Update `optimize` to be more computationally efficient and add separate notebooks for `optimize` and `sample`

[anirban-chaudhuri]

• Added notebook for optimize with different types of interventions. This will address request from TA4 regarding more examples of the optimize interface in action. See issue #528
• Added notebook for sample with different ODE solvers to give more information to users.
• Added penalties to force the optimizer to find a solution within bounds
• Avoids simulating the model if interventions are out of bounds (saves compute time
• Updated optimize to uses parallel sampling from pyro with significant improvement in compute time.

[review-notebook-app[bot]]

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