docs: scaffold polisher-control foundation

docs/08-commissioning-checklist.md

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+# Commissioning Checklist
+
+## Bench — no machine motion
+
+- [ ] Host can open serial link to Teensy.
+- [ ] HEARTBEAT / ACK / NACK verified.
+- [ ] Bad CRC/frame rejected with NACK or ignored safely.
+- [ ] State machine illegal transitions logged.
+- [ ] Telemetry frames parse at expected rate.
+
+## Sensor bring-up
+
+- [ ] KWR75B-CAN isolated CAN wiring verified.
+- [ ] CAN bit rate confirmed.
+- [ ] Vendor frame map decoded into Fx/Fy/Fz/Mx/My/Mz/status.
+- [ ] F/T stale-frame watchdog tested.
+- [ ] Table encoder angle stable and monotonic.
+- [ ] Arm encoder angle stable.
+
+## Drive bring-up
+
+- [ ] ODrive runtime interface selected and documented.
+- [ ] ODrive enable/disable/fault reset path verified.
+- [ ] Spindle RPM command and actual feedback verified.
+- [ ] Z force actuator command path verified with safe limits.
+- [ ] Brake engaged feedback verified if installed.
+
+## Safety
+
+- [ ] E-stop hard circuit tested independent of software state.
+- [ ] Force over-limit response tested.
+- [ ] Encoder-loss response tested.
+- [ ] Drive-fault response tested.
+- [ ] Host timeout -> pause -> abort behavior tested.
+- [ ] FAULTED requires explicit reset.
+
+## Manual run
+
+- [ ] Geometric gate blocks stale/missing geometry.
+- [ ] Manual start succeeds after valid geometry.
+- [ ] Force/table/spindle setpoints ramp smoothly.
+- [ ] Live setpoint changes are logged.
+- [ ] Telemetry CSV has required header and >=100 Hz samples.
+- [ ] Manual-session log includes setpoint history and actual summary.
+- [ ] Artifacts are saved under `/data/manual/{session_id}/`.