In figure 6 I show the formulas I put on place on a simple example. That is one finger of a hand. Each phalanx makes the same angle with the previous phalanx, and its start position is the end position of the previous.
Note that the current builds have an error in manipulating the angles. There are other problems and I am waiting to have a build that handles properly the angles to investigate then a bit further.
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May I suggest that only the labels of the objects are presented as they are the only references the user knows.
This needs a conversion from name to label when editing if the name is used in a formula.
As shown in figure Cut02, or Cylinder001 are not references for object known by the user as they have been renamed.
For just trowing a clup in the Hencoop (Dutch saying). I would say that the names are the logic of the software and the label is the logic of the user... For most users is the label more easy to remember or to lookup...