Today I made a cut on my PocketNC 5-axis milling machine with gcode generated with the help of this inverse kinematics solver.  I'd post a video of the cut if it wasn't boring.  Literally boring.  It was gcode to do finish passes on 1/8" diameter hole, with a ball nose endmill angled 5 degrees so that it was only cutting on the radius of the cutter, not the shank.

I'll have to do a more interesting cut.