[codex] Add manipulator adapter skeleton

[superposition]

Summary

• Add a feature-gated manipulator skeleton with mock sim/replay stacks and no hardware dependency.
• Add versioned manipulator joint state and command status schemas (leash-manipulator-v1).
• Add joint-state, joint-command, pose-command, and home capability handlers, with physical joint/pose/home commands policy-gated.
• Extend docs, no-hardware smoke proof, and CI feature matrix coverage.

Validation

• cargo fmt --check
• cargo check --no-default-features --features sim,http,mcp,waveshare-ugv,mavlink-drone,manipulator,bridge-compat
• cargo test --features manipulator manipulator_
• bash -n scripts/smoke-all.sh scripts/smoke-physical-gate.sh
• cargo clippy --all-targets --all-features -- -D warnings
• cargo test --all-targets --all-features
• scripts/smoke-all.sh
• cargo test --no-default-features --features sim,mcp
• cargo package --locked --allow-dirty
• cargo package --locked

Closes #40