The boring desktop robot.

Install pi-blaster.

sudo apt-get install python-smbus i2c-tools
sudo raspi-config

In the config menu, advanced options, enable automatic loading of the I2C kernel module. Still had to add the following to /etc/modules:

i2c-bcm2708
i2c-dev

May need to do some of manual configuration steps.

Test with sudo i2cdetect -y 0.

For scipy: sudo apt-get install liblapack-dev gfortran pip install scipy # or, alternatively the following line sudo apt-get install python-scipy # not up-to-date, but installs much faster

Run Servo IK test with python -m code.servo_test_ik.

Need a relatively recent install of cython (which takes a long time to build via pip). Required increase swap size per http://raspberrypi.stackexchange.com/questions/70/how-to-set-up-swap-space.