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[Doc] Simplify README for npmjs (#1578)

This PR simplifies the npmjs-facing README (`scripts/npmjs-readme.md`) to present `rclnodejs` more concisely while still highlighting key capabilities and the recommended browser integration options.

**Changes:**
- Adds a compact “Key features” summary near the top of the README.
- Condenses the prebuilt-binaries section into a single paragraph with the `RCLNODEJS_FORCE_BUILD=1` override.
- Reworks the `rclnodejs/web` browser section into a shorter, scannable bullet list (Typed SDK / transports / OpenAPI).

Fix: #1577

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