This is part of the project to build an open source desktop GUI software for the simulation and control of 6 degrees of freedom Stewart Platforms.
The code is used to test inverse kinematics simulation of a stewart platform design. The goal is to output servo motor outputs based on certain initial conditions. You can read the following article for more details : https://www.linkedin.com/pulse/stupid-yet-highly-effective-method-visualising-mahmud-safat-khan-phd/