[tiago] Added two versions of tiago (with/out pal-hey5 hand) + tiago unit-test

tiago_description/config/collision/collision_parameters.yaml

+collision_model_parameters:
+  padding: 0.025
+  links_with_padding: [arm_4_link,
+  arm_5_link, arm_6_link, arm_7_link, gripper_link, gripper_right_finger_link,
+  gripper_left_finger_link]
+  blacklist:
+    default:
+      - first: arm_2_link
+        second: torso_lift_link
+      - first: arm_5_link
+        second: wrist_ft_link
+      - first: arm_5_link
+        second: wrist_ft_tool_link
+      - first: arm_6_link
+        second: wrist_ft_link
+      - first: arm_6_link
+        second: wrist_ft_tool_link
+      - first: arm_tool_link
+        second: wrist_ft_link
+      - first: ground_plane
+        second: base_link
+      - first: ground_plane
+        second: caster_back_left_1_link
+      - first: ground_plane
+        second: caster_back_left_1_link
+      - first: ground_plane
+        second: caster_back_left_2_link
+      - first: ground_plane
+        second: caster_back_right_1_link
+      - first: ground_plane
+        second: caster_back_right_2_link
+      - first: ground_plane
+        second: caster_front_left_1_link
+      - first: ground_plane
+        second: caster_front_left_2_link
+      - first: ground_plane
+        second: caster_front_right_1_link
+      - first: ground_plane
+        second: caster_front_right_2_link
+      - first: ground_plane
+        second: wheel_right_link
+      - first: ground_plane
+        second: wheel_left_link
+      - first: wrist_ft_link
+        second: wrist_ft_tool_link
+      - first: gripper_link # PAL and WSG Gripper link
+        second: gripper_tool_link
+      - first: gripper_link # PAL and WSG Gripper link
+        second: wrist_ft_tool_link
+      - first: gripper_link # PAL and WSG Gripper link
+        second: wrist_ft_link
+      - first: gripper_tool_link
+        second: gripper_right_finger_link
+      - first: gripper_tool_link
+        second: gripper_left_finger_link
+      - first: gripper_tool_link
+        second: wrist_ft_tool_link
+      # Hey5 links
+      - first: hand_link
+        second: wrist_ft_tool_link
+      - first: hand_link
+        second: wrist_ft_link
+      - first: hand_tool_link
+        second: hand_safety_box
+      - first: hand_tool_link
+        second: hand_little_virtual_2_link
+      - first: hand_tool_link
+        second: hand_middle_abd_link
+      - first: hand_tool_link
+        second: hand_ring_virtual_3_link
+      - first: hand_tool_link
+        second: hand_little_virtual_1_link
+      - first: hand_tool_link
+        second: hand_index_flex_1_link
+      - first: hand_tool_link
+        second: hand_index_flex_1_link
+      - first: hand_tool_link
+        second: hand_middle_virtual_3_link
+      - first: hand_tool_link
+        second: hand_ring_virtual_1_link
+      - first: hand_tool_link
+        second: hand_middle_virtual_2_link
+      - first: hand_tool_link
+        second: hand_thumb_flex_2_link
+      - first: hand_tool_link
+        second: hand_index_abd_link
+      - first: hand_tool_link
+        second: hand_index_flex_1_link
+      - first: hand_tool_link
+        second: hand_index_flex_2_link
+      - first: hand_tool_link
+        second: hand_index_flex_3_link
+      - first: hand_tool_link
+        second: hand_index_virtual_1_link
+      - first: hand_tool_link
+        second: hand_index_virtual_2_link
+      - first: hand_tool_link
+        second: hand_index_virtual_3_link
+      - first: hand_tool_link
+        second: hand_little_abd_link
+      - first: hand_tool_link
+        second: hand_little_flex_1_link
+      - first: hand_tool_link
+        second: hand_little_flex_2_link
+      - first: hand_tool_link
+        second: hand_little_flex_3_link
+      - first: hand_tool_link
+        second: hand_little_virtual_1_link
+      - first: hand_tool_link
+        second: hand_little_virtual_2_link
+      - first: hand_tool_link
+        second: hand_little_virtual_3_link
+      - first: hand_tool_link
+        second: hand_middle_abd_link
+      - first: hand_tool_link
+        second: hand_middle_flex_1_link
+      - first: hand_tool_link
+        second: hand_middle_flex_2_link
+      - first: hand_tool_link
+        second: hand_middle_flex_3_link
+      - first: hand_tool_link
+        second: hand_middle_virtual_1_link
+      - first: hand_tool_link
+        second: hand_middle_virtual_2_link
+      - first: hand_tool_link
+        second: hand_middle_virtual_3_link
+      - first: hand_tool_link
+        second: hand_palm_link
+      - first: hand_tool_link
+        second: hand_ring_abd_link
+      - first: hand_tool_link
+        second: hand_ring_flex_1_link
+      - first: hand_tool_link
+        second: hand_ring_flex_2_link
+      - first: hand_tool_link
+        second: hand_ring_flex_3_link
+      - first: hand_tool_link
+        second: hand_ring_virtual_1_link
+      - first: hand_tool_link
+        second: hand_ring_virtual_2_link
+      - first: hand_tool_link
+        second: hand_ring_virtual_3_link
+      - first: hand_tool_link
+        second: hand_safety_box
+      - first: hand_tool_link
+        second: hand_thumb_abd_link
+      - first: hand_tool_link
+        second: hand_thumb_flex_1_link
+      - first: hand_tool_link
+        second: hand_thumb_flex_2_link
+      - first: hand_tool_link
+        second: hand_thumb_virtual_1_link
+      - first: hand_tool_link
+        second: hand_thumb_virtual_2_link

tiago_description/meshes/arm/arm_1_collision.dae

+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Thu Apr 7 16:05:24 2016</created>
+        <modified>Thu Apr 7 16:05:24 2016</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
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+                    <technique_common>
+                        <accessor count="48" source="#shape0-lib-positions-array" stride="3">
+                            <param name="X" type="float"/>
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+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
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+                <triangles count="92">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
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+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
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+                    <bind_material>
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+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>

tiago_description/meshes/arm/arm_2_collision.dae

+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Thu Apr 7 16:05:03 2016</created>
+        <modified>Thu Apr 7 16:05:03 2016</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
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tiago_description/meshes/arm/arm_3_collision.dae

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tiago_description/meshes/arm/arm_4_collision.dae

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+        <created>Fri Apr 8 11:29:47 2016</created>
+        <modified>Fri Apr 8 11:29:47 2016</modified>
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+    <library_materials/>
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