tests: kins-switch holds the joints from the program's own switch to identity - #4564
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…identity The hold started at the first sample that read identity. When the abort's G13.1 has run before the program starts, that sample is the homed zeros, and the stretch after the program's G12.1 P1 at its pose counts as every joint straying. Start in identity every run, and start the hold at the change the program makes.
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The kins-switch test failed on the arm CI of #4548: every joint reported straying by the program's pose while only W was asked for. The test's hold started at the first sample that read identity; when the abort's G13.1 has already run before the program starts, that sample is the homed zeros, and the identity stretch after the program's G12.1 P1 counts as stray. My #4563 introduced it; the original test started the hold at a change to identity. Test bookkeeping only, the machine did what was asked.
The test now starts in identity every run and starts the hold at the change the program makes. Reproduced the CI numbers here by polling once before the run command; passes with the fix in both orderings.