Don't load ur10 kinematics_config without an arm

[Jntzko]

Proposed changes

The ur10 kinematics config should not be loaded if the shadow hand is used without an arm.
Without this patch you need a custom ur_description package in your workspace even if you don't use it.

Types of changes

• Bugfix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)

Checklist

• Read and follow the contributing guidelines.
• Checked that all tests pass with my changes
• Added tests (automatic or manual) that prove the fix is effective or that the feature works
• Added necessary documentation (if appropriate)
• Added the corresponding license to each file and add the current year of any one that you modified.
• Tested on real hardware (if appropriate)
  

@v4hn

[ethanfowler]

Hi, due to some recent changes this would be a difficult merge, please could you confirm that this PR:
#541
satisfies your requirements @Jntzko ?

[Jntzko]

Yes, this PR satisfies my requirements, thank you!