Introduce stretch_configure_tool.py

[hello-binit]

This PR introduces a new CLI called stretch_configure_tool.py. It eliminates a pain point around changing the robot.tool parameter and updating the URDF (and exported URDF). The CLI does 3 things:

1. Check if tool needs to change
   • It compares the tool against the supported tools for that model
   • It checks that the hardware visible matches what it would expect for the tool
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2. If the tool does need to change, it intelligently determines what tool should be configured
   • Filters by the supported tools
   • Filters by the visible hardware
   • If ambiguity remains, it prompts the user to select a tool:
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3. Configures the new tool
   • Changes the robot parameters in stretch_configuration_params.yaml (robot.tool and i_feedforward)
   • Updates the calibrated URDF in ROS. Builds off Stretch URDF.
   • Exports the calibrated URDF to Python
   • 

This tool supports all three models, all officially supported tools, Ubuntu 20.04 and 22.04.