How to create a 3-DoF rotation joint?

[Omri-CG]

Hi @lanius, thanks for this cool repo!

I would like to add a joint that can rotate about all axes (i.e., a 3-DoF joint).
How can this be done?

Thanks!

[lanius]

Thank you!

I think you can create a joint with multiple DoF by specifying the rotation axes in succession (without any links in between). The joints look a little weird when visualized...

import tinyik
arm = tinyik.Actuator(['z', [1., 0., 0.], 'x', 'y', 'z', [1., 0., 0.]])
tinyik.visualize(arm, target=[1.2, 1.2, 0.5])

Please give it a try.