IK and FK using sawyer interface, trajectory execution is not availble in desired interface

main.py

 import rospy
+from time import sleep
 import intera_interface
+from geometry_msgs.msg import Pose
 
 if __name__=="__main__":
     rospy.init_node("sawyer_controller")
@@ -10,4 +12,21 @@ if __name__=="__main__":
         angles[k]=0.0
     limb.move_to_neutral()
     sleep(10)
-    limb.move_to_joint_positions(angles)
+
+    # Inverse Kinematics
+    pose0 = Pose()
+    pose0.position.x = 1.0155
+    pose0.position.y = 0.158
+    pose0.position.z = 0.3157
+
+    pose0.orientation.x = 0.544
+    pose0.orientation.y = -0.45
+    pose0.orientation.z = 0.544
+    pose0.orientation.w = -0.45
+
+    angles_from_ik = limb.ik_request(pose0)
+    limb.move_to_joint_positions(angles_from_ik)
+
+    # Forward Kinematics 
+    limb.fk_request(angles_from_ik)
+