kinematics: let a module report where the tool points - #4455

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grandixximo:kins-tool-frame

Commits on Aug 24, 2026

docs: add a kinematics conventions chapter
grandixximo
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884ec29
kinematics: add optional work frame and tool frame entry points
grandixximo
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47a9f95
trtfuncs: supply the work and tool frames for xyzac and xyzbc
grandixximo
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d779531
trivkins: supply the work and tool frames
grandixximo
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33342c1
xyzacb_trsrn, xyzbca_trsrn: supply the work and tool frames
grandixximo
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418c91a
pumakins: supply the work and tool frames
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362ea45
tests: cover the frame helpers
grandixximo
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46ef1dd
kinematics: answer which joints point the tool somewhere
grandixximo
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cffa81d

Commits on Aug 26, 2026

trsrn: set the kinematics pins up once, at load
grandixximo
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002fedd
tests: check the shipped frame functions where they run
grandixximo
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1e5da0d