📄️ Solving
The Solver class has a solve method that represents the core functionality of the Lively interface. At a high level, it returns a fully-filled state object and accepts the following fields:
📄️ Resetting
In both the Javascript and Python interfaces, the Solver class has a reset method that allows the user to reset the state of the solver given new objective, weights and a new robot state. In this case, the robot state only needs to supply the joints and origin field, as shown in the initialization example.
📄️ Collision Normalization
Collision Detection is a computational-heavy calculation that allows for collision and proximity detection for robots and environmental shapes.