Link to GitHub
https://github.com/youtubeSam/V-REP-Inverse-Kinematics
V-REP path object functionality
http://www.coppeliarobotics.com/helpFiles/en/apiFunctionListCategory.htm#PathObject
V-REP object parameters
http://www.coppeliarobotics.com/helpFiles/en/objectParameterIDs.htm#paths