Various significant improvements (read bullet points)
- Change joint_vel cost to be inversely proportional to the n_steps
- Solve for collision-free optimization first to initialize the actual problem
- Use different betas for the position and the rotation part of the pose error
- Add specialized plot callbacks for tps-rpm
- Implement gripper weighting
- Change TPS regularizer to 0.01 used in do_task_eval
- Remove remove_tight_rope_pull filter since that checking now happens in maybesim
- Add break when no good action was able to be chosen
- Use PR2 model that has the shoulder decomposed