model floating pads dynamics on the gripper (ros ticket #3979)

[ahendrix]

Model the constrained dynamics of the gripper, including the floating pads. Get detailed interior gripper joints specs from function.

trac data:

• Owner: hsu
• Reporter: hsu
• Reported at: Tue Mar 9 00:32:59 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3979

[ahendrix]

[hsu] not needed. reopen if necessary.

[ahendrix]

[hsu] p.s. ''wontfix'' is for the floating pads only. gripper works fine in simulation.