Record trajectories in super (Skill) class for both base & arm

[KavitShah1998]

As suggested by @akshararai in PR##131 -> #131 (comment)

Currently:
Nav skill returns trajectory.
Pick skill returns a dict.

self.gaze_result = {
            "target_object": target_object,
            "time_taken": time.time() - self.start_time,
            "success": self.env.grasp_attempted and success_status_from_user_feedback,
        }

Place skill returns a dict

self.place_result = {
            "time_taken": time.time() - self.start_time,
            "success": is_position_within_bounds(
                local_place_target_spot,
                local_ee_pose_spot,
                self.config.SUCC_XY_DIST,
                self.config.SUCC_Z_DIST,
                convention="spot",
            ),
            "place_target": local_place_target_spot,
            "ee_pos": local_ee_pose_spot,
        }

we should standardize what they all return when we move to an abstract class