merged sr_description from groovy into hydro
fixed conflicts
added new hand descriptions with the new scheme + tests for them
Added mixed position velocity controller settings for gazebo in a new file
Switched to position controller settings by default
Fixed arm inertia and collision model
Retuned the arm controller in gazebo
Merged F_inertia into hydro
Fixed ff_biotac hand description, merged new tests into a single file
Added a readme and rviz config files for visual sr_description test