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CB7 doesn't have standard digital inputs anymore. Instead, indices 0-7 go to CO8-CO15, while indices 8-15 keep going to CO0-CO7.

This requires URCL master at the moment, since it uses the accessors added in UniversalRobots/Universal_Robots_Client_Library@1c78952

Also, this has only been manually tested. Ideally, we would test things in CI against a CB7 robot, which could be added after #1910 has been merged. Hence, this is currently a draft, though the functionality is there and will probably stay like that.

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This is an automatic backport of pull request #2047 done by Mergify.

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	modified:   ur_robot_driver/doc/usage/utility_controllers.rst
	modified:   ur_robot_driver/src/hardware_interface.cpp

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	both modified:   ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp

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PR Summary

Medium Risk
Changes how digital output commands are sent to the robot based on control box type; incorrect type detection or mapping could drive the wrong physical outputs on CB7 hardware.

Overview
CB7 control boxes no longer expose classic standard digital outputs; this PR keeps the existing 18-index GPIO model but routes commands on indices 0–7 differently when the connected box is CB7.

On connect, the hardware interface stores control_box_type_ from the primary client. In the async digital-output path, indices 0–7 still use sendStandardDigitalOutput on CB3/CB5, but on CB7 they are sent as configurable outputs CO8–CO15 (sendConfigurableDigitalOutput(i + 8, …)). Indices 8–15 and tool outputs are unchanged (still CO0–CO7 and tool pins).

Documentation adds a CB7 vs CB3/CB5 index mapping table for ~/set_io and ~/io_states, explaining that the concatenated list semantics are preserved while CO8–CO15 appear at indices 0–7 on CB7.

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