Add effector branching to NDOF HRB Effector

**Describe your use case**
The ability to attach dynamic effectors to state effectors in Basilisk is being built out module by module. The next state effector with the best use case to be set up as a parent body is the NDOF HRB state effector.

**Describe alternatives solutions you've considered**
N/A

**Additional context**
N/A
