void Update()
{
ballSimulation.CheckValues();
serviceRotation.RotateLegs();
inverseKinematics.Init(topLegs, bottomLegs, finalLegs, children, endEffector, baseEffector);
inverseKinematics.DoInverseKinematics(phi_roll, theta_pitch, psi_yaw);
SetEndEffectorPosition(sliders[2].value, sliders[0].value, sliders[1].value, sliders[4].value, sliders[5].value, sliders[3].value);
}
public void UpdateInverseKinematics()
{
_inverseKinematics.DoInverseKinematics();
}
