塔木csce-452

This project builds on Project 1 by adding world control mode, which will be built on inverse kinematics. Requirements: 1. X and Y buttons: each direction has two buttons (+X, -X, +Y, -Y). For example, if the +X button is clicked, the corresponding joint move right by a certain number of pixels along positive X direction. 1. Paint brush control button. If the paint brush button is clicked, it paints a filled circular shape co-centered with the brush. The diameter of the circle may be 20 pixels or reconfigurable.