2.89
address PR comment and tune parameters for cloth
add gripper with deformable cloth demo
reduce size of SharedMemoryStatus by moving state details into shared memory streaming block.
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh