Added ScriptCommandInterface command setTcpOffset

[dkar-sto]

simply calls the urscript command set_tcp()

---

Note

Medium Risk
Adds a new control-plane command that changes the robot TCP configuration at runtime; incorrect offsets or misuse could impact motion accuracy. Changes are otherwise small and covered by new unit/integration tests.

Overview
Adds a new ScriptCommandInterface command (SET_TCP_OFFSET) and URScript handling to call set_tcp() with a provided [x, y, z, rx, ry, rz] offset.

Exposes this as UrDriver::setTcpOffset(), updates the command enum/protocol constant, makes client_connected_ atomic, and adds new tests covering message encoding and an end-to-end RTDE validation of tcp_offset (including failure when the external control program is not running).

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 76.27%. Comparing base (4dd918b) to head (88c0a13).
⚠️ Report is 1 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #444      +/-   ##
==========================================
+ Coverage   76.22%   76.27%   +0.04%     
==========================================
  Files         104      104              
  Lines        5509     5529      +20     
  Branches      590      593       +3     
==========================================
+ Hits         4199     4217      +18     
- Misses       1012     1014       +2     
  Partials      298      298              

Flag	Coverage Δ
start_ursim	82.54% <ø> (-0.73%)	⬇️
ur20-latest	68.76% <100.00%> (+0.18%)	⬆️
ur5-3.14.3	71.72% <100.00%> (+0.06%)	⬆️
ur5e-10.11.0	64.58% <100.00%> (-0.13%)	⬇️
ur5e-10.12.0	66.08% <100.00%> (+0.08%)	⬆️
ur5e-10.7.0	63.97% <100.00%> (-0.13%)	⬇️
ur5e-5.9.4	72.45% <100.00%> (+<0.01%)	⬆️

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[cursor]

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

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[urfeex]

Thank you for implementing this. I took the liberty of adding a UrDriver test, as well.