Lua Script for Enabling/Disabling Inverse Kinematics (IK) in Robot Arm Simulation

This is a Lua script function that enables or disables inverse kinematics (IK) for a robot arm in a simulation environment.

The function takes a boolean parameter 'enable' which, if true, enables IK for the robot arm. If false, it disables IK.

When enabling IK, the function sets the position and orientation of the IK target object (ikTarget) to be the same as the IK tip object (ikTip). It then sets the joint mode of each joint in the robot arm to be in IK mode using the sim.setJointMode() function.

When disabling IK, the function sets the explicit handling of the IK group handle (ikGroupHandle) to be 1, meaning that the IK group is no longer being explicitly controlled. It then sets the joint mode of each joint in the robot arm to be in force mode using the sim.setJointMode() function.

Overall, this function allows for easy control of IK for a robot arm in a simulation environment.