Revert codes for collision model making according to https://github.com/...

Revert codes for collision model making according to https://github.com/euslisp/jskeus/pull/93 and https://github.com/jsk-ros-pkg/jsk_model_tools/pull/46

To add this method to irteus, we need to wait for discussion in jsk-ros-pkg/jsk_model_tools#41 (add glvertices or detailed-vertices ... etc?)