Add 3D model coffee shop + add Serve Coffee objective for mock hw

[pac48]

Closes https://github.com/PickNikRobotics/moveit_studio/issues/7065

Closes https://github.com/PickNikRobotics/moveit_studio/issues/7066

This PR depends on #3 and adds a coffee shop environment to the configuration with simplified collision primitives. Additionally, it adds an objective that uses MTC to do a pick-and-place task. I have noticed some strange behavior with MTC for this task. It won't always find a solution and it tends to fail if there is a stage to open the gripper.

[EzraBrooks]

looks like this needs a rebase due to the base branch getting squashed

[Abishalini]

@pac48 Is zip file the ideal way to share the coffee shop files? We could use git lfs

[EzraBrooks]

please use LFS to avoid the git index getting bloated

[Abishalini]

simplescreenrecorder-2024-04-29_08.11.42.mp4

I tested this and looks good to me.
There are a few things to keep in mind to fix in future PRs

• The coffee shop scene is large and it takes the UI about 15s to load. Either simplify the meshes or remove the coffee scene once we have the video for the product tour.
• The Stretch does not open and close it's gripper when picking up the coffee cup. Adding an open gripper stage in MTC causes planning failures.
• The Stretch base (on rare occasions) spins when moving. This is captured in the video.