Used an arm with 4 segments of lengths of 5.0, 4.0, 3.0, and 2.0. Arm tries to reach a goal using an inverse kinematics solver by calculating the angles between segments. Calculated the pseudo-inverse of the Jacobian matrix for each joint by using the Eigen SVD solver. Results that gave an out-of-reach goal were handled by scaling the vector toward the goal so that the arm was completely taut and extended.