Allow updating robot gravity

[AdamPettinger]

I have a UR20 mounted on another robot that can change its orientation enough to cause problems for the arm's mounting installation.

These changes expose the set_gravity URScript functionality through the Client Library, allowing a user to update the gravity vector of the robot during live operation. There is a corresponding PR on ROS2_Driver that further exposes this as a ROS service. This is obviously risky if you calculate the gravity vector incorrectly.

[urfeex]

Thank you for your contribution. Do you plan to change anything on this given that it's a draft?

Doing a quick review the implementation seems fine, only some tests and documentation would be good.

[codecov]

Codecov Report

❌ Patch coverage is 0% with 24 lines in your changes missing coverage. Please review.
✅ Project coverage is 42.73%. Comparing base (030e993) to head (4dac160).

Files with missing lines	Patch %	Lines
src/control/script_command_interface.cpp	0.00%	14 Missing ⚠️
src/ur/ur_driver.cpp	0.00%	10 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #415      +/-   ##
==========================================
- Coverage   43.15%   42.73%   -0.42%     
==========================================
  Files          99       99              
  Lines        8660     8681      +21     
  Branches     1179     1182       +3     
==========================================
- Hits         3737     3710      -27     
- Misses       4644     4689      +45     
- Partials      279      282       +3     

Flag	Coverage Δ
start_ursim	81.54% <ø> (-3.07%)	⬇️
ur20-latest	40.76% <0.00%> (-0.17%)	⬇️
ur5-3.14.3	40.62% <0.00%> (-0.14%)	⬇️
ur5e-10.7.0	35.81% <0.00%> (-0.26%)	⬇️
ur5e-5.9.4	40.77% <0.00%> (-0.17%)	⬇️

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[AdamPettinger]

Honestly, drafted all three of the related PRs because I haven't tested much with real hardware on Rolling (all the way with the ur_robot_driver). We have been running this on Jazzy for months, but I just rebased on Rolling in the other repo today.

I don't expect to run into troubles, and am willing to mark this ready for review if you are. I am trying to get around to testing the Rolling version on hardware by today or tomorrow.

[urfeex]

As I said, adding tests to https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/tests/test_script_command_interface.cpp and documentation to https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/doc/architecture/script_command_interface.rst would be needed to merge this.