Fixed dae models to use up_axis Y_UP (for OMPL to work)
Collision model changed to avoid bad OMPL planning (spaces between links)
Collision model now with multiple collision objects (now handled in hydro) such as cylinders and spheres to create capsules
Enabled self_collision to not permit crossed fingers in gazebo
Additional non-adjacent self-collision fix for metacarpal and proximal
Merge pull request #144 from guihomework/F_new_collision_model

Modified collision model (for OMPL to work)