Improve pose_server_python by including I, and other matrices

[icyflame]

• Take all the matrices from this file

cc @aniket11bh

[icyflame]

@aniket11bh I guess that the code-base is now ready for these changes to be made and merged into indigo-devel?

[icyflame]

@pranaypratyush on which branch did you say you have the code for this?

cc @prudhvid