data pipeline for randomized initial goal + minimal files in data_collection

[UttuG]

-Verified the run with sample 40 envs generated for demo_video
-Also integrates task verifier using object COM for distance calculation to goal pose (for both grasp trial and traj collection)
-sim_base as been retained as there are certain edits to it based on the data handling changes i made to the original sim_manip
-using sys path rather than relative import as internal (nested) imports were erroring out

Remaining:
Pipeline optimization (both memory + speed)
random initial pose

[UttuG]

Now has updated code for randomized initial pose too!

Tested with both 4 & 5 parallel envs for 40 demonstrations and the run time is varying between 50-90 mins with 70 min being the average roughly

memory usage is also more stable now, with 5 parallel envs stable now (didn't see much time improvement from 4 due to increased time in other parts of the pipeline due to increase)