[FEATURE] Batched path plan

[Kashu7100]

Description

Add batched (sampling based) path planning algorithms (RRT and RRTConnect) and refactored the path planners.

Related Issue

Resolves Genesis/issues/1076

Motivation and Context

We can now perform path planning in batched envs.

How Has This Been / Can This Be Tested?

Added new example:
python examples/rigid/grasp_bottle_batch.py -v -a rrt_connect
python examples/rigid/grasp_bottle_batch.py -v -a rrt

Screenshots (if appropriate):

Video with 100 parallel envs:

grasp_bottle.mp4

Checklist:

• I read the CONTRIBUTING document.
• I followed the Submitting Code Changes section of CONTRIBUTING document.
• I tagged the title correctly (including BUG FIX/FEATURE/MISC/BREAKING)
• I updated the documentation accordingly or no change is needed.
• I tested my changes and added instructions on how to test it for reviewers.

• I have added tests to cover my changes.
• All new and existing tests passed.

[Kashu7100]

Seems test_inverse_kinematics is failing, which is not the part of this PR.

[duburcqa]

Seems test_inverse_kinematics is failing, which is not the part of this PR.

Actually our IK test is very unit, and also relies on path planning. So your changes are having any impact on this test!

[Kashu7100]

updated the unit test for batching, addressed all comments.

[YilingQiao]

Thank you @duburcqa for the reviews! As all comments are addressed, I think it's good to merge once CI passes.