Fixes pilz tests

[rr-tom-noble]

Description

This fixes an issue in some of the pilz tests introduced by #3077.

Instead of passing an empty map of subframes, we were passing a one-item map containing an empty pair, which was causing test errors when validating subframe isometries.

This is fixed by adding some explicit subframes to every such test, with the ones that are unused named as such for clarity.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[rr-tom-noble]

This one doesn't need backporting to humble, and I'll fix the iron tests along with the conflicts

[rr-tom-noble]

    [ RUN      ] OneRobot.testInterpolation
    Error:   Group 'base_with_bad_subgroups' has unsatisfied subgroups
             at line 304 in /home/runner/work/moveit2/moveit2/.work/upstream_ws/src/srdfdom/src/model.cpp
    [INFO] [1731678157.056808164] [moveit_4232960088.moveit.core.robot_model]: Loading robot model 'one_robot'...
Error: ROR] [1731678157.057078035] [moveit_4232960088.moveit_exception]: Interpolation parameter is NaN or inf.
    Exception thrown.
    Caught expected exception: Interpolation parameter is NaN or inf.
    [       OK ] OneRobot.testInterpolation (0 ms)
    [ RUN      ] OneRobot.rigidlyConnectedParent
    Error:   Group 'base_with_bad_subgroups' has unsatisfied subgroups
             at line 304 in /home/runner/work/moveit2/moveit2/.work/upstream_ws/src/srdfdom/src/model.cpp
    [INFO] [1731678157.057574818] [moveit_4232960088.moveit.core.robot_model]: Loading robot model 'one_robot'...
    [WARN] [1731678157.057735227] [moveit_4232960088.moveit.core.robot_state]: Returning dirty link transforms
    test_robot_state: /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_core/robot_state/src/robot_state.cpp:1309: const Eigen::Isometry3d& moveit::core::RobotState::getFrameInfo(const std::string&, const moveit::core::LinkModel*&, bool&) const: Assertion `checkLinkTransforms()' failed.

These failures seem unrelated to this PR as they're from moveit_core. I might suspect the original -- #3077 -- again, but that PR changes the implementation of setFromIK(), not getRigidlyConnectedParent(), or getFrameInfo(), which those tests appear to be calling directly. In particular, I wonder if the latter failure is an example of #3089 🤔

[rr-tom-noble]

@sjar @sea-bass PRs before #3077 also have shown the same errors (e.g. https://github.com/moveit/moveit2/actions/runs/11701726753/job/32588415027 and https://github.com/moveit/moveit2/actions/runs/11540595594/job/32121612716)

Could this PR be added to the queue again?