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HI, the imput of my algortihme is C1,C2,C3,C4,C5,C6,C7, Target where the aim is : -C7 will be in target Position -C1 d'ont change it's position - keep the distance and the local position between C7-C6,C6-C5,C3-C2,C2-C1 C7-C6= mena the posiiton of the C7 relative to C6 (we must keep it and …
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