feat: add release-to-move TCP gizmo control in Webots

Add a native Webots marker for setting the active tool's TCP position and
orientation. Dragging edits the preview; releasing the mouse submits one
complete, checked joint trajectory with configured TCP speed limits.
Unreachable targets reset the marker to the current TCP.

Preserve coordinate, joint, and control-file commands through motion
reservations and a controller action proxy. Give the gizmo lowest priority
and finish its committed trajectory before dispatching queued regular
commands, including waits longer than the former two-second service timeout.

Place the patron TCP at its working end, 55.2 mm along local Z, and use the
flange TCP when no tool is attached. Add digital_twin.tcp_gizmo configuration,
ROS interfaces, launch integration, and regression coverage.

Document operation, configuration, tool attachment, speed limits, and
troubleshooting in both Russian and English.

Validation: 42 Python tests and 8 C++ tests passed. Webots regressions covered
one action per release, translation and rotation with and without a tool,
unreachable targets, and ordinary commands waiting for gizmo completion.

cobot-setting.yaml

@@ -8,6 +8,13 @@ robot:
 
 
 digital_twin:
+  tcp_gizmo:
+    enabled: true              # TCP-гизма в Webots; только в режиме симуляции
+    publish_period: 0.032      # период управления [с]
+    command_timeout: 0.3       # максимальный возраст цели при отпускании мыши [с]
+    state_timeout: 0.5         # допустимый возраст состояния робота [с]
+    max_linear_speed: 0.50     # верхний предел скорости TCP [м/с]
+    max_angular_speed: 0.4     # скорость вращения TCP [рад/с]
   webots:
     world: pkg://iiwa_description/worlds/iiwa.wbt
     # world: pkg://iiwa_description/worlds/simple_world.wbt