Implementation of Jacobian Transpose example shown at: https://medium.com/unity3danimation/overview-of-jacobian-ik-a33939639ab2
Only solvable for XY plane only, but could be adjusted to solve for additionaly planes
Target gameobject needs its position manually set, could be easily made to be changed via UI
The joints can be extanded as required, you need to increase the joints array size
For displaying output of joint angle value, you need to increase the lbl_joint_Angles array size and add the text UI objects