code: function Chain(opts) {
  
    if (!(this instanceof Chain)) {
      return new Chain(opts);
    }
  
    if (opts.constructor) {
      this.devices = new opts.constructor(opts.actuators);
    } else {
      this.devices = opts.actuators;
    }
  
    this.chainType = opts.chainType;
  
    this.links = opts.links;
  
    this.origin = opts.origin || [0, 0, 0];
    this.position = opts.startAt || [0, 0, 0];
  
    this.require = opts.require || true;
  
  }
docs: Wrap our servos object so that we have all the info and methods we need to define and solve our the kinematic system  @param {Object} opts Options: {actuators, systemType, origin, bones } - opts.actuators {Servos}: The Servos() object that contains the chain's actuators - opts.chainType {String}: One of the pre-defined chain types. Don't see your system type? Open an issue, or better yet a Pull Request! - opts.origin {Array}: A three-tuple representing the x, y and z offset of the chain's origin point from the robot's origin point. - opts.links {Object}: An array with the link lengths for our system The names vary with the systemType  returns this chain