Region containment query utils

[aclegg3]

Motivation and Context

Based on #1770.

This PR introduces utils for querying region containment of objects via point containment checks on bounding box global keypoints.

Supporting utils enable bounding box and keypoint extraction for ArticulatedObjects and ArticulatedLinks.

How Has This Been Tested

Added pytest using hab3_benchmark HSSD scenes.
Added region annotations to one benchmark scene and updated CI to gather those assets.

TODO: follow-up should add some unit tests for bounding box and keypoint utils tested indirectly here through the query API.

Types of changes

• [Development] A pull request that add new features to the habitat-lab task and environment codebase. Development Pull Requests must be small (less that 500 lines of code change), have unit testing, very extensive documentation and examples. These are typically new tasks, environments, sensors, etc... The review process for these Pull Request is longer because these changes will be maintained by our core team of developers, so make sure your changes are easy to understand!

Checklist

• My code follows the code style of this project.
• I have updated the documentation if required.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes if required.

[jacobkrantz]

nits

[jacobkrantz]

Inconsistent use of keypoint thresholding across predicates; within uses keypoint_vote_threshold to the same effect.

[aclegg3]

Thanks, great point.
I agree that "within" and "object_in_region" are using similar but distinct mechanisms for mostly the same purpose. They could be unified.
For now, merging as-is and we'll decide if a follow-up refactor is desired.