Create smoother calibration_poses.bag

[mikeferguson]

The current bag file moves the arm around a lot more than it probably needs to. Poses should flow better. At the same time, it would be worth adding some more margin so that a poorly calibrated robot is not at risk of hitting itself.

[moriarty]

@narora1

[erelson]

Note: Current workaround to issues caused by this is to run calibration at 0.5 or 0.75 velocity.