Add support for KR60-HA

[simonschmeisser]

This adds the Kuka KR60-HA variant, open todos:

• reduce visual mesh size
• replace defunct reference URL by name/version of manual

should be reviewed after #162

[kokkalisko]

Just a small note replace line 182 of kr60ha_macro.xacro i.e.
<limit effort="0" lower="${radians(185)}" upper="${radians(185)}" velocity="${radians(128)}"/>
with
<limit effort="0" lower="${-radians(185)}" upper="${radians(185)}" velocity="${radians(128)}"/>