pub fn inverse_kinematics(
link_lengths: &[f64],
initial_joint_angles: &[f64],
goal_pos: &[f64; 2],
) -> Option<Vec<f64>>Expand description
Solves inverse kinematics using the Jacobian pseudo-inverse method.
Returns Some(joint_angles) if a solution is found within tolerance,
or None if the maximum number of iterations is exceeded.