Add IK types, validation, and tests for RM75 kinematics

2026-06-29 20:18:59 +08:00
parent 7255daa69c
commit fdf505eac5
23 changed files with 2583 additions and 1192 deletions
--- a/ik_qp/environment.yml
+++ b/ik_qp/environment.yml
@ -0,0 +1,14 @@
+name: qp
+channels:
+  - conda-forge
+dependencies:
+  - python=3.10.20
+  - numpy=1.23.5
+  - scipy=1.10.1
+  - pinocchio=2.6.20
+  - pip
+  - pip:
+      - osqp==0.6.2.post8
+      - PyYAML==6.0.3
+      - pytest==7.4.4
+