[Proposal] Improvements for SkillGen integration

[kellyguo11]

Proposal

Recent SkillGen integration required a few remaining items that we would like to improve on:

• Refactor the curobo docker image to be on top of base
• Support cuda 12 and cuda 13 for docker
• Make tests that require cuda installation optional with a flag such that we can test these in CI, but can also disable them locally on a machine that doesn't have cuda setup
• Design proposal for motion planner base class and factory configuration design

[wghou]

Hi, is there any plan to support dual-arm task in skillgen, or give some examples? Thanks!