Changes on top of raunaq/devel

[siddhanthaldar]

List of changes:

• Decoupled teleop.py and collect_data
• Removed save_states variable. So this is like xarm now where the states are published by default and are saving whenever we run collect data.
• Added teleop_mode=robot/human so that we can collect data without having to run the robot. The start and stop of the demo is dictated by the same buttons in human mode - just that the robot does not move. (the start and stop of a demo are detected using these button instead of the robot being static now)
• Added a home_offset variable to offset the home position from the one set in deoxys.