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.
Merge pull request #82 from gt-ros-pkg/ur10_urdf_update

UR10 URDF Update + Fixed Link Lengths