Integrating excel_description with new UR10 model.

The files ur10_new... have been integrated into the
new ur_description, so a copy is no longer needed here.
Adding excel_moveit_description, which uses new IK solver.
Merge branch 'excel_desc_clean' into excel_description
Merging Kelsey's cleaning and adding an end-effector
Creating a package to move excel with commands