Add collision shape caching based on tesseract_geometry::Geometry object

[Levi-Armstrong]

This avoid creating duplicate underlying collision shapes for bullet and fcl when provided the collision geometry shared pointer. This speeds up things like leveraging the environment command for adding trajectory as a collision link.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 88.69%. Comparing base (64b2b98) to head (76b5fba).
Report is 1 commits behind head on master.

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #1115   +/-   ##
=======================================
  Coverage   88.69%   88.69%           
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  Files         294      296    +2     
  Lines       16609    16619   +10     
=======================================
+ Hits        14732    14741    +9     
- Misses       1877     1878    +1     

see 6 files with indirect coverage changes