Section: New Software and Platforms


Inverse Kinematics Python Library

Functional Description: IKPy is a Python Inverse Kinematics library, designed to be simple to use and extend. It provides Forward and Inverse kinematics functionality, bundled with helper tools such as 3D plotting of the kinematics chains. Being written entirely in Python, IKPy is lightweight and is based on numpy and scipy for fast optimization. IKPy is compatible with many robots, by automatically parsing URDF files. It also supports other (such as DH-parameters) and custom representations. Moreover, it provides a framework to easily implement new Inverse Kinematics strategies. Originally developed for the Poppy project, it can also be used as a standalone library.