Attempts to fix fingers:

1) Mimicjoints (issues with maxtorque?)
2) One fused body (python code chokes, need to cut out refs to missing
joints. Also, rotating bodies is tricky (but doable).
Bump-tip fingers
Successful testing of grip using smaller rod

Note that larger grip radius behaves as on the real robot: even a very
hard squeeze slips through the fingers easily.
Tweaks to do batch simulation
Batch experiments
added some missing files
Merge branch 'feature/batchrun' into develop