Algo add skip_list.
Minor.
Replace ragdoll with "roboarm". Found bullet bug?
Hinge seems less buggy than gen6dof.
KinematicChain on hinges instead of gen6dofs.

Working jacobian!
Working Cyclic Coordinate Descent IK.
More experimentation...
Probably better way to "flip" arm.
Fix merge. Annoying swap of parameter positions.