Fix UR tutorial solver limit warnings

[yuecideng]

Description

This PR aligns the UR5 and UR10 atomic-action tutorial solver limits with DexSim's runtime ±2π joint range. It also preserves those limits for dual-arm tutorial paths that use the PyTorch solver.

The source URDF encodes ±6.2832 while DexSim reports ±2π, which previously produced a no-op hard-limit clamp warning during robot construction.

Dependencies: None.

Issue: none provided.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• Enhancement (non-breaking change which improves an existing functionality)
• New feature (non-breaking change which adds functionality)
• Breaking change (existing functionality will not work without user modification)
• Documentation update

Screenshots

Not applicable; this is a configuration and regression-test change.

Checklist

• I have run the black . command to format the code base.
• I have made corresponding changes to the documentation
• Public API changes are reflected in the API docs (python docs/scripts/check_api_docs.py), if applicable
• I have added tests that prove my fix is effective or that my feature works
• Dependencies have been updated, if applicable.

Validation

• black --check --diff --color ./
• python docs/scripts/check_api_docs.py
• pytest -q tests/sim/atomic_actions/test_tutorial_utils.py (68 passed)

[greptile-apps]

Greptile Summary

This PR aligns UR5 and UR10 tutorial solver limits with DexSim’s canonical ±2π runtime range and preserves those limits when dual-arm tutorials replace the UR solver with the PyTorch solver.

• Adds a shared six-joint UR tutorial limit configuration.
• Applies the limits to UR5 and UR10 single-arm tutorial configurations.
• Propagates configured limits into dual-arm PyTorch solver configurations.
• Adds regression coverage for limit values, warning suppression, and dual-arm propagation.

Confidence Score: 5/5

The PR appears safe to merge with no actionable correctness, security, or compatibility issues identified.

The configured (6, 2) limits match both UR arms’ six controlled joints, are accepted by both solver configuration paths, and are safely propagated as immutable configuration into separate dual-arm solvers.

Important Files Changed

Filename	Overview
scripts/tutorials/atomic_action/tutorial_utils.py	Defines the canonical six-joint ±2π limits and applies them consistently to both UR tutorial solver configurations.
scripts/tutorials/atomic_action/scenario_utils.py	Preserves the base solver’s joint limits when constructing dual-arm PyTorch solver configurations.
tests/sim/atomic_actions/test_tutorial_utils.py	Adds focused regression tests for UR limit configuration, warning suppression, and dual-arm solver propagation.

_{Reviews (1): Last reviewed commit: "fix(tutorials): align UR solver joint li..." | Re-trigger Greptile}