algorithmic modeling for Rhino
Here's an update I've been meaning to post for a long while.
As I'm currently at the RobArch conference in Michigan, now seems a good a time to finally get it out there.
This is a very minimal scripted version of Lobster, with some improvements.
It now outputs the complete ordered set of 8 kinematic solutions for a given end plane, to allow full control.
Also included is a separate forward kinematics component.
Also 2 quaternion based plane interpolation objects for linear blending between a pair of orientations (see also the script I posted in the comments here for spline based smooth interpolation between a sequence of planes)