Revive action primitives example and test

[yyf20001230]

Prevent loading a robot with the wrong configuration upon initializing the environment

[cgokmen]

This is a pre-step for #844

[yyf20001230]

Changed fetch robot arm from ik controller to joint controller

• Additional fixes on torch tensors

Action items

• Fix use_delta_motion arm behavior
• performing grasping does not pick up the object (video attached)
• performing grasping when navigation is still necessary, navigate_to_pose not triggered / invalid RRT solution (video attached)

Screencast from 08-26-2024 07:25:12 PM.webm
Screencast from 08-26-2024 07:27:27 PM.webm

[yyf20001230]

Revived the action primitives test (symbolic primitives test wip) and examples for both Fetch and Tiago robot

Fixed issues:
Fixed issue 1: the sticky grasp does not pick up the object issue - caused by multi-scene import
Fixed issue 2: the settle_robot action raises the robot arm instead of performing an no-op
Fixed issue 3: torch tensors dtype for Fetch and Tiago
Fixed issue 4: action primitives navigation across all example scenes
Fixed issue 5: added a more verbose output of the action primitive errors
Fixed issue 6: Don't load scene robot's state into env-created new robot, prevent loading a robot with the wrong configuration upon initializing the environment

Pending issues:
Collision detection with the grasped object, pending for curobo implementation

[cgokmen]

Merge og-develop and revert your changes here - this is already fixed.

[cgokmen]

Put this back and figure out why it wont work

[cgokmen]

In the configs directory, there should be exactly ONE config PER robot (e.g. fetch_primitives, tiago_primitives) that we use for ALL primitives-related tests, examples, etc - if things need to be edited a bit for each example (e.g. add task) we should do that in code.