Refactor GraspableObject

[bgill92]

This PR refactors GraspableObject into CollisionObject, GraspInfo and ObjectColor to support: https://github.com/PickNikRobotics/moveit_studio/issues/7783.

Resolves https://github.com/PickNikRobotics/moveit_studio/issues/8020.

The CollisionObject portion of the message now contains all of the pertinent information about the rigid object that can be grasped, while GraspInfo contains information relevant to grasping. ObjectColor stays in GraspableObject because it doesn't belong in either CollisionObject or GraspInfo.

Here are the common fields between GraspableObject and CollisionObject:

std_msgs/Header header

geometry_msgs/Pose pose

string id

shape_msgs/SolidPrimitive[] primitives

geometry_msgs/Pose[] primitive_poses

shape_msgs/Mesh[] meshes

geometry_msgs/Pose[] mesh_poses

These fields are now consolidated in the object field of GraspableObject.

[marioprats]

Makes sense to me!