Integration tests for cubic and quintic splines with dynamics

[srvald]

Description

This PR resolves the issue where the passthrough_trajectory_controller integration tests were only verifying edge cases (position-only quintic splines with explicit zero-matrices).

We now explicitly test the full capabilities of the UR hardware interface regarding custom trajectory profiles.

Changes

• Added test_cubic_trajectory: Test providing positions and zero velocities to evaluate the cubic spline.
• Added test_cubic_trajectory_with_velocities: Test providing positions and explicit non-zero velocities to evaluate the cubic spline.
• Added test_quintic_trajectory_with_velocities: Verify full quintic spline execution using non-zero velocities and accelerations.
• Expanded test trajectory to a 4-waypoint forward-and-return cycle for the non-zero velocities and acceleration tests.

Related Issues

Fixes #1783

Testing

Tested via integration testing using ur_robot_driver alongside Docker URSim:

cd build/ur_robot_driver
ctest -R "integration_test_passthrough_controller" -V

---

Note

Low Risk
Changes are confined to integration tests in integration_test_passthrough_controller.py; no driver or controller runtime behavior is modified.

Overview
Expands passthrough trajectory controller integration coverage so cubic and quintic spline paths are exercised with more than position-only, all-zero dynamics.

Shared test data now uses a four-waypoint forward-and-return motion (replacing three coarse index steps) and adds TEST_TRAJECTORY_FULL with explicit per-waypoint velocities and accelerations. Existing tests that rely on TEST_TRAJECTORY inherit the richer waypoint set and timing.

New tests send FollowJointTrajectory goals through the passthrough controller and assert success for: cubic splines with zero velocities, cubic with non-zero velocities, and quintic with non-zero velocities and accelerations (alongside the existing quintic-with-zeros case).

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 5.00%. Comparing base (1b121b7) to head (7176a82).
⚠️ Report is 584 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff            @@
##            main   #1801      +/-   ##
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+ Coverage   3.59%   5.00%   +1.41%     
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  Files         13      34      +21     
  Lines        947    4255    +3308     
  Branches     152     500     +348     
========================================
+ Hits          34     213     +179     
- Misses       843    4037    +3194     
+ Partials      70       5      -65     

Flag	Coverage Δ
unittests	5.00% <ø> (+1.41%)	⬆️

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