cool article!
Taako Magnusen
1

RotFromTo is implemented in Unity3D with the following constructor: https://docs.unity3d.com/ScriptReference/Vector3.Angle.html ; otherwise, I’m sure you could implement it yourself with some trigonometry.

The limb probably only has a root position available from the object, but you can do some simple trigonometry (based on the rotation and length of the link) to calculate how to have the inboard/outboard position reach a target position. You might want to write a function to do this.