Add parameters to set child and parent frames

[pac48]

This PR adds parameters to set the child and parent frames to the UR robotiq adaptor.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 20.29%. Comparing base (743d20f) to head (e18b4fa).
Report is 16 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##            main      #47       +/-   ##
==========================================
+ Coverage   0.00%   20.29%   +20.29%     
==========================================
  Files          5       20       +15     
  Lines        352      611      +259     
  Branches       0      250      +250     
==========================================
+ Hits           0      124      +124     
+ Misses       352      347        -5     
- Partials       0      140      +140     

Flag	Coverage Δ
unittests	20.29% <ø> (+20.29%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.