module 'ikpy' has no attribute 'chain'

[eEthan1-chen]

When I run example.py, the following error is generated.I tried to lower the ikpy version to 3.1 and still got the error.

Traceback (most recent call last):
File "C:/Users/eEthan1/PycharmProjects/RL_UR5/example.py", line 4, in
controller = MJ_Controller()
File "C:\Users\eEthan1\PycharmProjects\RL_UR5\gym_grasper\controller\MujocoController.py", line 47, in init
self.ee_chain = ikpy.chain.Chain.from_urdf_file(path + "/UR5+gripper/ur5_gripper.urdf")
AttributeError: module 'ikpy' has no attribute 'chain'

[eEthan1-chen]

i have changed my ikpy version into 3.1 ,but it still dont work

[Cyqxxn]

I changed line 13 in MuJocoController.py, from 'import ikpy" to 'import ikpy.chain import ikpy.inverse_kinematics import ikpy.link', and it worked.