Normalize angles to 2*pi

[NEOAdvancedTechnology]

I am seeing things like this:

print("The angles of each joints are : ", my_chain.inverse_kinematics(target_frame))
('The angles of each joints are : ', array([ 0. , -60.47565859, -69.55194186, -104.00364979, 0. ]))

I suggest that the joint angles have a "% twopi" on them where twopi=2*3.14159265359.

Great library, unfortunately I can't figure out how to use limits (or if the limits in the chain really work), so it wants to drive my arm through the table in some cases. I think I'm going to have to use Caliko with FABRIK, but your library is a lot easier to install & use!

Thanks!

[stale]

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