DebugVisualizer generic 'peek' function

[aclegg3]

Motivation and Context

Breaking Change: removed functions from DebugVisualizer

• peek_rigid_object
• peek_articulated_object
• peek_scene

This PR removes the previous type specific "peek_*" functions in favor of a single new generic "peek" function taking all reasonable inputs to describe the subject of the peek.

This function will take ManagedObject, integer object id, or string object instance handle.
For example, given a rigid or articulated object my_object, the following are all valid:

• dbv.peek(my_object)
• dbv.peek(my_object.object_id)
• dbv.peek(my_object.handle)

This function will also accept string aliases "scene" and "stage" to set the subject as the full contents of the current scene:

• dbv.peek("stage")
• dbv.peek("scene")

Finally, the peek now returns a single DebugObservation, so both auto-saving feature and show variable are removed in favor of the standard interface of DebugObservation.show() and DebugObservation.save(directory_path).

How Has This Been Tested

Down-stream code refactored to use new interface.
Locally with all variations in a testing environment.

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.

[0mdc]

LGTM! Left some minor comments.

[0mdc]

Nit: This could be a calculate_subject_bounding_box() method.

[aclegg3]

TODO: I'll refactor this later. I'm adding such a function in another PR.