Liveliness

Liveliness Objectives allow adding smooth, coordinated motion to joint angles or link positions/orientations.

Objective	Goals	Description
Position Liveliness	size	Add smooth motion to the position of a link
Orientaion Liveliness	size	Add smooth motion to the rotation of a link
Joint Liveliness	scalar	Add smooth motion to a joint directly
Relative Motion Liveliness	scalar	Add smooth motion towards and away from

Parameters for constructing Liveliness Objectives

Parameter	Objectives	Type	Optional	Defauly value/behavior	Description
name	all of the objectives mentioned above	string	no	none	Name can be arbitrary and should be unqiue
weight	all of the objectives mentioned above	float	no	none	Indicates the prioritization of the objective
link	Position Liveliness,Orientation Liveliness,	string	no	none	The name of the link this objective is applied to
joint	Joint Liveliness	string	no	none	The name of the joint the objective is applied to
link1	Relative Motion Liveliness	string	no	none	The name of the first link the objective is applied to
link2	Relative Motion Liveliness	string	no	none	The name of the second link the objective is applied to
frequency	all of the objectives mentioned above	float	no	none	A range higher than 0.0 and lower than 30.0 is advised. Higher the value, slower the lively-motion; lower the value, faster the lively-motion.