Developer API

IKPy is designed to be extended, especially on two points:

• New link representations: If the builtin URDF or DH links are not enough
• New Inverse Kinematics strategies: If you need a faster or specialized approach

Link API

IK strategy API

You can add new functions performing inverse Kinematics in the IK module. The only constraint is that your Inverse Kinematics function should follow this prototype:

inverse_kinematics_method(self, target, starting_nodes_angles=initial_position, **kwargs)

Once this is done, you just have to add your function to the dict of IK methods, also in the IK module

ik_methods = {
    "my_method": inverse_kinematic_method
}

The user can then choose this method in the inverse_kinematics function:

chain.inverse_kinematics(target, method="my_method")

For example, the default method: http://ikpy.readthedocs.io/en/latest/inverse_kinematics.html