sr_description upgrade 

sr_description upgrade using the already merged upgrade from groovy to hydro + new updates from hydro to indigo
It also includes :
- new collision model (already in hydro but not yet in indigo)
- fix for biotac finger missing the prefix parameter and middle transmission parameters
- fix for thumb vibrations (tuning and collision model)
- update of middle transmission to new J0Transmission syntax
to check sr_description
- use the included automatic + visual tests
- run the sr_hand gazebo_arm_and_hand.launch and move the joints with rqt_gui and joint slider plugin 

Fixes 
- https://github.com/shadow-robot/sr-ros-interface/issues/145 
- https://github.com/shadow-robot/sr-ros-interface/issues/87