Initial CAPT Release

This release contains the implementation of the Collision-Affording Point Tree (CAPT) from the forthcoming RSS 2024 paper “Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Collision Checking” (http://arxiv.org/abs/2406.02807). The CAPT enables fast collision checking of our spherized robot models against pointcloud data, and has an average query time of less than 10 nanoseconds on 3D scenes composed of thousands of points.