question:  given two telescoping arms and a pivot between them, is there
a way to fix the ends of the arms and only move the pivot?

[]-------0----[]

[]----0-------[]

[]    --[]
 \  --
  0-

[]--     []
    --  /
      -0

etc.

where [] are fixed and 0 is the pivot and - or \ is a telescoping arm

also is there a way to make circular IK relationships (ie a triangle or
a square with one fixed point; or a triangle where one arm is longer
than the triangle?)

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