Basic Initialization

note

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

We have also created examples in Javascript, Python, and Rust for Basic Initialization. You can find the file by clicking the links in the table down below.

Language	Path	Command to run the example
Rust	link	cargo run --package lively --example basic_initialization_example
Python	link	run in the Jupyter Notebook
Javascript	link	yarn build, yarn dev

Live

Loading Example...

Javascript

import { panda } from "./urdfs.js";
import { Solver } from "@people_and_robots/lively";

const newSolver = new Solver(panda, {
  smoothness: {
    // An example objective (smoothness macro)
    name: "MySmoothnessObjective",
    type: "SmoothnessMacro",
    weight: 5,
  },
});

const newState = newSolver.solve({}, {}, 0.0);

document.querySelector("#app").innerHTML = `
  <div>
   ${JSON.stringify(newState)}
  </div>`;

console.log(newState);

Python

from lively import Solver, SmoothnessMacroObjective
from lxml import etree

# Read the xml file into a string
xml_file = '../../tests/basic.xml'
tree = etree.parse(xml_file)
xml_string = etree.tostring(tree).decode()
#print(xml_string)
# Instantiate a new solver
solver = Solver(
  urdf=xml_string, # Full urdf as a string
  objectives={
      # An example objective (smoothness macro)
      "smoothness":SmoothnessMacroObjective(name="MySmoothnessObjective",weight=5,joints=True,origin=False,links=True)
  }
)

# Run solve to get a solved state
state = solver.solve(goals = {}, weights = {}, time=0.0)
# Log the initial state
print(state)

Rust

use lively::lively::Solver;
use lively::objectives::core::base::SmoothnessMacroObjective;
use lively::objectives::objective::Objective;
use std::collections::HashMap;
use std::fs;

fn main() {
    let mut objectives: HashMap<String, Objective> = HashMap::new();
    // Add a Smoothness Macro Objective
    objectives.insert(
        "smoothness".into(),
        // An example objective (smoothness macro)
        Objective::SmoothnessMacro(SmoothnessMacroObjective::new("MySmoothnessObjective".to_string(), 5.0, true,false,false))
    );
let data = fs::read_to_string("./tests/basic.xml").expect("Something went wrong reading the file");
let mut solver = Solver::new(
    data.clone(), // Full urdf as a string
    objectives, //objectives
    None, //root_bounds
    None, //shapes
    None, //initial_state
    None, //max_retries
    None, //max_iterations
    None);//collision_settings

}