I would like to implement python code with inverse kinematics

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The trak_ik repository has documentation about how the Python API works. It also states that the Python API is just a SWIG wrapper around the C API so you could look at the documentation for that, too (although there doesn't seem to be much). Finally, trac_ik claims to be a drop-in replacement for the KDL solver, so look at the KDL API documentation to see how that works. The wiki page for trac_ik says that these are the only differences:

TRAC-IK has a very similar API to KDL's IK solver calls, except that the user passes a maximum time instead of a maximum number of search iterations. Additionally, TRAC-IK allows for error tolerances to be set independently for each Cartesian dimension (x, y, z, roll, pitch & yaw).