Dataset object physics processor

[jrreyna]

Motivation and Context

See PR #1882 and issue number #1900 to get the details. This PR was specifically for the physics processing aspect of dataset objects and was extending the #1882 PR, but I eventually made improvements to the other parts as well, so I am just making this the main PR. This was the info from the original PR:

"We need to be able to assess millions of assets to determine any that can be problematic when simulating, e.g. use too much memory, the meshes are too complex or messy, or they behave non-realistically during physics simulations."

How to Run

Example: python tools/dataset_object_processor/dataset_object_processor.py --config_file_path tools/dataset_object_processor/configs/default.dataset_processor_config.json

You can make and run any dataset_processor_config.json file in the configs file. If you don't pass in anything for the --config_file_path argument, it uses default.dataset_processor_config.json

How Has This Been Tested

Locally and with CI tests

Types of changes

• [ ] Docs change / refactoring / dependency upgrade
• [ ] Bug fix (non-breaking change which fixes an issue)
• [x] New feature (non-breaking change which adds functionality)
• [ ] Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• [x] My code follows the code style of this project.
• [x] My change requires a change to the documentation.
• [ ] I have updated the documentation accordingly.
• [x] I have read the CONTRIBUTING document.
• [x] I have completed my CLA (see CONTRIBUTING)
• [ ] I have added tests to cover my changes.
• [ ] All new and existing tests passed.

[jrreyna]

You see the commits from a previous PR regarding viewer.py because I accidentally created this branch off another branch instead of origin/main. But I pulled and merged from main so that the files changed in that old branch were overridden

[jrreyna]

Do we have a standard way of writing colored text to the console? I just wrote my own using colorama, but I wouldn't want to have multiple ways of doing it across all of sim and lab