Beautification, Unification and UR5 updates

Mainly this PR aims for a unification and beautification of the UR10 and UR5 models.
(tabs vs. spaces, same structure, cleanup)

It includes #84 and #86.

The kinematical values for the UR5 have not been changed as they were correct already.

With accepting this PR, the kinematic models for both UR5 and UR10 should be conform with the actual hardware, i.e. urcontrol, also the gazebo simulation is actually usable do to updated gazebo controller parameters.

Have fun!