Awesome work, Bushi! Please forgive me, but I'm going to argue with a little bit of your mathematics. In post 2, you said that with three joints and restricting yourself to whole numbers of degrees in your rotations you would have 720 times 3 times 3 = 6,480 posible combinations. The formula should be 720 to the power of (3 times 3) = 51998697814229000000000000 possible combinations, which is a lot larger than 6,480. I would argue that you should use a 360 degree range instead of 720 (180 degrees in either direction is enough to cover the full 360 degree range of movement - no need to have two full circles). Then you wold have 360^9 = 101559956668416000000000 possible combinations, which is a quite a lot smaller, but still much larger than 6,480. If we then allow rotations to be specified to 3 decimal places, we have 360,000^9 = 101559956668416000000000000000000000000000000000000 possible combinations. Of course, this just makes your GA even more impressive and illustrates even more clearly why the GA approach is preferable to trying to test every single combination. Congratulations on some amazing work. This is a wonderful approach to the problem and I can see it's going to be very useful.

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