FallenSigh 87c8b909e9 Add per-joint limits, joint-space interpolation, grip/release, --up/--down ...

- 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

2026-06-15 22:18:02 +08:00

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