Fix Start Position (#1)

This PR aims to resolve issue #2  

The key frame from the MuJoCo XML file was not reaching the initial
position of the VR teleop.
To fix this we need to apply the starting position from the `setup`
data.

Explanation:
> mink.Configuration(model) initializes its internal data to default
(zero) qpos,
> ignoring any keyframe that ArmSetup already loaded into setup.data.
Without this
> sync, the IK starts solving from zeros — which on OpenArm puts the
arms hanging
> straight down through the table on the very first solve.

I also added a template `.gitignore` commonly seen in Python projects.

Author: lescidium

.gitignore

@@ -0,0 +1,31 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# Distribution / packaging
+build/
+dist/
+*.egg-info/
+*.egg
+.eggs/
+
+# Editable installs / uv
+.venv/
+venv/
+.uv/
+
+# Test / coverage
+.pytest_cache/
+.coverage
+.coverage.*
+htmlcov/
+.tox/
+.mypy_cache/
+.ruff_cache/
+
+# Editor / OS
+.vscode/
+.idea/
+*.swp
+.DS_Store

src/openarm_control/kinematics.py

@@ -129,6 +129,7 @@ def __init__(self, setup: ArmSetup, params: IKParams) -> None:
         self._max_iters = params.max_iters
 
         self._config = mink.Configuration(setup.model)
+        self._config.update(q=setup.data.qpos.copy())
         mid_qpos = self._config.data.qpos.copy()
 
         task_kwargs = dict(