Implement remaining joint types

[aaronjoh]

In aikido/aikido/include/aikido/statespace/dart/detail/MetaSkeletonStateSpace.hpp, we can implement the remaining joint types:

• [ ] ScrewJoint
• [x] WeldJoint - a 0 dimensional RealVector: #146
• [ ] UniversalJoint - a compound joint of SO(2)xSO(2) (or R^1xR^1 if there are joint limits)
• [ ] EulerJoint - a compound joint of SO(2)xSO(2)xSO(2) (or R^1xR^1xR^1 if there are joint limits)
• [ ] TranslationalJoint2D - a 2 dimensional RealVector

[egordon]

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