Merged Jimmy's cleanup into hydro-devel branch
Finished integration of correct UR10 model into ur_description
Updated ur10_moveit_config to reflect new model.
Making base_link a dummy link with no mass for MoveIt compatability.
Moving extra fixed link out of ur10.urdf.xacro and into ur10_robot.urdf.xacro

Also removing virtual joint from MoveIt! configuration.
Removed cube.dae from meshes
Removed all *.stl files from UR10 meshes.
Removed ur10_joint_limited.urdf.xacro and accomplished this with

xacro arguments. Replaced all tabs with spaces. Updated the UR10 urdf files.
Fixing use_gui parameter in joint_state_publisher node in launch file.
allow gazebo to be started in paused mode
better approximation of inertias and dynamic params
tune pid_gains for JointTrajectoryController
fix moveit error message about moveit_ee group
adapt moveit_joint_limits according to URDF
unification of launch files
beautification
remove obsolete stuff
beautify and unify
beautify
removed due to unification with ur10