Feature: Add advanced motor/behavior-control services (expert mode)

[MTrab]

Summary

Expose optional expert services for direct motor/behavior control.

Why this matters

Powerful but risky; should be explicit expert-only functionality.

SDK evidence (no wire-pod dependency)

• RPCs:
  • AssumeBehaviorControl (stream)
  • DriveWheels
  • MoveHead
  • MoveLift
  • StopAllMotors

Proposed HA design

• Services only (no default entities), disabled by default behind advanced option.
• Include a card supporting touch to define movement

Acceptance criteria

• Hard timeouts and explicit stop/reset handling.
• Clear safety warnings in docs about physical movement.
• Tests for validation and error paths.