This script can be demoed at kinematics.wylie.su. Alternatively, to run it locally, you may use Python's built in
SimpleHTTPServer module like so:
python -m SimpleHTTPServer 8000
and visit localhost:8000
Click on a joint, then use the left and right arrow keys to rotate.
Up and down arrow keys add/subtract joints.
Click and drag anywhere on the board to orient the joints. Implemented using clamped Jacobian transpose method.
All code is MIT licensed unless otherwise noted.