How to cheat at Inverse Kinematics

Using IKPY to work out the Inverse Kinematics for a 6DOF robot arm. The URDF file and iPython script are on my github: https://github.com/roTechnic/Cheats6D... The CAD and code for the arm are on my github: https://github.com/roTechnic/Robot-Arm These are the supplies I used: Game controller: https://amzn.to/3XrWK2gNEMA 17 stepper: https://amzn.to/3gtK3Qd Arduino Mega: https://amzn.to/3nx3Oui PTFE tube: https://amzn.to/3TrqDh1 Fishing line: https://amzn.to/3PDTo8o Gear cables: https://amzn.to/3wLN46t Stepper motors: https://amzn.to/3G8mjx0 Thin wall bearings: https://amzn.to/3H7JPZY 1.75mm PLA+ filament: https://amzn.to/3HvzVT5