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Add the kcsolve pybind11 module exposing the KCSolve C++ API to Python: - PyIKCSolver trampoline enabling Python IKCSolver subclasses - Bindings for all 5 enums, 10 structs, IKCSolver, and OndselAdapter - Module functions wrapping SolverRegistry (available, load, joints_for, set_default, get_default, register_solver) - PySolverHolder class forwarding virtual calls with GIL acquisition - register_solver() for runtime Python solver registration IKCSolver constructor moved from protected to public for pybind11 trampoline access (class remains abstract via 3 pure virtuals). Includes 16 Python tests covering module import, type bindings, enum values, registry functions, Python solver subclassing, and full register/load/solve round-trip. Closes #288