Sim settings update

[NakuraMino]

Motivation and Context

The current habitat_sim.utils.settings.make_cfg() fn is limited to single first person sensors with the uuid color_sensor, semantic_sensor etc.

e.g.

if settings["color_sensor"]:
        color_sensor_spec = create_camera_spec(
            uuid="color_sensor",
            hfov=settings["hfov"],
            sensor_type=habitat_sim.SensorType.COLOR,
            sensor_subtype=habitat_sim.SensorSubType.PINHOLE,
        )

where camera_sensor_spec.position = [0, settings["sensor_height"], 0].

Since many of the examples in examples/colabs/ use a 1st person sensor AND a 3rd person sensor (e.g. https://github.com/facebookresearch/habitat-sim/blob/main/examples/tutorials/nb_python/ECCV_2020_Interactivity.py#L178), it would be best if you could flexibly add multiple cameras through sim_settings.

How Has This Been Tested

This passes CI/CD, and these changes are also tested through pytest tests/*.py. They all pass.

Types of changes

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

Checklist

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

[dhruvbatra]

Thanks for thinking through these quality of usage issues.

[aclegg3]

A couple of design thoughts.

[aclegg3]

Instead of pivoting off sensor name substrings, maybe we include "sensor_type" and "sensor_subtype" as fields in the sensor settings dict defaulting to color pinhole.

[NakuraMino]

sure, I think it might be okay to pivot off sensor name for the camera type (i.e. fisheye, equirect) unless we also pass in the camera spec type (i.e. habitat_sim.FisheyeSensorDoubleSphereSpec, habitat_sim.EquirectangularSensorSpec) in the sensor_settings_dict. But sensor_type and sensor_subtype will be updated to use the sensor settings dict

[jrreyna]

Fails lab_build_habitat on the build machine, but passes it on my local machine

[NakuraMino]

@jrreyna for what its worth, #1924 updates all the tutorials/ file, but its an incomplete PR at this point. Saw you were updating some tutorial files so just thought this might be helpful if you want to check it out. Good luck with this, and thanks for taking ownership :)

[jrreyna]

@jrreyna for what its worth, #1924 updates all the tutorials/ file, but its an incomplete PR at this point. Saw you were updating some tutorial files so just thought this might be helpful if you want to check it out. Good luck with this, and thanks for taking ownership :)

@NakuraMino Yes I saw, thank you! I was using that as a reference, I just wanted to put it all in one PR for simplicity. I am basically copying all that work over to this PR

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