Hello peiqi/lfd

[hello-peiqi]

Test the following things for this PR:

1. python -m stretch.app.grasp_object --target_object "..."
2. (Optional) Test dynamem --vs and ai_pickup as well since I debug the entire grasp_object operation
3. Test simulation (https://github.com/hello-robot/stretch_ai/blob/main/docs/simulation.md). Ideally you should launch simulation and test dynamem or some other apps here
4. Test LFD data collection (https://github.com/hello-robot/stretch_ai/blob/main/docs/data_collection.md) and makes sure you can collect data with this docs.