Fix inertia, limits, and dynamic damping on the URDFs for the motor hand.
Fix the other types of hands.
Update arm description and controller params.
Add missing mesh for the biotac adapter for the fingers.
Merge pull request #158 from shadow-robot/B_fix_simulation

B fix simulation
Merge pull request #159 from shadow-robot/B_fix_biotac_adapter_mesh

Add missing mesh for the biotac adapter for the fingers. Fixes #156