Increased joint vel and accel for id feed forward

With the new Inverse Dynamics Feed Forward updates to
baxter_interface:joint_trajectory_action server, we can
update the velocity and acceleration joint limits for
Baxter given to MoveIt.
Merge pull request #28 from rethink-imcmahon/baxter_speed_increase

(Baxter) Increased joint vel and accel for id feed forward