v12.2.0

Features:

1. Added Forward & Inverse Kinematics Tool (RoboTool).
   Thanks for contribution @u4456163-wq

            Select a robot, then open this tool to:
              • Choose the End Effector (tip link) for IK.
              • Inspect the current end-effector position (FK).
              • Enter a Cartesian target (X, Y, Z in millimetres).
              • Solve IK via iterative Jacobian pseudo-inverse
                on the isolated serial sub-chain only.
              • See solved joint angles in a results table.
              • Apply the solution → live 3-D animation.
              • Option to restore the original pose.
             Algorithm: Jacobian pseudo-inverse, step-limited, up to 1 000 iterations, tol = 1 × 10⁻⁴ mm.