v0.7.4 Isaac Sim 4.0 support, CUDA Graph improvements, minor bug fixes

[balakumar-s]

New Features

• Interpolated metrics calculation now recreates cuda graph if interpolation steps exceed existing buffer size.
• Add experimental CUDAGraph.reset usage as cuda>=12.0 is not crashing when an existing captured CUDAGraph is freed and recaptured with new memory pointers. Try this experimental feature by
  setting an environment variable export CUROBO_TORCH_CUDA_GRAPH_RESET=1. This feature will allow for changing the problem type in motion_gen and ik_solver without requiring recreation of the class.
• Add partial support for Windows.
• Add Isaac Sim 4.0.0 docker support.
• Examples now work with Isaac Sim 4.0.0.
• Add XRDF support.
• Add curobo.types.file_path.ContentPath to store paths for files representing robot and world. This
  improves development on top of cuRobo with custom robots living external of cuRobo library.
• Add attach external objects to robot link API to CudaRobotModel.
• Add MotionGenStatus.DT_EXCEPTION to report failures due to trajectory exceeding user specified
  maximum trajectory dt.
• Add reading of end-effector mesh if available when rendering trajectory with UsdHelper, also
  supports goalset rendering.
• Kinematics module (curobo.cuda_robot_model) has complete API documentation.

Changes in Default Behavior

• Cuda graph capture of optimization iterations resets solver before recording.
• join_path(a, b) now requires a to not have a trailing slash to make the file compatible with Windows.
• Drop examples support for Isaac Sim < 4.0.0.
• asset_root_path can be either empty string or None.
• Order of variables in SelfCollisionKinematicsConfig has changed. Unused variables
  moved to bottom.
• Remove requirement of warmup for using offset_waypoint in PoseCost.

BugFixes & Misc.

• Minor documentation fixes to install instructions.
• Add support for older warp versions (<1.0.0) as it's not possible to run older isaac sim with newer warp versions.
• Add override option to mpc dataclass.
• Fix bug in PoseCost.forward_pose() which caused torch_layers_example.py to fail.
• Add warp constants to make module hash depend on robot dof, for modules that generate runtime
  warp kernels. This fixes issues using cuRobo in isaac sim.
• Add plan_config.timeout check to plan_single_js().
• Recreation of interpolation buffer now copies the joint names from raw trajectory.
• Fix bug in running captured cuda graph on deleted memory pointers
  when getting metrics on interpolated trajectory
• Change order of operations in cuda graph capture of particle opt to get correct results
  during graph capture phase.
• Franka Panda now works in Isaac Sim 4.0.0. The fix was to add inertial parameters to all links in
  the urdf.
• Create new instances of rollouts in wrap classes to ensure cuda graph rollouts are not
  accidentally used in other pipelines.
• Add cuda graph check for get_metrics.
• Remove aligned address assumption for float arrays inside kernel (local memory).
• Add check for existing warp kernel in a module before creating a new one to avoid corruption of
  existing cuda graphs.

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This discussion was created from the release Isaac Sim 4.0 support, CUDA Graph improvements, minor bug fixes.