Automatically updating collision geometry when Shape is updated

[jslee02]

• FCLMeshCollisionDetector' is not aware of updating dimension of collision shape. Once a collision shape is added toFCLMeshCollisionDetector`, it does not check the dimension anymore. If we want to change the dimension, we should (1) remove the collision shape from the collision detector, (2) modify the dimension, (3) and add it back to the collision detector again, which is not convenient.
• This fails an unit test of gazebo

[jslee02]

This is largely related to #664.

[stale]

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[jslee02]

I believe this is resolved by #1112