Update transformForceTorque to handle wheter it is a cb3 or an e-Series robot

[urfeex]

The force torque is returned at the tool flange on e-series robots and at the tcp for CB3, this is now handled correctly, so that all force/torque measurements will be relative to the active TCP

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 23 lines in your changes missing coverage. Please review.

Project coverage is 5.66%. Comparing base (1b121b7) to head (6dd3f30).
Report is 406 commits behind head on main.

Files with missing lines	Patch %	Lines
ur_robot_driver/src/hardware_interface.cpp	0.00%	23 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff            @@
##            main   #1287      +/-   ##
========================================
+ Coverage   3.59%   5.66%   +2.07%     
========================================
  Files         13      31      +18     
  Lines        947    3072    +2125     
  Branches     152     375     +223     
========================================
+ Hits          34     174     +140     
- Misses       843    2896    +2053     
+ Partials      70       2      -68     

Flag	Coverage Δ
unittests	5.66% <0.00%> (+2.07%)	⬆️

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[URJala]

Tested on robot, and it seems to work.