# Lively v1.1.0 You can find the documentation for lively [here](https://wisc-hci.github.io/lively/) # LivelyStudio For an interface to configure Lively, see [LivelyStudio](https://github.com/Wisc-HCI/LivelyStudio). ## 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](https://github.com/uwgraphics/relaxed_ik_core) framework, and compatible with Python and Javascript/Node. To configure a robot, the easiest method is to use the LivelyStudio interface in the [LivelyStudio](https://github.com/Wisc-HCI/LivelyStudio) repository, which is a system for configuring and programming the robot visually. ## Documentation Documentation is provided on our [github pages site](https://wisc-hci.github.io/lively/). It provides an API overview and online tutorials. ## Getting Help Please feel free to post in our [Github Discussions](https://github.com/Wisc-HCI/lively/discussions), or if you found an issue, report it [here](https://github.com/Wisc-HCI/lively/issues). ## Cite This ```bibtex @inproceedings{schoen2023lively, title={Lively: Enabling Multimodal, Lifelike, and Extensible Real-time Robot Motion}, author={Schoen, Andrew and Sullivan, Dakota and Zhang, Ze Dong and Rakita, Daniel and Mutlu, Bilge}, booktitle={Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction}, pages={594--602}, year={2023} } ``` ## Contributing **Python Instructions** To build, download and `cd` to this directory. Then run: ```bash # 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: ```bash # 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