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Update panda.srdf.xacro

BOULAY Alexis requested to merge fix_gripcall into master

Prevent

[ERROR] [1650895063.424142011]: Link 'panda_hand_tcp' declared as part of a chain in group 'manipulator' is not known to the URDF
[ WARN] [1650895063.425415950]: Group 'manipulator' is empty.
[ERROR] [1650895063.425669911]: Link 'panda_hand_tcp' specified as parent for end effector 'hand_tcp' is not known to the URDF
[ WARN] [1650895063.461975018]: Group 'manipulator' must have at least one valid joint
[ WARN] [1650895063.462123955]: Failed to add group 'manipulator'
[ERROR] [1650895063.462343561]: Group state 'ready' specified for group 'manipulator', but that group does not exist
[ERROR] [1650895063.462401521]: Group state 'extended' specified for group 'manipulator', but that group does not exist

When trying to launch velocity/torque_control.launch with load_gripper:=true.

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