diff --git a/examples/tutorials/05_additional_features_and_components.py b/examples/tutorials/05_additional_features_and_components.py
index f3b6549..1dc2984 100644
--- a/examples/tutorials/05_additional_features_and_components.py
+++ b/examples/tutorials/05_additional_features_and_components.py
@@ -25,7 +25,7 @@
 ** Loop debuggers **
 Control Loop Debuggers are components that can intercept and read data passed by
 the components in the control loop. These components read data (WILL/SHOULD NOT modify)
-and can be used for visualising/debugging etc. 
+and can be used for visualising/debugging etc.
 
 
 6. There are two debuggers used in this example: the `PlotjugglerLoopDebugger`
@@ -52,7 +52,7 @@
 
 from pyrcf.components.robot_interfaces.simulation import PybulletRobot
 from pyrcf.control_loop import MinimalCtrlLoop
-from pyrcf.components.local_planners import IKReferenceInterpolator
+from pyrcf.components.local_planners import PybulletIKReferenceInterpolator
 from pyrcf.components.global_planners.ui_reference_generators import (
     PybulletGUIGlobalPlannerInterface,
 )
@@ -97,16 +97,13 @@
     # This planner uses the PybulletIKInterface to solve inverse kinematics for
     # the target pose, and interpolates the joint targets from current to desired
     # values using a second order filter.
-    local_planner = IKReferenceInterpolator(
-        # create `PybulletIKInterface` object for this robot for solving its IK.
-        pybullet_ik_interface=PybulletIKInterface(
-            urdf_path=robot._sim_robot.urdf_path,
-            floating_base=False,
-            starting_base_position=state.state_estimates.pose.position,
-            starting_base_orientation=state.state_estimates.pose.orientation,
-            starting_joint_positions=state.joint_states.joint_positions,
-            joint_names_order=state.joint_states.joint_names,
-        ),
+    local_planner = PybulletIKReferenceInterpolator(
+        urdf_path=robot._sim_robot.urdf_path,
+        floating_base=False,
+        starting_base_position=state.state_estimates.pose.position,
+        starting_base_orientation=state.state_estimates.pose.orientation,
+        starting_joint_positions=state.joint_states.joint_positions,
+        joint_names_order=state.joint_states.joint_names,
         filter_gain=0.03,
         blind_mode=True,
     )
diff --git a/pixi.lock b/pixi.lock
index 9841196..33f2809 100644
--- a/pixi.lock
+++ b/pixi.lock
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   - astroid>=2.7 ; python_version < '3.12'
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   - furo ; extra == 'docs'
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-  md5: 77ea8dff5cf8550cc8f5629a6af56323
+  url: https://conda.anaconda.org/conda-forge/linux-64/sqlite-3.46.1-h9eae976_0.conda
+  sha256: 8c6245f988a2e1f4eef8456726b9cc46f2462448e61daa4bad2f9e4ca601598a
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+  - libzlib >=1.3.1,<2.0a0
   - ncurses >=6.5,<7.0a0
   - readline >=8.2,<9.0a0
   license: Unlicense
-  size: 860352
-  timestamp: 1718050658212
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 - kind: pypi
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@@ -2752,6 +2983,22 @@ packages:
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+- kind: conda
+  name: tk
+  version: 8.6.13
+  build: noxft_h4845f30_101
+  build_number: 101
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_h4845f30_101.conda
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+  - libzlib >=1.2.13,<2.0.0a0
+  license: TCL
+  license_family: BSD
+  size: 3318875
+  timestamp: 1699202167581
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@@ -2813,7 +3060,7 @@ packages:
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   - psutil ; extra == 'recommend'
   - scikit-image ; extra == 'recommend'
-  - python-fcl ; extra == 'recommend'
+  - fast-simplification ; extra == 'recommend'
   - openctm ; extra == 'recommend'
   - cascadio ; extra == 'recommend'
   - pytest-cov ; extra == 'test'
@@ -2836,16 +3083,30 @@ packages:
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-  build: h0c530f3_0
+  build: h8827d51_1
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+  url: https://conda.anaconda.org/conda-forge/noarch/tzdata-2024a-h8827d51_1.conda
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   license: LicenseRef-Public-Domain
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-  size: 119815
-  timestamp: 1706886945727
+  size: 124164
+  timestamp: 1724736371498
+- kind: conda
+  name: tzdata
+  version: 2024a
+  build: h8827d51_1
+  build_number: 1
+  subdir: noarch
+  noarch: generic
+  url: https://conda.anaconda.org/conda-forge/noarch/tzdata-2024a-h8827d51_1.conda
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+  sha256: c0342aafd421795d740e514bc9858ebddfc705a75a8c5046ac56d85fe97bf196
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 - kind: conda
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@@ -2947,6 +3208,19 @@ packages:
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   timestamp: 1660346797927
+- kind: conda
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+  version: 5.2.6
+  build: h166bdaf_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/xz-5.2.6-h166bdaf_0.tar.bz2
+  sha256: 03a6d28ded42af8a347345f82f3eebdd6807a08526d47899a42d62d319609162
+  md5: 2161070d867d1b1204ea749c8eec4ef0
+  depends:
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+  license: LGPL-2.1 and GPL-2.0
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+  timestamp: 1660346797927
 - kind: pypi
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diff --git a/pyproject.toml b/pyproject.toml
index 71461bb..7b37629 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -4,6 +4,13 @@ version = "0.0.6"
 authors = [{ name = "Saif Sidhik", email = "mail@saifsidhik.page" }]
 description = "A Python Robot Control Framework for quickly prototyping control algorithms for different robot embodiments."
 readme = "README.md"
+keywords = [
+  "python robot control framework",
+  "robotics",
+  "control framework",
+  "legged robot",
+  "motion planner",
+]
 requires-python = ">= 3.10"
 dependencies = [
   "pybullet>=3.2.6,<4",
@@ -15,7 +22,8 @@ dependencies = [
   "numpy>=1.26",
   "inputs>=0.5",
   "numpy-quaternion>=2023.0.4",
-  "zmq>=0.0.0", "tk",
+  "zmq>=0.0.0",
+  "tk",
 ]
 
