Add nextage model

[Michi-Tsubaki]

I use nextage robot in work. Since I need to solve the inverse kinematics (IK) for Nextage in Python and send the joint angles, this PR adds the Nextage Open robot model on the way.

[iory]

iory/scikit-robot-models#1
This PR is merged. Please fix the url.

[Michi-Tsubaki]

I fixed the url and resolved ruff linting errors.

[Michi-Tsubaki]

I added offsets to the end-effector pose to follow the "Z-approach, Y-grasp" gripper rule in this commit.

(↑https://gist.github.com/Michi-Tsubaki/297c1a1b81aea0c16b2b66d453e6b590)

[Michi-Tsubaki]

The CI failure might be due to 25.3 released today.

Yesterday, Install pytestp results L13-L23 (pass) --> pip was not upgraded in this section

Requirement already satisfied: pip in /opt/hostedtoolcache/Python/3.13.7/x64/lib/python3.13/site-packages (25.2)
Collecting setuptools
  Downloading setuptools-80.9.0-py3-none-any.whl.metadata (6.6 kB)
Collecting wheel
  Downloading wheel-0.45.1-py3-none-any.whl.metadata (2.3 kB)
Downloading setuptools-80.9.0-py3-none-any.whl (1.2 MB)
   ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 1.2/1.2 MB 17.3 MB/s  0:00:00
Downloading wheel-0.45.1-py3-none-any.whl (72 kB)
Installing collected packages: wheel, setuptools

Successfully installed setuptools-80.9.0 wheel-0.45.1

Today, Install pytestp resutls L13-31 (fail) --> pip was upgraded pip in this section

Collecting pip
  Downloading pip-25.3-py3-none-any.whl.metadata (4.7 kB)
Collecting setuptools
  Downloading setuptools-80.9.0-py3-none-any.whl.metadata (6.6 kB)
Collecting wheel
  Downloading wheel-0.45.1-py3-none-any.whl.metadata (2.3 kB)
Downloading pip-25.3-py3-none-any.whl (1.8 MB)
   ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 1.8/1.8 MB 94.3 MB/s  0:00:00
Downloading setuptools-80.9.0-py3-none-any.whl (1.2 MB)
   ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 1.2/1.2 MB 102.0 MB/s  0:00:00
Downloading wheel-0.45.1-py3-none-any.whl (72 kB)
Installing collected packages: wheel, setuptools, pip
  Attempting uninstall: pip
    Found existing installation: pip 25.2
    Uninstalling pip-25.2:
      Successfully uninstalled pip-25.2

Successfully installed pip-25.3 setuptools-80.9.0 wheel-0.45.1

[Michi-Tsubaki]

The cause is pypa/pip#13602 as I reproduced the failure on my environment.

(test_py313) michi-tsubaki@tsubaki-ThinkPad-P14s-Gen-4:~$ python --version
Python 3.13.9
(test_py313) michi-tsubaki@tsubaki-ThinkPad-P14s-Gen-4:~$ pip --version
pip 25.2 from /home/michi-tsubaki/miniconda3/envs/test_py313/lib/python3.13/site-packages/pip (python 3.13)
(test_py313) michi-tsubaki@tsubaki-ThinkPad-P14s-Gen-4:~$ pip install --upgrade pip
Requirement already satisfied: pip in ./miniconda3/envs/test_py313/lib/python3.13/site-packages (25.2)
Collecting pip
  Downloading pip-25.3-py3-none-any.whl.metadata (4.7 kB)
Downloading pip-25.3-py3-none-any.whl (1.8 MB)
   ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 1.8/1.8 MB 7.1 MB/s  0:00:00
Installing collected packages: pip
  Attempting uninstall: pip
    Found existing installation: pip 25.2
    Uninstalling pip-25.2:
      Successfully uninstalled pip-25.2
Successfully installed pip-25.3
(test_py313) michi-tsubaki@tsubaki-ThinkPad-P14s-Gen-4:~$ pip install pysdfgen==0.2.1
Collecting pysdfgen==0.2.1
  Downloading pysdfgen-0.2.1.tar.gz (23 kB)
  Installing build dependencies ... done
  Getting requirements to build wheel ... error
  error: subprocess-exited-with-error
  
