I know two solutions that may help in your case. I will describe both of them and you may choose which one suits you best.

Using kubeconfig file

I recommend setting up a kubeconfig file which allows you to connect to a remote cluster. You can find more information on how to configure it in the documentation: Organizing Cluster Access Using kubeconfig Files

If you have a kubeconfig file configured, you can use the load_kube_config() function to load authentication and cluster information from your kubeconfig file.

I've created a simple list_pods_1.py script to illustrate how it may work:

$ cat list_pods_1.py
#!/usr/bin/python3.7
# Script name: list_pods_1.py
import kubernetes.client
from kubernetes import client, config

config.load_kube_config("/root/config")   # I'm using file named "config" in the "/root" directory

v1 = kubernetes.client.CoreV1Api()
print("Listing pods with their IPs:")
ret = v1.list_pod_for_all_namespaces(watch=False)
for i in ret.items:
    print("%s\t%s\t%s" % (i.status.pod_ip, i.metadata.namespace, i.metadata.name))
    

$ ./list_pods_1.py 
Listing pods with their IPs:
10.32.0.2       kube-system     coredns-74ff55c5b-5k28b
10.32.0.3       kube-system     coredns-74ff55c5b-pfppk
10.156.15.210   kube-system     etcd-kmaster
10.156.15.210   kube-system     kube-apiserver-kmaster
10.156.15.210   kube-system     kube-controller-manager-kmaster
10.156.15.210   kube-system     kube-proxy-gvxhq
10.156.15.211   kube-system     kube-proxy-tjxch
10.156.15.210   kube-system     kube-scheduler-kmaster
10.156.15.210   kube-system     weave-net-6xqlq
10.156.15.211   kube-system     weave-net-vjm7j

Using Bearer token

As described in this example - remote_cluster.py:

Is it possible to communicate with a remote Kubernetes cluster from a server outside of the cluster without kube client installed on it.The communication is secured with the use of Bearer token.

You can see how to create and use the token in the Accessing Clusters documentation.

I've created simple list_pods_2.py script ( based on the remote_cluster.py script) to illustrate how it may work:

$ cat list_pods_2.py 
#!/usr/bin/python3.7
import kubernetes.client
from kubernetes import client, config
import requests
from requests.packages.urllib3.exceptions import InsecureRequestWarning

requests.packages.urllib3.disable_warnings(InsecureRequestWarning)

 # Define the barer token we are going to use to authenticate.
    # See here to create the token:
    # https://kubernetes.io/docs/tasks/access-application-cluster/access-cluster/
aToken = "<MY_TOKEN>"

    # Create a configuration object
aConfiguration = client.Configuration()

    # Specify the endpoint of your Kube cluster
aConfiguration.host = "https://<ENDPOINT_OF_MY_K8S_CLUSTER>"

    # Security part.
    # In this simple example we are not going to verify the SSL certificate of
    # the remote cluster (for simplicity reason)
aConfiguration.verify_ssl = False
    # Nevertheless if you want to do it you can with these 2 parameters
    # configuration.verify_ssl=True
    # ssl_ca_cert is the filepath to the file that contains the certificate.
    # configuration.ssl_ca_cert="certificate"

aConfiguration.api_key = {"authorization": "Bearer " + aToken}

    # Create a ApiClient with our config
aApiClient = client.ApiClient(aConfiguration)

    # Do calls
v1 = client.CoreV1Api(aApiClient)
print("Listing pods with their IPs:")
ret = v1.list_pod_for_all_namespaces(watch=False)
for i in ret.items:
    print("%s\t%s\t%s" %
            (i.status.pod_ip, i.metadata.namespace, i.metadata.name))



$ ./list_pods_2.py 
Listing pods with their IPs:
10.32.0.2       kube-system     coredns-74ff55c5b-5k28b
10.32.0.3       kube-system     coredns-74ff55c5b-pfppk
10.156.15.210   kube-system     etcd-kmaster
10.156.15.210   kube-system     kube-apiserver-kmaster
10.156.15.210   kube-system     kube-controller-manager-kmaster
10.156.15.210   kube-system     kube-proxy-gvxhq
10.156.15.211   kube-system     kube-proxy-tjxch
10.156.15.210   kube-system     kube-scheduler-kmaster
10.156.15.210   kube-system     weave-net-6xqlq
10.156.15.211   kube-system     weave-net-vjm7j

NOTE: As an example, I am using a token for the default service account (you will probably want to use a different ServiceAcccount), but to work it properly this ServiceAccount needs appropriate permissions.
For example, you may add a view role to your ServiceAccount like this:

$ kubectl create clusterrolebinding --serviceaccount=default:default --clusterrole=view default-sa-view-access
clusterrolebinding.rbac.authorization.k8s.io/default-sa-view-access created