Add ability to restrict IK to certain dofs. #124

	name: CI

	on:
	push:
	branches: [ main ]
	paths-ignore:
	- "**/README.md"
	pull_request:
	branches: [ main ]
	paths-ignore:
	- "**/README.md"

	jobs:
	run-mink-tests:
	runs-on: ubuntu-latest
	strategy:
	matrix:
	python-version: ["3.9", "3.10", "3.11", "3.12"]

	steps:
	- name: Checkout mink
	uses: actions/checkout@v4
	- name: Set up Python ${{ matrix.python-version }}
	uses: actions/setup-python@v5
	with:
	python-version: ${{ matrix.python-version }}
	- name: Install dependencies
	run: \|
	pip install uv
	uv pip install --system -e ".[test]"
	- name: Run tests
	run: \|
	pytest .

	run-mink-coverage:
	runs-on: ubuntu-latest

	steps:
	- name: Checkout mink
	uses: actions/checkout@v4
	- name: Set up Python 3.12
	uses: actions/setup-python@v5
	with:
	python-version: 3.12
	- name: Install dependencies
	run: \|
	pip install uv
	uv pip install --system -e ".[test]"
	- name: Run tests
	run: \|
	coverage run --source=mink -m pytest .
	- name: "Coveralls"
	env:
	GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
	run: \|
	coveralls --service=github

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