Add IK types, validation, and tests for RM75 kinematics

ik_qp/pyproject.toml

@@ -0,0 +1,35 @@
+[build-system]
+requires = ["setuptools>=68", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "rm75-ik-qp"
+version = "0.1.0"
+description = "Validated Pinocchio and OSQP inverse kinematics for RealMan RM75-B"
+readme = "README.md"
+requires-python = "==3.10.*"
+dependencies = [
+  "numpy==1.23.5",
+  "scipy==1.10.1",
+  "osqp==0.6.2.post8",
+  "pin==2.6.20",
+  "PyYAML==6.0.3",
+]
+
+[project.optional-dependencies]
+test = ["pytest==7.4.4"]
+
+[project.scripts]
+rm75-stage1-validate = "rm75_ik.cli:main"
+
+[tool.setuptools]
+package-dir = {"" = "src"}
+data-files = {"share/rm75_ik/models" = ["kine_ctrl/urdf_rm75/RM75-B.urdf", "models/dual_arm_mujoco_fixed.urdf"]}
+
+[tool.setuptools.packages.find]
+where = ["src"]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+addopts = "-ra"
+