IK and FK modules

[marcosson]

Hi,
thank you for your work and for sharing it with us.

I have two questions about how the IK and FK modules are used, more precisely:

• How and where should I call the IK module? I see it's defined as a function, but it's never used so I don't know what parameters I should pass to it.
• In order to activate the FK module we need to switch do_fk=True, but how should I handle the joint_position variable that is returned by the function? Is there any manipulation that needs to be done on it, like for global_orientation and joint_rotation, or it can be used as is?