Sped up voxelizing - it won't flood fill now but at least it will run faster.
Changed name of turrets in the pr2_body_model
Reverted back to the flood fill voxelizer that takes a while.
Added self collision between spheres in a single group. It seems to work for the most part. I still see some funniness here and there.
Split up the spheres to work correctly with the new group self collision
Merge branch 'handoff' of https://github.com/bcohen/sbpl_manipulation into handoff