Solve for the joint values that place endEffector (offset by tip) at
target, by damped-least-squares descent on a numerical Jacobian. Joint
ranges are honored: every iterate is clamped to each DOF's [min, max].
Returns the solved per-DOF values keyed by child node (ready to pass to
forwardKinematics), whether it converged, the iteration count, and the final
residual norm. An end-effector with no driving joints, or an unreachable
target, returns converged: false with the best configuration found.
Solve for the joint values that place
endEffector(offset bytip) attarget, by damped-least-squares descent on a numerical Jacobian. Joint ranges are honored: every iterate is clamped to each DOF's[min, max].Returns the solved per-DOF values keyed by child node (ready to pass to
forwardKinematics), whether it converged, the iteration count, and the final residual norm. An end-effector with no driving joints, or an unreachable target, returnsconverged: falsewith the best configuration found.