Model Batching V4 (#231)

* io.py changes. just a proposal.

* docs in types.py

* qpos0

* qpos_spring

* body_pos

* body_quat

* ipos

* body_mass

* subtreemass

* inertia

* invweight0

* jnt_solref

* jnt_solimp

* jnt_pos

* jnt_stiffness

* jnt_range

* actfrcrange

* jnt_margin

* dof_armature

* dof_damping

* dof_invweight'

* dof_frictionloss

* dof_solimp

* dof_solref

* geom_priority

* geom_solmix

* geom_solref

* geom_solimp

* geom_size

* geom_rbound

* geom_pos

* geom_quat

* geom_friction

* geom_margin

* geom_gap

* site_pos

* site_quat

* cam_pos

* cam_quat

* cam_pos0 and poscom0

* light_pos

* light_dir

* light_poscom0

* light_pos0

* eq_solref

* eq_solimp

* actuator_dynprm

* gainprm

* biasprm

* actuator_ctrlrange

* actuator_forcerange

* actrange and gear

* pair_solref

* pair_solreffriction

* pair_solimp

* pair_margin

* pair_gap

* pair_friction

* tendon

* wrap prm

* sensor_cutoff

* fixes

* make kernel analyzer happy

* making kernel analyzer even more happy

* more fixes

* small fix

* fix formatting

* fixes for sensor_test

* fixes after merge

* fix issues after merge

* formatting

* formatting

* updates to follow MJX

* formatting

Author: adenzler-nvidia

contrib/kernel_analyzer/kernel_analyzer/ast_analyzer_test.py

@@ -136,8 +136,8 @@ def test_all_issues(
 @kernel
 def test_no_issues(
     # Model:
-    qpos0: wp.array(dtype=float),
-    geom_pos: wp.array(dtype=wp.vec3),
+    qpos0: wp.array2d(dtype=float),
+    geom_pos: wp.array2d(dtype=wp.vec3),
     # Data in:
     qpos_in: wp.array2d(dtype=float),
     qvel_in: wp.array2d(dtype=float),