Allow the origin of rotation to be specified (#7608)

* pass axis origin to endpoint

* fmt

* fix lint errors

* update sim tests with new transform endpoint

* added missed files

* revert cargo.toml

* implement review requests

* fmt

* revert unnecessary custom origin

rust/kcl-lib/tests/kcl_samples/herringbone-gear/artifact_commands.snap

@@ -629,7 +629,10 @@ description: Artifact commands herringbone-gear.kcl
                 "z": 8.0
               },
               "set": false,
-              "is_local": true
+              "is_local": true,
+              "origin": {
+                "type": "local"
+              }
             },
             "rotate_rpy": null,
             "rotate_angle_axis": null,