Update identification script

[ratheron]

The identification script has two issues:

1. The rotation plotting fails when there is no validation data provides and the translation plotting return a side by side plot with one empty. This PR checks if there is validation data and adjusts the plots
2. Since in an earlier version, we didn't expose the Euler dynamics, we had to transform the state. This slowed the fit significantly. However, since the Euler dynamics are exposed now, we can use them to get a 5x speedup.

[amacati]

Looks good.