Merging VAMP bindings + robogpu collision checker into main + cleanup

[saiccoumar]

VAMP bindings:

• Created an FFI wrapper around VAMP's validator which automatically does multi-core batching
• Integrated cricket's new JIT compiler to trace compile the robot urdf/srdf at runtime and cache's the trace on disk for future use
• Added CAPT support for CPU side pointcloud processing
• Added VAMP cc to the benchmark script

RoboGPU:

• Implemented a GPU accelerated BVH collision checker for pointcloud collision checking
• Instead of OBB vs AABB cc designed for mesh cc, the algorithm is modified to support spherized robot models
• Added example scripts comparing CAPT to RoboGPU performance: both are roughly 1ms for the panda robot