- Add per-joint angle limits (J2=-110..115, J3=-120..145, J4=-90..130)
with CLI overrides and validation
- Replace Cartesian interpolation with joint-space interpolation in
pose mode to guarantee intermediate steps stay within joint limits
- Add --up/--down mutually exclusive groups to both joints and pose
modes; pose mode auto-detects from z when neither is specified
- Add --grip/--release for J6 control (GRIP/RELEASE_ANGLE placeholders)
- Update cached state to match latest run
- Add resolve_gripper_from_z(): z>=55 → down (open), z<55 → up (closed),
overlap range prefers down
- Remove --up flag from pose subparser (fully auto-detected from --z)
- joints mode retains manual --up flag
- Update cached state to match latest run
- Switch height to user coordinates (0=top, 290=bottom mm), invert sign
internally for UDP protocol
- Replace raw --j5 arg with --up flag (gripper up/down toggle)
- Add default geometry constants (L1, L2, X4, Z4) and gripper
open/closed angles
- Update --show-fk and pose mode to derive Z4 from gripper state
- Add mm unit annotations to all CLI help text and output
- Update cached joint state to match new coordinate convention
- Add camera_capture.py: single-shot JPEG grabber from ESP32 MJPEG stream
- Fix missing newline at EOF in craic.md
