feat: Add joint mapping for six axis robot #192

Job	Run time
format_code / fmt	1m 50s
build_dev_container / build_dev_container	1m 18s
lint / lint	6m 8s
build / build	8m 25s
unit_test / test	7m 25s
integration_test / test	7m 38s
	32m 44s

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