Project 2: Inverse Kinematics (Due 2/13)

Do this project in a git repo named inverseName1Name2 where Name1 and Name2 are the names of you and your partner. For this project, assume only servos 1, 3, and 5 can be manipulated, while 2 and 4 remain in their default position. This simplifies your arm to have one horizontal elbow, one vertical elbow, and one wrist, as well as only one possible solution for the inverse kinematics problem. Your program should request the X, Y, Z, roll, pitch, and yaw of the tool at the end of the arm. It should then print out the angle of the three joints needed to reach that location and orientation, and move your arm to that position.