Fix: Backport PublishVelocityForceCommand unstamped twist/wrench XML to v9.3

[JWhitleyWork]

Problem

CI integration tests for lab_sim against released 9.3.0-rc9 / 9.3.0-rc10 images fail in ~0.6s with:

A port with name [twist] is found in the XML (PublishVelocityForceCommand, line 228)
but not in the providedPorts() of its registered node type.

A paired refactor split across releases between this repo and moveit_pro. The XML side (9ff6820f on moveit_pro_example_ws/main, 2026-05-18) switched lab/kinova Objectives to the new unstamped twist / wrench ports. The matching C++ side landed on moveit_pro/main but missed the 9.3.0-rc9 and rc10 cuts. Neither half is on v9.3.

This PR backports the XML half. It is paired with PickNikRobotics/moveit_pro#19304 which backports the C++ half. Both halves must land together for v9.3 to be consistent; the C++ PR alone (with v9.3's old XML still wiring twist_stamped) keeps working via the backwards-compat path, but landing this PR ahead of the C++ PR would break v9.3 CI the same way main broke when the workspace shipped first.

For PickNikRobotics/moveit_pro#19269.

Alternatives considered

• Leave v9.3 on the old stamped wiring and only backport the C++ side. Workable because the C++ commit keeps twist_stamped/wrench_stamped accepted (deprecated but supported). Rejected because we want v9.3 and main to stay aligned at the Objective-XML level so backports and bisection don't keep tripping on the same diff.
• Skip the affected lab_sim tests on v9.3. Hides the symptom; rejected.
• Cherry-pick the XML commit onto v9.3 (this PR). Chosen.

Chosen approach

Direct cherry-pick of 9ff6820f onto v9.3. One conflict in velocity_force_controller_zero.xml: v9.3 has unrelated publish_rate="10" and velocity_force_controller_command_topic attributes that aren't on main. Resolved by keeping those v9.3-only attributes and applying the twist= / wrench= port rename from the cherry-pick.

Merge ordering

Merge PickNikRobotics/moveit_pro#19304 first (or together) so the next v9.3 image build has the new C++ ports before this XML lands. If this PR's CI uses an image_tag built after #19304 merges, it should go green.

[JWhitleyWork]

This requires more changes than the single commit that Claude originally mentioned. Closing.