Phylliade/ikpy

IKPy, an Universal Inverse Kinematics library observed · 2026-09-01

github.com/Phylliade/ikpy · homepage · Python · Apache-2.0 (permissive) observed · 2026-09-01

Health v2 · maintenance only

96/100

Activity 100
Release rhythm 88
Longevity 100

How is this computed?

round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10) — computed 2026-09-02. Adoption (stars, forks) is never an input.

gap_med: 55
age_days: 3998
days_rel: 3
days_push: 3
n_releases_24m: 2

Full methodology

Adoption not part of the score

1031 stars · 176 forks observed · 2026-09-01

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

IKPy is a pure-Python inverse kinematics library that computes IK for arbitrary kinematic chains defined via URDF, MJCF, DH parameters, or custom representations. It supports position/orientation targets, multiple joint types, an optional JAX backend, and plotting of chains without a real robot.

Use cases

compute inverse kinematics for a robot arm from a URDF file
solve IK for end-effector position and orientation
import and analyze kinematic chains from URDF or MJCF files
test IK algorithms by plotting chains without a simulator
speed up IK solving with a JAX autodiff backend
track end-effector trajectories with warm-started IK

When to choose

you need a pure-Python, easy-to-install IK solver with no compilation
your robot model is described in URDF or MJCF
you want to prototype IK on arbitrary chains with plotting support

When to avoid

you need real-time control at very high frequencies where C++ solvers are required
you need dynamics, collision detection, or full physics simulation rather than kinematics

Facets

library · maturity active

simulation math parser robotics simulation python cross-platform inverse-kinematics urdf kinematic-chain jax robotics algorithms

3 sources

readme: https://github.com/Phylliade/ikpy · fetched 2026-09-01 · 632433b778e4
homepage: http://phylliade.github.io/ikpy · fetched 2026-08-29 · 5e6b325cc752
registry_pypi: https://pypi.org/pypi/ikpy/json · fetched 2026-08-29 · 491b0dd9643a

Member repositories

Repository	Role	Health v2
Phylliade/ikpy	main	96

For agents

markdown · JSON · MCP: product_card(name="Phylliade/ikpy")

Data as of 2026-08-30T08:39:29.467469+00:00 · Report a problem