Fix simple urdf

- add color information to DAE and convert them to STL
 - I used meshlabserver to convert DAT to STL, if you have better tool please re-convert these files
- add color to torso in simple_baxter.urdf
- use {base_link, pedestal_lnk}_collisoin.STL for simple_baxter.urdf because they're much simple thane _simple.STL