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How to get the positions and the orientations of the joints in skeletal mesh ?

Hi everyone,
I work on a simulation of a human on a wheelchair.
I developed an IK (Inverse kinematics) algorithm to compute the position of the joints to grab an object respecting the human constraints.
I want to use my algorithm with unreal engine 4 to see the result.
I am new to unreal engine 4, and I want to get the position and the orientation of the joint.
Thanks