Moveit issues hydro

This PR builds on top of #121 and #122 
It adds new collision meshes for the UR10 (simplified stl's). Number of vertices for UR10 collision meshes are about the same as for UR5 collision meshes.
It also re-generates the urX_moveit_configs (i.e. self-collision-matrix!)
It makes the KDLKinematicsPlugin the default IK-Plugin again, as the ur_kinematics plugins fail for joint_limited versions of UR5 and UR10 respectively.
It also re-generates the URDF files from the latest XACRO files