One full FABRIK iteration - forward then backward. Often enough on its own for an unconstrained chain reaching a nearby target. use solve to iterate to a tolerance.
the chain to move, mutated in place
where the end effector should go
the distance from the effector to target afterwards
target
One full FABRIK iteration - forward then backward. Often enough on its own for an unconstrained chain reaching a nearby target. use solve to iterate to a tolerance.