Skip to main content


  • 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.


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