Merge pull request #146 from shadow-robot/F_cleanup_indigo

F cleanup indigo
mod debug mode of launch file
added args for launching gazebo
renamed joint variable in python because it shadowed import
sr_description upgrade from groovy to hydro + update from hydro to indigo
new collision model port from hydro to indigo
fixed biotac finger missing the prefix parameter and middle transmission parameters
fixed thumb vibrations (tuning and collision model)
updated middle transmission to new J0Transmission syntax
Merge branch 'ubi-agni-ubi-indigo-devel' into indigo-devel
Merge branch 'indigo-devel' into F_cleanup_indigo