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name: ikpy description: "Use IKPy for Python robot kinematics: construct or import chains, compute forward/inverse kinematics, handle URDF/MJCF/DH models, validate transforms, use the optional JAX backend, and create headless diagnostics." disable-model-invocation: true metadata: disco-role: operating license: Apache 2.0

IKPy

IKPy is a pure-Python inverse-kinematics library for serial robot chains. Use this skill when a task mentions IKPy, Chain, URDFLink, DHLink, URDF/MJCF robot descriptions, homogeneous transforms, position/orientation IK, or the optional JAX backend.

Start safely

• Install the base package with python -m pip install ikpy for NumPy/SciPy/ SymPy kinematics.
• Add plotting with python -m pip install 'ikpy[plot]' and JAX with python -m pip install 'ikpy[jax]'. These extras are optional; no robot hardware or accelerator is required for the core library.
• Verify the active interpreter with python -c "import ikpy; print(ikpy.__version__)". The bundled scripts/check_env.py reports core and optional dependency availability without reading a model or writing files.
• Work with a complete joint vector: one value per chain link, including the origin and terminal fixed links. Set fixed/terminal entries inactive in the active_links_mask.

Route the task

• Build or solve a chain in memory: read chain-kinematics for Chain, FK/IK, orientation modes, bounds, active masks, DH/custom links, and numerical checks.
• Load or inspect robot descriptions: read robot-model-import for URDF, MJCF, IKPy JSON metadata, path selection, prismatic joints, and parser diagnostics.
• Use backend="jax": read jax-backend for optional CPU JAX, cache compilation, autodiff Jacobians, solver options, and NumPy parity. Do not infer CUDA support from a visible GPU.
• Inspect transforms or render diagnostics: read visualization-geometry for 4x4 matrix conventions, headless Matplotlib plots, target overlays, and Graphviz URDF trees.

For exact public signatures, cross-cutting install notes, and package version facts, read the API overview and troubleshooting. Read repo-provenance.md before deciding whether this skill matches a changed checkout; refresh it when the recorded commit or public API baseline differs.

Operational boundaries

IKPy computes kinematic transforms and numerical solutions; it does not by itself command motors, simulate a robot, validate collision safety, or prove a solution is physically reachable. Confirm units, frames, joint limits, target reachability, and downstream controller safety separately. Keep hardware, third-party simulators, credentials, and indefinite control loops outside this runtime skill.