add tuckarm outside pose

for jsk-ros-pkg/jsk_demos#63

Command sample:
```
(pr2-tuckarm-pose :larm) ;;(This still can be used and the functionality is same as before)
(pr2-tuckarm-pose :larm :outside)
(pr2-tuckarm-pose :rarm :inside)
```
![tuck_arm_outside](https://cloud.githubusercontent.com/assets/3803922/5201310/b2656de8-75b3-11e4-99ef-015a9dee9a0a.png)