arm: emit end-effector pose from TrossenArmProducer

[abhichothani42]

Summary

TrossenArmProducer now co-emits an EndEffectorPoseRecord alongside each JointStateRecord.

Changes

• Emit EndEffectorPoseRecord per poll() call. Position fields [x, y, z, rx, ry, rz] come from the arm driver's forward kinematics output; gripper_position from the joint state.
• Both records share the same seq and timestamp so they can be aligned trivially in downstream tooling.
• Emission is guarded on cartesian.positions.size() >= 6 to skip partial reads during startup.

Test Plan

• Builds cleanly (make build)
• Tests pass (make test)
• Lint passes (pre-commit run --all-files)
• Tested on hardware (if applicable)

Breaking Changes

None. Existing MCAP recordings are unaffected. New recordings gain one additional topic per arm.

Related Issues

Part of the end-effector pose recording feature stack.

[abhichothani42]

Warning

This pull request is not mergeable via GitHub because a downstack PR is open. Once all requirements are satisfied, merge this PR as a stack on Graphite.
Learn more

• scripts: add Foxglove user scripts for robot and EEF visualization #277
• scripts: add URDF extraction tool for TrossenMCAP recordings #276
• examples: enable robot description recording in solo demo #275
• backend: write robot description to TrossenMCAP files #274
• config: add robot description options to TrossenMCAP backend #273
• utils: add RobotDescriptionCache for URDF download and mesh embedding #272
• examples: update sanity check for end-effector pose #270
• arm: emit end-effector pose from TrossenArmProducer #269 👈 (View in Graphite)
• backend: add end-effector pose write support to TrossenMCAP #268
• arm: add EndEffectorPoseRecord and proto schema #267
• examples: add trossen_vr_mobile demo #266
• examples: add trossen_vr_stationary demo #265
• examples: add trossen_vr_solo demo #264
• vr: add VrSessionControlComponent button-to-session bridge #263
• vr: add VrBaseComponent base-velocity teleop leader #262
• vr: add VrArmComponent cartesian teleop leader #261
• vr: add shared VrSession connection owner #260
• feat: post_event/attach_control queue for thread-safe session control #271
• session-control: add SessionControlCapable interface #259
• hw: make SlateBaseComponent a base-velocity teleop follower #258
• teleop: add base-velocity (Base) space to teleop interface #257
• main

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