 [build-system]
diff --git a/pyrcf/components/controllers/README.md b/pyrcf/components/controllers/README.md
index 050646c..f688026 100644
--- a/pyrcf/components/controllers/README.md
+++ b/pyrcf/components/controllers/README.md
@@ -25,7 +25,7 @@ Joint PD controller for joint position and velocity tracking.
 
 - Compatible LocalPlanner Classes:
   - `JointReferenceInterpolator`
-  - `IKReferenceInterpolator`
+  - `PybulletIKReferenceInterpolator`
   - `BlindForwardingPlanner` (if applicable)
 
 ### `GravityCompensatedPDController`
@@ -50,5 +50,5 @@ Joint PD controller for joint position and velocity tracking with active gravity
 
 - Compatible LocalPlanner Classes:
   - `JointReferenceInterpolator`
-  - `IKReferenceInterpolator`
+  - `PybulletIKReferenceInterpolator`
   - `BlindForwardingPlanner` (if applicable)
diff --git a/pyrcf/components/local_planners/__init__.py b/pyrcf/components/local_planners/__init__.py
index dd7d016..b69d806 100644
--- a/pyrcf/components/local_planners/__init__.py
+++ b/pyrcf/components/local_planners/__init__.py
@@ -4,4 +4,4 @@
 from .local_planner_base import LocalPlannerBase, DummyLocalPlanner
 from .blind_forwarding_planner import BlindForwardingPlanner
 from .joint_reference_interpolator import JointReferenceInterpolator
-from .ik_reference_interpolator import IKReferenceInterpolator
+from .pb_ik_reference_interpolator import PybulletIKReferenceInterpolator
diff --git a/pyrcf/components/local_planners/ik_reference_interpolator.py b/pyrcf/components/local_planners/pb_ik_reference_interpolator.py
similarity index 75%
rename from pyrcf/components/local_planners/ik_reference_interpolator.py
rename to pyrcf/components/local_planners/pb_ik_reference_interpolator.py
index 5991843..5c45b09 100644
--- a/pyrcf/components/local_planners/ik_reference_interpolator.py
+++ b/pyrcf/components/local_planners/pb_ik_reference_interpolator.py
@@ -16,24 +16,41 @@
 )
 
 
-class IKReferenceInterpolator(LocalPlannerBase):
-    """Solves IK for given end-effector reference and interpolates joint references."""
+class PybulletIKReferenceInterpolator(LocalPlannerBase):
+    """Solves IK using PybulletIKInterface for given end-effector reference and interpolates joint references."""
 
     def __init__(
         self,
-        pybullet_ik_interface: PybulletIKInterface,
+        urdf_path: str,
+        floating_base: bool = False,
+        starting_base_position: Vector3D = np.zeros(3),
+        starting_base_orientation: QuatType = np.array([0, 0, 0, 1]),
+        starting_joint_positions: List[float] = None,
+        joint_names_order: List[str] = None,
         filter_gain=0.05,
         blind_mode: bool = True,
         ee_names: List[str] = None,
         max_constraint_force: float = 10000,
         solver_erp: float = None,
+        **pb_ik_kwargs,
     ):
         """A "local planner" that simply solves IK for given end-effector reference
-        and interpolates joint references to achieve the target EE pose.
+        and interpolates joint references to achieve the target EE pose. Uses
+        PybulletIKInterface from pybullet_robot package to solve IK.
 
