I'm considering using FullBodyBipedIK for solving the IK problem of grabbing an object. However, I don't want the bones to be updated until at a later time. Instead, I'd like a way to retrieve the solution itself that I can apply manually later. This is part of the requirement of using RRT-Connect to move an object from one place to another while avoiding arm collisions with other objects. Is it possible? If so, how do I do it?