Modified collision model (for OMPL to work)

Collision model changed to avoid bad OMPL planning (spaces between links permit fingers to pass through each other)
Collision dae files with Y_UP to get OMPL compute collision correctly ( https://github.com/ros-planning/moveit_ros/issues/316 ) => Does not affect rviz nor gazebo display and gazebo contacts still work perfectly.
Primitive collision model now with multiple collision objects (now handled in hydro) such as cylinders and spheres to create capsules. Checked for no self collision between links close together through hub links (proximal/palm, thmiddle/thproximal). Adjacent links are disabled in gazebo by default anyway.
Enabled self_collision not to permit crossed fingers in gazebo