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Assembly Origin Planes: - AssemblyObject::setupObject() relabels origin planes to Top (XY), Front (XZ), Right (YZ) on assembly creation - CommandCreateAssembly.py makes origin planes visible by default - AssemblyUtils.cpp getObjFromRef() resolves LocalCoordinateSystem to child datum elements for joint references to origin planes - TestAssemblyOriginPlanes.py: 9 integration tests covering structure, labels, grounding, reference resolution, solver, and save/load round-trip Solver Documentation: - docs/src/solver/: 7 new pages covering architecture overview, expression DAG, constraints, solving algorithms, diagnostics, assembly integration, and writing custom solvers - docs/src/SUMMARY.md: added Kindred Solver section