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According to the DOF formula m = 3(n - 1) - 2f I would say this test arm is 4 DOF. All four are managed with the Joint Stabe Publisher GUI panel. Also I've checked the Allow Approximate IK Solutions checkbox. You can see how it works in the latest video www.youtube.com/watch?v=GUY_H8WcKCI I have tried this before (it was in the first video in this thread) and this fits to what it should be to some degree but it is very inconvenient. But I want to understand what really the issue is and how to elemiate the problem in future. I can post whatever files are need for revision. Only tell me where do you prefer me to host them.
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