I recently wrote a routine to do fast IKs[1] for a new robot arm and let me say, I am filled with profound love for atan2. It saved me from having to explicitl

I recently wrote a routine to do fast IKs[1] for a new robot arm and let me say, I am filled with profound love for atan2. It saved me from having to explicitly dealing with so many corner cases. [1]https://en.wikipedia.org/wiki/Inverse_kinematics https://en.wikipedia.org/wiki/Inverse_kinematics