继续完成 web-rtcp-5axis-sim-plan

结论：完成 LinuxCNC kinematics WASM ABI 覆盖，并将 web-rtcp-5axis-sim-plan 的 RTCP frame/boundary adapter 接到 xyzac-trt kinematics SDK；Node、build、browser smoke 验证通过。

wasm-port/runtime/sdk/README.md

@@ -118,6 +118,9 @@ import {
   createVirtualHalWasmBridgeSnapshot,
   executeVirtualHalCommand,
   executeVirtualHalcmd,
+  createLinuxCncKinematicsSdk,
+  linuxCncKinematicsWasmFile,
+  supportedLinuxCncKinematicsModules,
   readVirtualHalPin,
   stepVirtualHalMotion,
   stepVirtualHalMotionController,
@@ -221,6 +224,27 @@ import {
 LinuxCNC `inifile.cc` and exposes `getString()` plus `getBool()`. Boolean
 conversion is performed by vendored LinuxCNC `iniFindBool()`.
 
+`createLinuxCncKinematicsSdk()` wraps standalone kinematics WASM modules built
+from vendored LinuxCNC `src/emc/kinematics` sources and exposes:
+
+- `type()`
+- `switchable()`
+- `switchKinematics(switchkinsType)`
+- `forward(joints, { seedPose })`
+- `inverse(pose, jointCount, { seedJoints })`
+- `runProbe()`
+
+The current standalone kinematics WASM modules are `trivkins`, `5axiskins`,
+`xyzac-trt`, `xyzbc-trt`, `corexy`, `rotate`, `rose`, `max`, `lineardelta`,
+`rotarydelta`, `scorbot`, `tripod`, `scara`, `puma`, `genser`, `genhex`, and
+`pentakins`. Use `supportedLinuxCncKinematicsModules()` to list supported
+module IDs and `linuxCncKinematicsWasmFile(moduleId)` to resolve the generated
+WASM filename. The optional seed buffers mirror LinuxCNC's in/out kinematics
+function contracts for iterative algorithms such as generic serial and
+hexapod/pentapod kinematics. The SDK only manages memory and calls the
+exported C ABI; forward/inverse math remains in vendored LinuxCNC kinematics
+source.
+
 `createLinuxCncInterpSdk()` wraps the interpreter-core module built from
 vendored LinuxCNC RS274NGC sources and exposes: