Catkinized sr_hand_kinematics
Added a moveit configuration for the hand (including end effectors for the fingers and using coupling IK)
Added missing finger pair groups
Reorganized subgroups
Removed unuseful end effector
Added a kinect and self filter to moveit config
Changed launch files to regenerate the urdf on the fly
Fixed deprecated plugin declaration
Fixed test (compilation, launch files, catkin rostest run, group names)
Fixed the planning context srdf loading
Renamed sr_moveit_config package to avoid conflicts with arm and hand moveit config