Added support for force_mode, freedrive and tool contact

[urmahp]

This commit includes following changes:

• New control mode for freedrive
• New control mode for when the tool is in contact
• Commands for stopping and starting tool contact
• Commands for stopping and starting force mode
• Added force_mode_damping and force_mode_gain_scaling to the constructor
• Force mode gain scaling is only available for e-series and therefore it is removed from the control script, when the robot is not e-series
• Tool contact example
• Test for script command interface
• Updated test for reverse interface

This PR will require some changes to the ROS and ROS2 drivers, in order for them to use the added commands.

[codecov[bot]]

Codecov Report

Patch coverage: 76.84% and project coverage change: +0.92 :tada:

Comparison is base (2e69bc1) 77.48% compared to head (661870e) 78.41%.

:exclamation: Current head 661870e differs from pull request most recent head 1790426. Consider uploading reports for the commit 1790426 to get more accurate results

Additional details and impacted files

```diff @@ Coverage Diff @@ ## master #138 +/- ## ========================================== + Coverage 77.48% 78.41% +0.92% ========================================== Files 95 98 +3 Lines 3939 4317 +378 Branches 385 432 +47 ========================================== + Hits 3052 3385 +333 - Misses 662 686 +24 - Partials 225 246 +21 ``` | [Impacted Files](https://app.codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/138?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots) | Coverage Δ | | |---|---|---| | [...lude/ur\_client\_library/control/reverse\_interface.h](https://app.codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/138?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-aW5jbHVkZS91cl9jbGllbnRfbGlicmFyeS9jb250cm9sL3JldmVyc2VfaW50ZXJmYWNlLmg=) | `100.00% <ø> (ø)` | | | [include/ur\_client\_library/queue/atomicops.h](https://app.codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/138?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-aW5jbHVkZS91cl9jbGllbnRfbGlicmFyeS9xdWV1ZS9hdG9taWNvcHMuaA==) | `63.88% <ø> (-1.39%)` | :arrow_down: | | [src/ur/ur\_driver.cpp](https://app.codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/138?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-c3JjL3VyL3VyX2RyaXZlci5jcHA=) | `44.03% <25.00%> (-8.85%)` | :arrow_down: | | [examples/tool\_contact\_example.cpp](https://app.codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/138?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-ZXhhbXBsZXMvdG9vbF9jb250YWN0X2V4YW1wbGUuY3Bw) | `53.84% <53.84%> (ø)` | | | [src/control/script\_command\_interface.cpp](https://app.codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/138?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-c3JjL2NvbnRyb2wvc2NyaXB0X2NvbW1hbmRfaW50ZXJmYWNlLmNwcA==) | `94.91% <93.65%> (+83.80%)` | :arrow_up: | | [src/control/reverse\_interface.cpp](https://app.codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/138?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-c3JjL2NvbnRyb2wvcmV2ZXJzZV9pbnRlcmZhY2UuY3Bw) | `88.73% <95.45%> (+2.19%)` | :arrow_up: | | [tests/test\_script\_command\_interface.cpp](https://app.codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/138?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-dGVzdHMvdGVzdF9zY3JpcHRfY29tbWFuZF9pbnRlcmZhY2UuY3Bw) | `96.68% <96.68%> (ø)` | | | [...\_client\_library/control/script\_command\_interface.h](https://app.codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/138?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-aW5jbHVkZS91cl9jbGllbnRfbGlicmFyeS9jb250cm9sL3NjcmlwdF9jb21tYW5kX2ludGVyZmFjZS5o) | `100.00% <100.00%> (ø)` | | | [include/ur\_client\_library/ur/ur\_driver.h](https://app.codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/138?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-aW5jbHVkZS91cl9jbGllbnRfbGlicmFyeS91ci91cl9kcml2ZXIuaA==) | `60.00% <100.00%> (+26.66%)` | :arrow_up: | | [tests/test\_reverse\_interface.cpp](https://app.codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/138?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-dGVzdHMvdGVzdF9yZXZlcnNlX2ludGVyZmFjZS5jcHA=) | `98.10% <100.00%> (+0.91%)` | :arrow_up: | ... and [1 file with indirect coverage changes](https://app.codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/138/indirect-changes?src=pr&el=tree-more&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots)

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[fmauch]

I gave this intensive testing today and I think this is working well as expected, so we can merge it.