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Resolves #146

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Created the Gazebo URDF from upstream franka_description package and
then manually merged the inertials and new TCP frame into our packaged
URDF. Should fix #122

Note: There are two types of URDFs in the upstream repository. One also
has simplified, larger collision shapes. Since we possibly want to
simulate using the URDFs here, I kept the configuration using the convex
meshes rather than primitive shapes.

* robots: document upstreams & license, fix #34

edit: fix meshes with meshlab