import mesh objects in drake for collision avoidance

[linear]

[linear]

DIM-353

[mustafab0]

The current manipulation planning stack uses the drake as a simulation engine. Currently we adding obstacle requires manual input.

We would eventually interface with Perception stack, so we would want the ability to load a detection3d object into drake (obj) format and then perform collision checking or motion around it.

The active development branch here is: modulat_manipulation_stack