1. The paper that cited seventeen references is thankfully self-contained - the references were provided for curiosity and further information, and were not prerequisites. Also, this paper is soooo interesting. Here is the link in case you are interested: Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares methods
2. Writing is indeed therapeutic. After writing that, I no longer feel any hostility to Sikhism or to any religion. I no longer feel obligation to follow any religious teachings or anything other than what is in my heart and mind, and am therefore able to now respect other people's thoughts and freedom to follow the paths that make the most sense in their hearts and minds.
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