Improved joint space planning and planning start validity check

[balakumar-s]

New Features

• Add start state checks for world collision, self-collision, and joint limits.
• Add finetune with dt scaling for motion_gen.plan_single_js to get more time optimal
  trajectories in joint space planning.
• Improve joint space planning convergence, now succeeds in more planning problems with higher
  accuracy.

Changes in default behavior

• Some warp kernels are now compiled based on runtime parameters (dof), causing a slowdown in load
  time for motion_gen. To avoid this slowdown, add an environment variable CUROBO_USE_LRU_CACHE=1
  which will cache the runtime generated kernels.

BugFixes & Misc.

• Fix bug in evaluator to account for dof maximum acceleration and jerk.
• Add unit test for different acceleration and jerk limits.
• Add a check in self-collision kernels to avoid computing over inactive threads.
• Add link_poses as an additional property to kinematics to be more descriptive.
• Add g_dim check for int in batched planning.
• Add link_poses for motion_gen.warmup() in batch planning mode.
• Add link_poses as input to batch_goalset.
• Add finetune js trajopt solver.
• Pass raw velocity, acceleration, and jerk values to dt computation function to prevent
  interpolation errors from causing out of joint limit failures
• Add finetune_js_dt_scale with a default value > 1.0 as joint space trajectories are
  time optimal in sparse obstacle environments.
• Add note on deterministic behavior to website. Use lbfgs history < 12 for deterministic
  optimization results.
• Add warning when adding a mesh with the same name as in existing cache.
• Remove warmup for batch motion gen reacher isaac sim example.
• Fix python examples in getting started webpage.
• Refactor warp mesh query kernels to use a wp.func for signed distance queries.

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This discussion was created from the release Improved joint space planning and planning start validity check.