Translational arm joint support

[biotinker]

Note that this does not also include the API change, which is to simply rename "degrees" to "values" in JointPositions

[randhid]

A few nits and a question for future proofing - which is not a big deal and I can see an easy refactor if it's an issue down the line.

[edaniels]

Q: this seems like a refactor. How does this support translational? Also, why put proto methods that are implemented once on an interface instead of keeping as a utility and ifc lean?

[biotinker]

@edaniels the main/only thing gating translational joint support prior to this PR, is that arm joint positions are passed in as a list of raw floats, which are currently assumed to be in degrees and are converted to radians. If something with a translational joint receives the joint positions proto message, it needs to know which of those raw floats should be converted from degrees to radians and which should not.

The ultimate source of truth for what sort of value something expects is the thing ultimately consuming it, which is what is implemented here. The actual frames that represent a rotational movement will call utils.DegToRad when provided the protobuf value, while the translational ones will not. This also leaves the door open for someone to pass in some other sort of value and write their own transformation.

[randhid]

Let's Get Translational Movement!

[viambot]

Package	Line Rate	Health
go.viam.com/rdk/component/arm	52%	➖
go.viam.com/rdk/component/arm/universalrobots	12%	❌
go.viam.com/rdk/component/arm/varm	7%	❌
go.viam.com/rdk/component/arm/xarm	2%	❌
go.viam.com/rdk/component/arm/yahboom	7%	❌
go.viam.com/rdk/component/base	69%	➖
go.viam.com/rdk/component/base/agilex	62%	➖
go.viam.com/rdk/component/base/boat	41%	❌
go.viam.com/rdk/component/base/wheeled	74%	✅
go.viam.com/rdk/component/board	64%	➖
go.viam.com/rdk/component/board/arduino	9%	❌
go.viam.com/rdk/component/board/fake	35%	❌
go.viam.com/rdk/component/board/numato	17%	❌
go.viam.com/rdk/component/board/pi	50%	➖
go.viam.com/rdk/component/camera	71%	✅
go.viam.com/rdk/component/camera/imagesource	52%	➖
go.viam.com/rdk/component/gantry	68%	➖
go.viam.com/rdk/component/gantry/multiaxis	84%	✅
go.viam.com/rdk/component/gantry/oneaxis	86%	✅
go.viam.com/rdk/component/generic	85%	✅
go.viam.com/rdk/component/gps	92%	✅
go.viam.com/rdk/component/gps/nmea	33%	❌
go.viam.com/rdk/component/gripper	82%	✅
go.viam.com/rdk/component/imu	69%	➖
go.viam.com/rdk/component/input	86%	✅
go.viam.com/rdk/component/input/gpio	87%	✅
go.viam.com/rdk/component/motor	91%	✅
go.viam.com/rdk/component/motor/dmc4000	69%	➖
go.viam.com/rdk/component/motor/gpio	61%	➖
go.viam.com/rdk/component/motor/gpiostepper	56%	➖
go.viam.com/rdk/component/motor/tmcstepper	65%	➖
go.viam.com/rdk/component/posetracker	89%	✅
go.viam.com/rdk/component/sensor	89%	✅
go.viam.com/rdk/component/servo	86%	✅
go.viam.com/rdk/config	81%	✅
go.viam.com/rdk/control	57%	➖
go.viam.com/rdk/data	79%	✅
go.viam.com/rdk/grpc/client	80%	✅
go.viam.com/rdk/grpc/server	61%	➖
go.viam.com/rdk/ml	67%	➖
go.viam.com/rdk/ml/inference	70%	✅
go.viam.com/rdk/motionplan	82%	✅
go.viam.com/rdk/operation	93%	✅
go.viam.com/rdk/pointcloud	73%	✅
go.viam.com/rdk/protoutils	80%	✅
go.viam.com/rdk/referenceframe	78%	✅
go.viam.com/rdk/registry	68%	➖
go.viam.com/rdk/resource	97%	✅
go.viam.com/rdk/rimage	78%	✅
go.viam.com/rdk/rimage/calibrate	73%	✅
go.viam.com/rdk/rimage/cmd/both	76%	✅
go.viam.com/rdk/rimage/transform	74%	✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration	67%	➖
go.viam.com/rdk/robot	100%	✅
go.viam.com/rdk/robot/framesystem	74%	✅
go.viam.com/rdk/robot/impl	74%	✅
go.viam.com/rdk/robot/web	61%	➖
go.viam.com/rdk/samples/chess	0%	❌
go.viam.com/rdk/samples/minirover	20%	❌
go.viam.com/rdk/services/baseremotecontrol	74%	✅
go.viam.com/rdk/services/datamanager	81%	✅
go.viam.com/rdk/services/motion	93%	✅
go.viam.com/rdk/services/navigation	35%	❌
go.viam.com/rdk/services/sensors	95%	✅
go.viam.com/rdk/services/shell	1%	❌
go.viam.com/rdk/services/slam	83%	✅
go.viam.com/rdk/services/vision	84%	✅
go.viam.com/rdk/spatialmath	85%	✅
go.viam.com/rdk/subtype	89%	✅
go.viam.com/rdk/utils	74%	✅
go.viam.com/rdk/vision	25%	❌
go.viam.com/rdk/vision/chess	80%	✅
go.viam.com/rdk/vision/delaunay	87%	✅
go.viam.com/rdk/vision/keypoints	90%	✅
go.viam.com/rdk/vision/objectdetection	81%	✅
go.viam.com/rdk/vision/odometry	88%	✅
go.viam.com/rdk/vision/odometry/cmd	35%	❌
go.viam.com/rdk/vision/segmentation	49%	❌
Summary	67% (16206 / 24084)	➖