finish most sim

[DynamoDuan]

No description provided.

[DynamoDuan]

This code runs well on my personal laptop, but I'm not sure whether it works on server.

There's one remaining problem with agent: it automatically closes when one isaaclab app is closed.

[PointsCoder]

@DynamoDuan:

1. Please pull the main branch first before submitting a new PR. Otherwise, previous updates from other collaborators will be removed.

2. For all updates, I think we can split into 3 PRs:
   2.1 Motion Preprocess: We create a new folder openreal2sim/motion and put the grasp gen, trajectory refine, and optionally hand extraction in it. We need to merge the dependencies to the openreal2sim Docker. Please modify and rebuild the Docker image to incorporate the updates. Additionally, we need to provide a README file with instructions on how to run the code.
   2.2 Modifications on Existing Simulator Code: If you modified anything under the openreal2sim/simulation/isaaclab, please submit a separate PR showing why and how to modify the code.
   2.3 Automatic Data Collection: Put everything about data collection in openreal2sim/simulation/isaaclab/data_collection, making it self-contained.

3. Some notes about code standard:
   3.1. Maintaining accurate documentation is essential for effective collaboration. Remember to have a readme or update the existing readme to show how to use the new features.
   3.2 Remove the necessary comments and make it in pure English
   3.3 For the unfinished part. please remove the empty files