CuRobo TODOs

[cremebrule]

TODOs from previous PR:

• Support for in-hand articulated objects
• Distinguish between world frame and scene frame
• Handle bi-manual target poses
• Handle multiple attached objects, attached to potentially different hands
• Unify whether using collision or visual meshes when using attached obj
• Test with Fetch (trunk included, wheels not)
• Test with Tiago (with virtual joints) - trunk is included, 6DoF virtual joints included too (?)
• does curobo collision checking work with cloth?
• add curobo yaml files for other robots