Optimize collision meshes

[Svastits]

The collision meshes should be simplified to reduce planning times. This includes evaluating different methods for simplification:

• Blender Convex Hull -> this does not seem to be optimal, face count is hardly reduced in most cases
• Blender decimate modifier (Collapse option)
• Blender remesh modifier (more options, e.g. voxel, blocks, sharp...)

Evaluation should be done taking into account the similiraty to the visual mesh (volume proportions and overlap) and the effectivity in reducing planning time (face count, planning time measured with comparable circumstances)

[Pugens]

Hi, I want to have a look, but I will only be able when:

• I have time for it 😅
• I have a good ws ready to do some planning and testing to see if there is an actual difference it planning times (sorry but I come from mech background, so still learning many software stuff for development)

[Svastits]

Collision meshes were added for all robots using Blender remesh modifier in #57 Further optimization might be needed