Revert "Merge branch 'master' of https://github.com/bcohen/sbpl_manipulation"

Didn't mean to add in the handoff changes. I think the collision checker improvements need to be added somehow to the master branch but need to think it through.
This reverts commit e1f2706c3a99714e780dab8f6ddd69ccd14fd1f6, reversing
changes made to 13eee14ccb52f1281d45be60a619e7a31a841567.