I built a small web app as a way to teach myself inverse kinematics/controls concepts-- and to get more familiar with Rust and Web Assembly. My takeaways:

- Redundant Inverse Kinematics is very complex. Treating it as an optimization problem has the simplest model but is very inefficient. Jacobian methods are much faster but have their own quirks and limitations.

- Web Assembly is pretty slow actually (for my use case). Where I was seeing a 100x speedup on native Rust over js, I was only seeing a 4-6x speedup of WASM over js.