Adding support for PhantomX Pincher gripper#1

Merged

corot merged 7 commits intocorot:indigo-develfrom corb555:indigo-devel

Jan 14, 2015

+2,022-124

Commits on Dec 11, 2014

Commits on Dec 15, 2014

Added triangular gripper finger mesh to PhantomX gripper URDF
answer17
committed

Commits on Dec 18, 2014

Simplification of turtlebot arm config for multiple arms
answer17
committed

Commits on Dec 20, 2014

Commits on Dec 23, 2014

support for multiple arm types
answer17
committed