Fix for collision report to have collided geometry name correctly

[eisoku9618]

• collided Geometry has been stored in CollisionReport since https://github.com/rdiankov/openrave/pull/990
• geometry group has been used for collision check since https://github.com/rdiankov/openrave/pull/1333
• geometry group has not a Geometry but a GeometryInfo

Because of these 3 points, now in production branch, CollisionReport::__str__() does not show us a collided geometry name when geometry group (i.e. padded geometries) is used.

In order to address this issue, I would like to store a geometry name in FCLGeometryInfo and pass the name to collision report in CheckNarrowPhaseGeomCollision().

pipelineid=426516 pipelineid=426623

cc @MiraiHattori @Puttichai

[rdiankov]

https://github.com/rdiankov/openrave/pull/985 fixes this, so i cannot merge this for fear of many conflicts.