IK is confounded by any joints that aren't 360 degree rotation servos #6
Description
When I first installed this mod, I attempted to use it to control a Canadarm1 on a shuttle in order to capture an uncontrolled payload in orbit. However, the arm just kept twisting into random positions and often getting deadlocked, leading me to initially believe that the mod was completely broken.
However, later on, I tried again with a Canadarm2 on my WIP recreation of Space Station Freedom, and it worked like a charm. I've now installed about a dozen modules with it, and it's likely been the most that I've used robotics outside of niche build-specific movement (e.g., folding wings, garage doors, etc.).
My working theory is that it treats any robotic joint as a 360 degree rotator, so if it is a +/- 90 degree wrist / shoulder joint, or a 180-degree elbow joint, it tries to continue rotating, only to get stuck at the limits of the servo, and not recognizing that it needs to pathfind in a new direction.
If you have not just completely wrapped up the mod, I would greatly appreciate it if you were able to work on a future update where hinge-type joints can be used as well!