[WIP] Data annotation

[hang-yin]

Wait until #1061 gets merged.

TODO:

• fix free-form user input
• figure out relationship between record and enable-annotation (where do want to store these annotations?)
• add analytical/computed annotations
• subclass for special annotation set
• for add_keyboard_callback, we should have some form of safeguard so that we don't accidentally overlap with isaac key mapping
• handle external sensor/add camera viewer for better viewing