baking? well I dont know how else to call it
also 3dmaxhy called it that way so...
Anyway, theres no tutorial for that script, but its simple(kinda), u open the script, select all the bones(with the button in the script interface)(just the bones, dont select any helper or ik chain or things like that) that you want to "replicate its animations as FK"(baking?? lol ) then u set the step parameter, 5 is recomended(asuming you work on 30fps, also more that 10 in step wont work), then choose IK in the interface (you can choose FK but it wont link the bones and youll get more keys) then use the button to select the root bone, then click bake. Itll last some minutes and its done. You dont need to delete any innesesary frame, arttools wont export those nasty unnecesary frames between animations, theres a catch though, youll have to tweak the keys after baking, so youll have to add starting and closing keys to most of the bones(theres a button that will make keys for all the bones you select, its under auto key button, I use that), the script just mimics the movement but it doesnt actually copy the frames, it actually takes like a snapshot of the bone movement every 5(step) frames, also it reduces keys...and thats why all fast animations will need tweaking too, like attacks, because since they are fast and the script will only snapshot every 5 frames they will lose acuracy once baked, so you better keep your original IK bones to fix the baked bones position and rotations in those anims, but dont ever put a step less that 3 although its tempting itll lag like hell and itll create a lot of keys! meaning more size for the final model, Ive told a long time ago to 3dmaxhy to improve the script to make it have a variable step(that would make things a LOT of easier), but he's out of warcraft modding...I would do it myself but I dont know scripting, shoulnt be that dificult though...Anyway now you know. Also if you ask me if its worth it, I would say yes it is, with FK animating things like legs is a hell and with the script although youll need to tweak a considerable amount of things you will get a nice animation. Hope it helps
BTW I almost forgot, download the 1.5 vertion, the 2.0 beta vertion is very inacurate when baking the animations.
Also I have made a something like a tutorial(more like recomendations) its at wc3campaigns tutorial section, I have the same name there.
edit: also I uploaded some models of mine done with IK and baked after. Ive included the before baking and after baking, dont know if its of any help though
they are at the modeling section of wc3campaigns. Dont try the Myrmidon though, I dont remember if its okay because somehow the biped got corrupted there :s