[Instruction Executor] Allow joint and pose targets for all motion functions

[urfeex]

All script functions interfaced through the InstructionExecutor allow their targets to be either defined as joint array or as poses. This change makes the same interface available on the c++ Instruction executor. See the example for different calls.

I fixed a mismatch in the trajectory interface wire protocol in the movec command. There, acceleration and velocity were mixed up between the c++ sender and the urscript. I went with the order as it was documented in the protocol descroption, which is velocity first, acceleration second. However, all other motion commands use acceleration first, velocity second. Since mixing them up was clearly a bug, I think it would also be fine breaking the documentation and changing this to acceleration first, as all the others. What is your opinion on this @urrsk?

---

Note

Medium Risk
Updates the trajectory wire protocol handling and bundled external_control.urscript for new motion-type variants and q_near hints; mistakes here can break robot motion execution or change kinematics behavior. Changes are fairly broad across motion primitives, encoding, and tests but include extensive test coverage updates.

Overview
Adds mixed joint-space and Cartesian targets across all InstructionExecutor motion APIs. Introduces strong types urcl::Q and urcl::MotionTarget (Q|Pose) plus new InstructionExecutor/Move*Primitive overloads so callers can explicitly choose joint vs pose targets (including mixed moveC via/target combinations) while preserving legacy brace-init behavior.

Extends motion encoding/decoding end-to-end. Adds new MotionType variants (e.g., MOVEJ_POSE, MOVEL_JOINT, OPTIMOVEL_JOINT, MOVEC_*) and updates TrajectoryPointInterface packing to flatten MotionTarget, propagate optional Pose::q_near hints, and align the on-wire field meanings (including fixing MOVEC velocity/acceleration ordering).

Updates robot-side script + docs/tests/examples. resources/external_control.urscript now interprets the new motion types (IK/FK behaviors and optional q_near seed), documentation describes the revised protocol/overloads, examples demonstrate usage, and new/updated GTests cover the new types and wire round-trips. Also adds portable URCL_SILENCE_DEPRECATED_* macros and uses them to suppress deprecation warnings in implementation/tests.

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[codecov]

Codecov Report

❌ Patch coverage is 94.96403% with 14 lines in your changes missing coverage. Please review.
✅ Project coverage is 76.69%. Comparing base (01cf607) to head (3616b95).
⚠️ Report is 8 commits behind head on master.

Files with missing lines	Patch %	Lines
src/control/motion_primitives.cpp	97.10%	2 Missing and 3 partials ⚠️
src/types.cpp	92.85%	1 Missing and 2 partials ⚠️
...lude/ur_client_library/control/motion_primitives.h	84.61%	1 Missing and 1 partial ⚠️
include/ur_client_library/types.h	0.00%	0 Missing and 2 partials ⚠️
src/ur/ur_driver.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #491      +/-   ##
==========================================
- Coverage   76.91%   76.69%   -0.23%     
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  Files         113      114       +1     
  Lines        6048     6251     +203     
  Branches     2640     2732      +92     
==========================================
+ Hits         4652     4794     +142     
- Misses       1060     1110      +50     
- Partials      336      347      +11     

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ur20-latest	73.02% <94.96%> (+0.71%)	⬆️
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[urrsk]

See my comment regarding inverse_kin and movej

[urrsk]

• Please add a test that also uses the pose variant with q_near in the constructor

[urrsk]

Suggest changing Q to a class and add set and get function just like Pose

[urfeex]

Pose isn't a class either and doesn't have get functions. But I can definitively make Q a class and protect the data member.

[urfeex]

I made Pose also a class, which should be fine from an API stability standpoint, as long as we leave the x,y,z,rx,ry,rz members public.

[cursor]

Cursor Bugbot has reviewed your changes using default mode and found 1 potential issue.

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