[SRDF] Add joints to SRDF tag.

srdf/pal_hey5_gripper.srdf

@@ -2,6 +2,9 @@
   <gripper clearance="0.09" name="gripper">
     <position xyz="0.13 0.038 0" />
     <link name="wrist_ft_tool_link" />
+    <joint name="hand_thumb_joint"/>
+    <joint name="hand_index_joint"/>
+    <joint name="hand_mrl_joint"  />
   </gripper>
 
   <disable_collisions link1="torso_fixed_link" link2="arm_2_link" reason="User defined" />

srdf/schunk_gripper.srdf

@@ -2,5 +2,6 @@
   <gripper name="gripper" clearance="0.05">
     <position xyz="0 0 -0.12" rpy="1.5707963267948966 1.5707963267948966 0"/>
     <link name="gripper_link" />
+    <joint name="gripper_finger_joint" />
   </gripper>
 </robot>