Add missing "frame" parameters

[eqbic]

Problem

It seems the frame parameter is currently missing in the move_base_relative and move_tool_relative methods of the CRIController. (But it is part of the documentation of both methods)

Example

from cri_lib import CRIController

def run():
    controller = CRIController()
    controller.connect("127.0.0.1", 3921)
    controller.set_active_control(True)
    controller.enable()
    controller.wait_for_kinematics_ready(10)
    controller.set_override(50)
    controller.move_base_relative(
        X = -200,
        Y = -200,
        Z = 0,
        A = 0,
        B = 0,
        C = 0,
        E1 = 0,
        E2 = 0,
        E3 = 0,
        velocity = 100,
        wait_move_finished = True,
        move_finished_timeout = 10,
        acceleration = 20
    )

if __name__ == '__main__':
    run()

I get the following error messages in the simulator application:

Fix

I added the frame parameter to both methods and also added it to the command string.