[Feature] Allow custom kinematics parser to be passed to motion gen?

[dogganon]

Currently curobo only supports URDF/USD as its source of truth for the kinematics model. However sometimes it would be useful to be able to bring our own parser (curobo.cuda_robot_model.kinematics_parser import KinematicsParser), particularly in simulations where users can interactively adjust the parameters without repeatedly importing and exporting the URDFs.

The feature is trivial to implement, and we already have a working prototype:

robotodo-platform@b5d80db

@balakumar-s