(WIP) Disable individual suction voxels from collision

[Dale-Koenig]

Opening this for feedback on the general strategy as described in this summary, especially the changes to SuctionGraspFilter, as the rest of the code still includes several temporary changes used for testing and needs a bit of extra fixing. Includes #86, so only the last commit is new.

This offers a solution to the problem shown in the TestFilterSuctionIKLowOverlap test, where setting a low overlap threshold can unexpectedly cause all grasps to be filtered due to collision checking with suction voxels. Instead of throwing out the entire candidate grasp when a collision with a suction voxel is detected, this PR takes the strategy of:

1. First process the grasp normally without the suction voxels attached, including IK checking
2. Attach all suction voxels
3. Generate an AllowedCollisionMatrix such that we can check collisions only between the suction voxels and objects other than the target box
4. Perform collision checking, and disable any suction voxel that is in collision
5. The grasp candidate is thrown out if all suction voxels have been disabled in this way
6. Here, we could potentially filter by overall overlap (rather than individual voxel overlap) based on which voxels are still enabled.

This PR still needs work with regard to combining with the suction overlap cutoff filter in a clean way, perhaps reverting to prefiltering and only attaching active voxels. Currently it requires filtering by suction overlap second.

[Dale-Koenig]

@mlautman I want to work on this more but I think it would collide heavily with changes from #81, so it might be nice to get that one in first. I had made some nitpicky comments on it but can approve it if it is rebased/fixed up.