How to use inverseKinematics to find configuration to 1) get robot link to pass through position X1 in space and also 2) have end effector position X2?

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while perform self contained example"Control a Differential Drive Robot in Gazebo", in the GazeboWorld step, I can't find the required file "differentialDriveRobot.world"

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Joint angle values are changing from an initial to a final value with constant velocity in a given time(Given as a loop function). I have to plot a graph of joint angle motion?

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how to done inverse kinematics for 5 dof robotic manipulator in simulink? please provide any suggestion and information or any material please

What kind of numerical method is used for the inverse kinematic block at simulink?