  × Getting requirements to build wheel did not run successfully.
  │ exit code: 1
  ╰─> [34 lines of output]
      /home/michi-tsubaki/miniconda3/envs/test_py313/bin/python3.13: No module named pip
      Traceback (most recent call last):
        File "/home/michi-tsubaki/miniconda3/envs/test_py313/lib/python3.13/site-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 389, in <module>
          main()
          ~~~~^^
        File "/home/michi-tsubaki/miniconda3/envs/test_py313/lib/python3.13/site-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 373, in main
          json_out["return_val"] = hook(**hook_input["kwargs"])
                                   ~~~~^^^^^^^^^^^^^^^^^^^^^^^^
        File "/home/michi-tsubaki/miniconda3/envs/test_py313/lib/python3.13/site-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 143, in get_requires_for_build_wheel
          return hook(config_settings)
        File "/tmp/pip-build-env-zyshwrui/overlay/lib/python3.13/site-packages/setuptools/build_meta.py", line 331, in get_requires_for_build_wheel
          return self._get_build_requires(config_settings, requirements=[])
                 ~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
        File "/tmp/pip-build-env-zyshwrui/overlay/lib/python3.13/site-packages/setuptools/build_meta.py", line 301, in _get_build_requires
          self.run_setup()
          ~~~~~~~~~~~~~~^^
        File "/tmp/pip-build-env-zyshwrui/overlay/lib/python3.13/site-packages/setuptools/build_meta.py", line 512, in run_setup
          super().run_setup(setup_script=setup_script)
          ~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^
        File "/tmp/pip-build-env-zyshwrui/overlay/lib/python3.13/site-packages/setuptools/build_meta.py", line 317, in run_setup
          exec(code, locals())
          ~~~~^^^^^^^^^^^^^^^^
        File "<string>", line 95, in <module>
        File "<string>", line 88, in main
        File "<string>", line 79, in get_or_install_skbuild
        File "/home/michi-tsubaki/miniconda3/envs/test_py313/lib/python3.13/subprocess.py", line 472, in check_output
          return run(*popenargs, stdout=PIPE, timeout=timeout, check=True,
                 ~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                     **kwargs).stdout
                     ^^^^^^^^^
        File "/home/michi-tsubaki/miniconda3/envs/test_py313/lib/python3.13/subprocess.py", line 577, in run
          raise CalledProcessError(retcode, process.args,
                                   output=stdout, stderr=stderr)
      subprocess.CalledProcessError: Command '['/home/michi-tsubaki/miniconda3/envs/test_py313/bin/python3.13', '-m', 'pip', 'list', '--format', 'json', '--disable-pip-version-check']' returned non-zero exit status 1.
      [end of output]
  
  note: This error originates from a subprocess, and is likely not a problem with pip.
ERROR: Failed to build 'pysdfgen' when getting requirements to build wheel
(test_py313) michi-tsubaki@tsubaki-ThinkPad-P14s-Gen-4:~$ pip install --no-build-isolation pysdfgen==0.2.1
Collecting pysdfgen==0.2.1
  Using cached pysdfgen-0.2.1.tar.gz (23 kB)
  Preparing metadata (pyproject.toml) ... done
Collecting trimesh>=3.5.20 (from pysdfgen==0.2.1)
  Using cached trimesh-4.9.0-py3-none-any.whl.metadata (18 kB)
Collecting numpy>=1.20 (from trimesh>=3.5.20->pysdfgen==0.2.1)
  Downloading numpy-2.3.4-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl.metadata (62 kB)
Using cached trimesh-4.9.0-py3-none-any.whl (736 kB)
Downloading numpy-2.3.4-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl (16.6 MB)
   ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 16.6/16.6 MB 7.9 MB/s  0:00:02
Building wheels for collected packages: pysdfgen
  Building wheel for pysdfgen (pyproject.toml) ... done
  Created wheel for pysdfgen: filename=pysdfgen-0.2.1-cp313-cp313-linux_x86_64.whl size=28757 sha256=b3fe3fb9bdf5dff21f701cb9ed5f81313478f3021be5683651c872db3601f970
  Stored in directory: /home/michi-tsubaki/.cache/pip/wheels/a4/dc/61/24db52c3baef946d9f7b71a4a462c2ecaa6e9d0400699801e9
Successfully built pysdfgen
Installing collected packages: numpy, trimesh, pysdfgen
Successfully installed numpy-2.3.4 pysdfgen-0.2.1 trimesh-4.9.0

Anyway, I think

1. using --no-build-isolation,
2. fixing pip==25.2,
3. Updating pysdfgen to use proper PEP 517 build configuration.
   are the choices

[iory]

LGTM!