Updates to franka_dual_arm_sim, add sorting benchmark, add stationary admittance demo in lab_sim

[marioprats]

A fix to the dual arm franka config to correct a mismatch in the arms orientation in Mujoco vs the URDF

Then converts the config into a bi-manual sorting benchmark:

• Adds a table in front of the robot with green and red boxes
• Adds red and green tables to the left and right
• The robot task is to put red blocks in the red table, green blocks in the green table
• Adds Objective (e.g. Sort Blocks) to accomplish the task, measuring and logging the cycle time.
• Adds necessary subtrees to support the Objective mentioned above

The config is still compatible with the drawing demo: it wll 'draw' on the table. Therefore both can potentially be used in HW demos.

Finally, this PR adds an stationary admittance demo to lab_sim, the same we run in the office in the UR on rail, which creates an stationary trajectory with an admittance overlay. The robot in sim won't move, but at least we have an example and Behavior coverage.

Uses four Behaviors that were previously unused: BiasedCoinFlip, StopwatchBegin, StopwatchEnd, CreateStationaryTrajectory.

[shaur-k]

smallest nitpick

[kineticsystem]

I found two issues in the objective:
1 - the robot tries to grab the same cube multiple times, even if the cube is not there anymore
2 - after a while it throws "Objective Server Error - Execution of behavior tree for Objective Sort Blocks terminated due to an error: Caught exception while ticking behavior tree: Lookup would require extrapolation into the past. Requested time 1758635483.619006 but the earliest data is at time 1758635497.068961, when looking up transform from frame [scene_camera_optical_frame] to frame [world]"