main.py in manipulator_viz does inverse kinematics and it works. calibration...

main.py in manipulator_viz does inverse kinematics and it works. calibration is off, but thats fixable. there is also rendering, but its way too slow for real-time running. it should be either a separate thread, updating slowly, or a implemented differently. adding some ros bindings and doing rviz is one option, but hopefully there is something simpler too