Deprecate old API.

[pangtao22]

Remove things like QuasistaticDynamics, whose functionality has been largely absorbed by QuasistaticSimulatorCpp and QuasistaticVisualizer.

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This change is 

[pangtao22]

Important note for all Allegro contact samplers: The ordering of the joints using the new sdf (in the models directory of quasistatic_simulator), which is consistent with Allegro's ROS driver, is different from the joint ordering in drake's allegro sdf (found in drake/manipulation/models), which is what we've been using for the June 2022 version of the paper.

The mapping between from the old ordering to the new ordering is reproduced below for convenience:

	Index Finger	Thumb	Middle Finger	Ring Finger
Old (Drake)	0, 1, 2, 3	4, 5, 6, 7	8, 9, 10, 11	12, 13, 14, 15
New (Ours)	0, 1, 2, 3	12, 13, 14, 15	4, 5, 6, 7	8, 9, 10, 11

[pangtao22]

Another important note for contact samplers: the input to ContactSampler.sample_contact(...) has been changed to the configuration of the entire system ('q'), not just the configuration of the object (q_u).

[pangtao22]

A TODO list for converting examples to use the new API

• [x] Allegro + Ball
• [ ] Allegro + Door
• [ ] Allegro + Book / Plate
• [ ] Allegro + Pen
• [ ] Planar Pushing
• [x] Iiwa bimanual
• [x] Planar Hand
• [x] Iiwa planar pushing (Aykut).
• [x] Plotly RRT visualizer

[pangtao22]

BundleMode, an enumeration defined in iRS-MPC, is still used by iRS-RRT. It needs to be removed. https://github.com/pangtao22/planning_through_contact/blob/038b4c1acfd24b6f0e0e420b0f0d49ea63770b82/irs_mpc/irs_mpc_params.py#L4

[pangtao22]

BundleMode has been removed.