Move the linkFrames in case of the axis of the joint does not pass through the csys #73

	name: GitHub Pages

	on:
	push:
	branches:
	- 'master'
	pull_request:
	branches:
	- 'master'

	jobs:
	docs:
	name: "Deploy"
	runs-on: ubuntu-latest
	env:
	working-directory: ./doc

	steps:
	- uses: actions/checkout@main
	- name: Dependencies
	run: \|
	sudo apt update
	sudo apt install -y xsltproc doxygen doxygen-doc texlive ghostscript graphviz python3-wheel python3-setuptools
	pip3 install --upgrade Jinja2
	pip3 install --user mkdocs mkdocs-material mkdocs-video pymdown-extensions
	pip3 install --upgrade pygments
	echo "${HOME}/.local/bin" >> ${GITHUB_PATH}

	- name: Configure Git
	run: \|
	git config --global push.default upstream
	git config --global user.name "GitHub Actions"
	git config --global user.email "[email protected]"
	git remote set-url origin https://x-access-token:${{ secrets.GITHUB_TOKEN }}@github.com/${{ github.repository }}.git

	- name: Build Doxygen
	run: \|
	cd doxygen
	./doc-compile.sh
	working-directory: ${{ env.working-directory }}

	- name: Build Mkdocs
	run: \|
	cd mkdocs
	./site-compile.sh
	working-directory: ${{ env.working-directory }}

	- name: Create and prepare gh-pages anew
	run: \|
	git checkout --orphan gh-pages
	rm -R `ls -A \| grep -v -E "^(.git\|doc)$"`
	mv doc/mkdocs/site/* ./

	- name: Commit and push
	if: github.event_name == 'push'
	run: \|
	git add .
	git commit -m "Publish site"
	git push --force --set-upstream origin gh-pages

Provide feedback