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Basic concepts

This tutorial will introduce you to the basic concepts of IKPy. You can test a live version in the

Chain

The chain is the main object you will work with : It is a list of links you can move

Creating a chain from a URDF file

One great feature of IKPy is that you can create your chains from a URDF file. If your file is URDF-compliant, it will work!

my_chain = Chain.from_urdf_file("poppy_ergo.URDF")

Getting the position of your chain (aka Forward Kinematics, aka FK)

my_chain.forward_kinematics(joints_vector)

Setting the position of your chain (aka Inverse Kinematics, aka IK)

my_chain.inverse_kinematics([1, 1, 1])