         Args:
-            pybullet_ik_interface (PybulletIKInterface): Pre-defined PybulletIKInterface
-                object that can be used for solving IK for this robot.
+            urdf_path (str): Path to urdf of the robot.
+            floating_base (bool, optional): Whether the robot has fixed base or floating base.
+                Defaults to False.
+            starting_base_position (Vector3D, optional): Starting base position of the robot.
+                Defaults to np.zeros(3).
+            starting_base_orientation (QuatType, optional): Starting base orientation of the robot.
+                Defaults to np.array([0, 0, 0, 1]).
+            starting_joint_positions (List[float], optional): Starting joint positions of the
+                robot. Defaults to None.
+            joint_names_order (List[str], optional): Order of joint names to be used. This will be
+                the order of the output of the IK as well. Defaults to None (use default order from
+                BulletRobot instance when loading this urdf).
             filter_gain (float, optional): Smoothing gain for second-order filter
                 interpolator. Defaults to 0.05.
             blind_mode (bool, optional): If set to False, will not use joint state
@@ -46,8 +63,18 @@ def __init__(
                 to pull the link. Defaults to 10000 (setting `None` will use pybullet default).
             solver_erp (float, optional): Error reduction parameter for this constraint. Defaults
                 to None (use pybullet default).
+            **pb_ik_kwargs (optional): Additional keywork arguments to be used while creating the
+                PybulletIKInterface object.
         """
-        self._pb_ik = pybullet_ik_interface
+        self._pb_ik = PybulletIKInterface(
+            urdf_path=urdf_path,
+            floating_base=floating_base,
+            starting_base_position=starting_base_position,
+            starting_base_orientation=starting_base_orientation,
+            starting_joint_positions=starting_joint_positions,
+            joint_names_order=joint_names_order,
+            **pb_ik_kwargs,
+        )
         self._alpha = filter_gain
         self._blind_mode = blind_mode
         self._max_force = max_constraint_force
diff --git a/test_scripts/ik_interpolator_position_controller_manipulator.py b/test_scripts/ik_interpolator_position_controller_manipulator.py
index 566c3c1..245cdd0 100644
--- a/test_scripts/ik_interpolator_position_controller_manipulator.py
+++ b/test_scripts/ik_interpolator_position_controller_manipulator.py
@@ -9,9 +9,9 @@
 2. This demo uses a pybullet GUI interface to set end-effector targets. This
 is implemented as a `GlobalPlanner` (`UIBase`) called `PybulletGUIGlobalPlannerInterface`.
 
-3. The local planner is `IKReferenceInterpolator` which uses a second order filter
+3. The local planner is `PybulletIKReferenceInterpolator` which uses a second order filter
 to smoothly reach the joint positions for reaching the end-effector target set using
-the GUI sliders. IK is solved using the `PybulletIKInterface`.
+the GUI sliders.
 
 4. The controller is a joint position (and velocity) tracking controller.
 
@@ -22,11 +22,9 @@
 that shows the actual output from the planner (useful for controller tuning/debugging).
 """
 
-from pybullet_robot import PybulletIKInterface
-
 from pyrcf.components.robot_interfaces.simulation import PybulletRobot
 from pyrcf.control_loop import MinimalCtrlLoop
-from pyrcf.components.local_planners import IKReferenceInterpolator
+from pyrcf.components.local_planners import PybulletIKReferenceInterpolator
 from pyrcf.components.global_planners.ui_reference_generators import (
     PybulletGUIGlobalPlannerInterface,
 )
@@ -68,16 +66,13 @@
 
     # create a local planner that interpolates joint positions (using second-order
     # filter) to reach the end-effector targets from global planner (GUI sliders)
-    local_planner = IKReferenceInterpolator(
-        # create `PybulletIKInterface` object for this robot for solving its IK.
-        pybullet_ik_interface=PybulletIKInterface(
-            urdf_path=robot._sim_robot.urdf_path,
-            floating_base=False,
-            starting_base_position=state.state_estimates.pose.position,
-            starting_base_orientation=state.state_estimates.pose.orientation,
-            starting_joint_positions=state.joint_states.joint_positions,
-            joint_names_order=state.joint_states.joint_names,
-        ),
+    local_planner = PybulletIKReferenceInterpolator(
+        urdf_path=robot._sim_robot.urdf_path,
+        floating_base=False,
+        starting_base_position=state.state_estimates.pose.position,
+        starting_base_orientation=state.state_estimates.pose.orientation,
+        starting_joint_positions=state.joint_states.joint_positions,
+        joint_names_order=state.joint_states.joint_names,
         filter_gain=0.03,
         blind_mode=True,
     )