Change the clouds that are saved in save_task_results_step
Change traj_is_safe default to not upsample the trajectory and unwrap the trajectory before upsampling
unwarp_in_place with arbitrary dof_inds
Add dof_inds_from_name function that does the same as the trajopt version of it
Changes and additions to deal with finger trajectories
Add retimings for finger joints and remove the half heights dependency in observe_cloud
Change tps_fit3 to handle optimizations in which the bend_coef are different or the wt_n are different for each dimmension
Deal with outliers in the source points, better handle reversing the correspondences, and add change the signature of the plotting callback