Preserve resource state across legacy arm pickup and drop

[j0nch]

Summary

Update the legacy LiquidHandler resource-move path so its resource model reflects a successful physical pickup immediately, while preserving the pickup-time geometry needed for a correct drop.

• unassign the resource after a successful pickup
• capture the resource absolute rotation and gripped width before it is detached
• use the captured rotation for legacy STAR/iSWAP drop geometry
• use the captured width for the legacy STAR/iSWAP release width

This prevents a detached resource from losing source-parent pose context between pickup and drop.

Scope

Current main no longer contains the prior capabilities-arm package, so this PR intentionally covers the active legacy resource-movement implementation only.

Test

Adds a regression test for a plate picked up from a rotated source holder. It verifies that the source is released immediately and the drop receives the pickup-time rotation and width.

Validation performed locally:

• git diff --check
• Python syntax parsing for the modified modules

The checkout used for this port did not include the project test environment, so pytest was not available there.