task verifier and data collection

[UttuG]

new folder for data collection

implemented:
task verifier (for both grasping and final traj)
motion planning error fallback and recalculation of grasp/traj when needed (see open issue)

to do:
implement logic for multiple env

[UttuG]

any issue with this PR @PointsCoder ?

[PointsCoder]

It seems you copy eveything inside the data collection folder. Can you keep a minimal script in the data collection without duplicating a lot of code? Thanks

[UttuG]

So it is just that the sim_manip file is importing a lot of code from these files. In reality only sim_base is being changed besides sim_manip but the import structure is a little iffy then.

I would need to turn it into a python package and then the running structure for this file would differ from the rest of the repo (would need to use -m). Or i need to use system paths and set it which would make it susceptible to any other future updates.

What do you suggest?

[UttuG]

closing PR as #42 addresses this and other features too