How to add only a (sub) capacity to an user role?

It’s stupid, but you can’t. (Not without editing core, anyway.) Right at the top of the nav-menus.php source code is an edit_theme_options check that’s not filterable.

http://core.trac.wordpress.org/browser/tags/3.4.1/wp-admin/nav-menus.php

If you’re not concerned about your editors trying anything too shady, you could simply hide the menu items using a plugin like Adminimize or Admin Menu Editor.

Of course, you could also open a ticket at http://core.trac.wordpress.org/ to try to get the core devs to change this.