Add support for UR15

[urfeex]

Adds support for directly starting a UR15

Draft until the description for Jazzy and Rolling is merged.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 5.06%. Comparing base (1b121b7) to head (f42da6c).
Report is 435 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff            @@
##            main   #1358      +/-   ##
========================================
+ Coverage   3.59%   5.06%   +1.47%     
========================================
  Files         13      33      +20     
  Lines        947    3436    +2489     
  Branches     152     424     +272     
========================================
+ Hits          34     174     +140     
- Misses       843    3260    +2417     
+ Partials      70       2      -68     

Flag	Coverage Δ
unittests	5.06% <ø> (+1.47%)	⬆️

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