import numpy as np

import tinyik


tokens = [
    [.3, .0, .0], 'z', [.3, .0, .0], 'x', [.0, -.5, .0], 'x', [.0, -.5, .0]]


def visualize():
    leg = tinyik.Actuator(tokens)
    leg.angles = np.deg2rad([30, 45, -90])
    tinyik.visualize(leg)


def visualize_with_target():
    leg = tinyik.Actuator(tokens)
    leg.angles = np.deg2rad([30, 45, -90])
    tinyik.visualize(leg, target=[.8, .0, .8])


large_tokens = [
    [85., 80., 0.],
    'y',
    [500., 0., 0.],
    'y',
    [0., -500., 0.],
    'y'
]


def large_visualize():
    arm = tinyik.Actuator(large_tokens)
    tinyik.visualize(arm, radius=15.)


if __name__ == '__main__':
    visualize()
    visualize_with_target()
    large_visualize()

@@ -430,33 +430,33 @@
  80., 0.%5D,%0A    '
-y
+z
 ',%0A    %5B500., 0.
@@ -467,17 +467,17 @@
 %5D,%0A    '
-y
+z
 ',%0A    %5B
@@ -496,16 +496,8 @@
 .%5D,%0A
-    'y'%0A
 %5D%0A%0A%0A
@@ -599,16 +599,157 @@
 =15.)%0A%0A%0A
+def large_visualize_with_target():%0A    arm = tinyik.Actuator(large_tokens)%0A    tinyik.visualize(arm, target=%5B400., -300., 0.%5D, radius=15.)%0A%0A%0A
 if __nam
@@ -811,16 +811,16 @@
 arget()%0A
-
     larg
@@ -821,20 +821,54 @@
   large_visualize()%0A
+    large_visualize_with_target()%0A

Add and modify test