State

The State object is the response back after calling solve. It contains the state of the robot in terms of joint and frames, as well as some diagnostic information regarding proximity of various shapes and the center_of_mass of the robot.

note

For Solver initialization, only origin and joints parameters have to be defined if user decided to provide a Stateobject to the initial_state parameter.

Parameter	Type	Optional	Description
origin	isometry consisted of translation and rotation	no	The transform of the root of the robot. This data is also included in frames
joints	lookup table of float indexed by a string key	no	A lookup table of the joint values for each movable joint
frames	lookup table of TransformInfo indexed by string key	can be ignored for Solver initialization	A lookup table of each link’s position in both world and local coordinates
proximity	list of ProximityInfo	can be ignored for Solver initialization	A vector of data representing pairwise proximity between the robot’s parts and other robot parts and the environment. Each entry contains distance, as well as the closest points between the pair of colliders
center_of_mass	list of float	can be ignored for Solver initialization	A 3-vector representing the center of mass of the robot in the world frame

Import

note

There is no need to import for Javascript.

Python

  from lively import State

Rust

  use lively::utils::state::State;

Declaration Example

Javascript

  let state = {origin:{translation:[0,0,0],rotation:[1,0,0,0]},joints:{"panda_joint1":0.0,"panda_joint2":0.0}}

Python

  state = State(origin=Transform.identity(),joints={"panda_joint1":0.0,"panda_joint2":0.0})

Rust

 let iso = Isometry3::from_parts(
      Translation3::new(
          0.6497281999999998,
          -0.24972819999999987,
          0.050000000000000044,
      ),
      UnitQuaternion::from_quaternion(Quaternion::new(
          0.0,
          0.0,
          -0.7069999677447771,
          0.7072135784958345,
      )),
  );
  let mut joints: HashMap<String, f64> = HashMap::new();
  let mut frames: HashMap<String,TransformInfo> = HashMap::new();
  let mut proximities = Vec::new();
  let mut center_of_mass: Vector3<f64>::new();
  let state = State::new(iso, joints, frames, proximities, center_of_mass);