v0.7.1 improved motion quality, precision, and better joint space planning.

[balakumar-s]

New Features

• Add mimic joint parsing and optimization support. Check ur5e_robotiq_2f_140.yml.
• Add finetune_dt_scale as a parameter to MotionGenPlanConfig to dynamically change the
  time-optimal scaling on a per problem instance.
• MotionGen.plan_single() will now try finetuning in a for-loop, with larger and larger dt
  until convergence. This also warm starts from previous failure.
• Add high_precision mode to MotionGenConfig to support <1mm convergence.

Changes in default behavior

• collision_sphere_buffer now supports having offset per link. Also, collision_sphere_buffer only
  applies to world collision while self_collision_buffer applies for self collision. Previously,
  self_collision_buffer was added on top of collision_sphere_buffer.
• TrajEvaluatorConfig cannot be initialized without dof as now per-joint jerk and acceleration
  limits are used. Use TrajEvaluatorConfig.from_basic() to initialize similar to previous behavior.
• finetune_dt_scale default value is 0.9 from 0.95.

BugFixes & Misc.

• Fix bug in WorldVoxelCollision where env_query_idx was being overwritten.
• Fix bug in WorldVoxelCollision where parent collision types were not getting called in some cases.
• Change voxelization dimensions to include 1 extra voxel per dim.
• Added seed parameter to IKSolverConfig.
• Added sampler_seed parameter RolloutConfig.
• Fixed bug in links_goal_pose where tensor could be non contiguous.
• Improved ik_solver success by removing gaussian projection of seed samples.
• Added flag to sample from ik seeder instead of rollout_fn sampler.
• Added ik startup profiler to benchmark/curobo_python_profile.py.
• Reduced branching in Kinematics kernels and added mimic joint computations.
• Add init_cache to WorldVoxelCollision to create cache for Mesh and Cuboid obstacles.
• TrajEvaluator now uses per-joint acceleration and jerk limits.
• Fixed regression in batch_motion_gen_reacher.py example where robot's position was not being
  set correctly.
• Switched from smooth l2 to l2 for BoundCost as that gives better convergence.
• requires_grad is explicitly stored in a varaible before tensor.detach() in warp kernel calls
  as this can get set to False in some instances.
• Fix dt update in MotionGen.plan_single_js() where dt was not reset after finetunestep, causing
  joint space planner to fail often.
• Improve joint space planner success by changing smooth l2 distance cost to l2 distance. Also,
  added fallback to graph planner when linear path is not possible.
• Retuned weigths for IKSolver, now 98th percentile accuracy is 10 micrometers wtih 16 seeds
  (vs 24 seeds previously).
• Switch float8 precision check from const to macro to avoid compile errors in older nvcc, this
  fixes docker build issues for isaac sim 2023.1.0.

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