EE pose

Either by /tf or /joint_states + fwd kinematics, but should be readable from a rosbag

• Fwd kin library without blowing up dependency tree?
• URDF handling? Probably can't assume the robot_description is recorded
• API to expose choice of robot or fwd_kin fn? fwd_kin factory to give optional deps?
• EE Position
• EE Velocity
• Check order of jt names? God that's annoying
• Error when importing in encoder_dynamics. See commit in ipk_aut/techmodules/encoder_dynamics@51966ae9. See comment from val below
• Add UR10PoseData and UR10VelData to init