- 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
