Optimise kinematic calibration

[mauricefallon]

We did some static tests on Friday with the robot attached to the NASA Gantry:

This is what the head-to-hand calibration looks like:

Note that the lower arm was unpowered and the forearm yaw was aligned by eye and the fingers were not reporting their states. this shows the default finger positions. (the URDF/default finger positions make a 'Vulcan salute'). I think this is very promising.

But running some optimisation (sic) is likely help. An initial target is to achieve repeatable sub 1cm accuracy