to GitHub Page

To deploy, run yarn deploy from the main branch in the docs directory. We will need to redeploy every time we make new changes to the documentataion.

Javascript Instructions

To build, download and cd to this directory. Then run:

# Build the javascript bundle
wasm-pack build --scope people_and_robots --target bundler -- --features jsbindings

# Pack
wasm-pack pack

# Publish
wasm-pack publish --access=public

References

[^1]:Rakita, Daniel, Bilge Mutlu, and Michael Gleicher. "PROXIMA: An Approach for Time or Accuracy Budgeted Collision Proximity Queries." Proceedings of Robotics: Science and Systems (RSS). 2022. http://www.roboticsproceedings.org/rss18/p043.pdf