Revert codes for collision model making

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

This is related to https://github.com/euslisp/jskeus/pull/96.
To remove these methods, we need to wait for discussion in jsk-ros-pkg/jsk_model_tools#41.