IKPy has been integrated in Pypot, so you can use IKPy trough your Pypot's robot and the Poppy creatures.

To test a live version of this integration on an ErgoJR, you can start this notebook.

The chains attributes

Each Poppy creature has a number of attributes of type chain representing the available Kinematics chains.
For example, the Poppy Torso has l_arm_chain and r_arm_chain for each hands, and the Ergo Jr has only chain.