# Phylliade/ikpy

IKPy, an Universal Inverse Kinematics library

Repository: https://github.com/Phylliade/ikpy
Canonical: https://ross.abutalabs.com/products/ikpy
Homepage: http://phylliade.github.io/ikpy
Language: Python
License: Apache-2.0
License Family: permissive
Topics: inverse-kinematics, urdf, robotics, poppy, python
Last push: 2026-08-30T15:58:55+00:00

## Health v2 (maintenance only)
Score: 96/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 100, release rhythm 88, longevity 100
- inputs: {"age_days": 3998, "days_push": 3, "days_rel": 3, "gap_med": 55, "n_releases_24m": 2}
- flags: none
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1031, forks 176 (observed 2026-09-01T02:13:57.562045+00:00)

## What it is
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
- artifact type: library
- maturity: active
- function: simulation, math, parser
- domain: robotics, simulation
- platform: python, cross-platform
- tags: inverse-kinematics, urdf, kinematic-chain, jax, robotics, algorithms

## Member repositories
- Phylliade/ikpy (main) score 96

## Provenance
- Observed fields: from GitHub, fetched 2026-09-01T02:13:57.562045+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T07:07:50.487548+00:00, confidence not recorded.
  - readme: https://github.com/Phylliade/ikpy (fetched 2026-09-01T02:13:57.562045+00:00, sha 632433b778e4)
  - homepage: http://phylliade.github.io/ikpy (fetched 2026-08-29T13:08:09.760291+00:00, sha 5e6b325cc752)
  - registry_pypi: https://pypi.org/pypi/ikpy/json (fetched 2026-08-29T13:08:09.763973+00:00, sha 491b0dd9643a)
- Data as of 2026-08-30T08:39:29.467469+00:00.