Add jointStates format

[alfonsotecnalia]

It would consist on the following columns:

• time (s)
• label_1_position (rad)
• label_1_velocity (rad/s)
• label_1_acceleration (rad/s^2)
• ....
• label_N_position (rad)
• label_N_velocity (rad/s)
• label_N_acceleration (rad/s^2)

[alfonsotecnalia]

@aremazeilles if you agree, I will add it

[aremazeilles]

I placed a thumb up and then the label agree. So I agree.