Add ee position and velocity to datahandler

• Add URDF for franka, ur5, ur10
• Add functions to eval fwd kin from joint_state messages
• Tested on UR10 data

Closes #14 (closed)

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• 193612cb - cleanup pyproject

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changed title from working, pose and vel correct in calfmt_msg but not in the resulting loaded... to Add ee position and velocity to datahandler

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merged

mentioned in commit 31c51a69