Consolidate failure_injection.collision_estimation and planner.collision.collision_checker

[Saadmaghani]

And their util files.

I see that they are quite similar. They could be combined to a seperate collision_checking folder and can be called in whatever module needed. I think we should go over the two files and see the pros of each and combine the best parts of both of them.

[Saadmaghani]

FailBench/planner/collision/collision_checker.py

Line 29 in 281e11e

def set_robot_configuration_direct(self, robot_config):

Is not doing FK? Wont this slow things down?

We may want to do FK to speed things up. This seems to be a solution:
https://github.com/Pradn1l/Rospy-FK-7Axis-Robot/blob/main/direct_kinematics.py