add TOOL_TYPE offset to tcp_pose for vacuum and gripper

Apply Z-axis tool offset when publishing tcp_pose so the output
reflects the actual tool tip. Adds TOOL_TYPE (none/vacuum/gripper)
and TOOL_OFFSET_MM env vars with standard Lite6 accessory presets.
Bump version to 0.1.2.

README.md

@@ -40,6 +40,8 @@ nodes:
 | `API_HOST` | `0.0.0.0` | API server host |
 | `API_PORT` | `8080` | API server port |
 | `VACUUM_ENABLED` | `false` | Enable vacuum gripper controls |
+| `TOOL_TYPE` | `none` | Mounted tool: `none`, `vacuum`, `gripper` |
+| `TOOL_OFFSET_MM` | `0.0` | Additional Z-offset in mm added on top of the tool preset |
 | `INIT_MODE` | `none` | Startup positioning: `home`, `pose`, or `none` |
 | `INIT_X/Y/Z` | `300/0/250` | Initial pose coordinates (mm) |
 | `INIT_ROLL/PITCH/YAW` | `180/0/0` | Initial pose orientation (deg) |
@@ -103,7 +105,7 @@ curl -X POST http://localhost:8080/api/move_to_pose \
 
 - `status` - JSON: `{ok, action, message, timestamp_ns}`
 - `joint_pose` - 6 joint angles in degrees
-- `tcp_pose` - `[x, y, z, roll, pitch, yaw]` in mm/deg
+- `tcp_pose` - `[x, y, z, roll, pitch, yaw]` in mm/deg — reflects tool tip when `TOOL_TYPE` is set
 
 ## Dora Inputs