Make_cfg refactoring in examples/tutorial/

[NakuraMino]

Motivation and Context

Refactoring make_cfg to use habitat_sim.utils.settings.make_cfg.

How Has This Been Tested

Running python examples/nb_python/*.py for the files that have been modified and checked that all the outputs are equivalent.

Colab files can be tested by inserting the following code block at the very start:

#@title Default title text
# cloning git
!git clone -b refactoring https://github.com/facebookresearch/habitat-sim.git --depth 1
# install CMake
!echo $(git ls-remote https://github.com/facebookresearch/habitat-lab.git HEAD | awk '{ print $1}') > ./hablab_sha
!cat ./hablab_sha
!wget https://cmake.org/files/v3.12/cmake-3.12.4-Linux-x86_64.sh
!wget https://cmake.org/files/v3.20/cmake-3.20.1-linux-x86_64.sh
!sudo mkdir /opt/cmake312
!sudo mkdir /opt/cmake320
!sudo sh ./cmake-3.12.4-Linux-x86_64.sh --prefix=/opt/cmake312 --skip-license
!sudo sh ./cmake-3.20.1-linux-x86_64.sh --prefix=/opt/cmake320 --skip-license
!sudo ln -s /opt/cmake312/bin/cmake /usr/local/bin/cmake

# install deps
!sudo apt-get update || true
!sudo apt-get install -y --no-install-recommends \
    build-essential \
    git \
    curl \
    vim \
    ca-certificates \
    libjpeg-dev \
    libglm-dev \
    libegl1-mesa-dev \
    ninja-build \
    xorg-dev \
    freeglut3-dev \
    pkg-config \
    wget \
    zip \
    lcov\
    libhdf5-dev \
    libomp-dev \
    unzip || true
# Install Headless Chrome dependencies
!sudo apt-get update || true
!sudo apt-get install -yq \
      gconf-service \
      libasound2 \
      libatk1.0-0 \
      libatk-bridge2.0-0 \
      libc6 \
      libcairo2 \
      libcups2 \
      libdbus-1-3  \
      libexpat1 \
      libfontconfig1 \
      libgcc1 \
      libgconf-2-4 \
      libgdk-pixbuf2.0-0 \
      libglib2.0-0 \
      libgtk-3-0 \
      libnspr4 \
      libpango-1.0-0 \
      libpangocairo-1.0-0 \
      libstdc++6 \
      libx11-6 \
      libx11-xcb1 \
      libxcb1 \
      libxcomposite1 \
      libxcursor1 \
      libxdamage1 \
      libxext6 \
      libxfixes3 \
      libxi6 \
      libxrandr2 \
      libxrender1 \
      libxss1 \
      libxtst6 \
      ca-certificates \
      fonts-liberation \
      libappindicator1 \
      libnss3 \
      lsb-release \
      xdg-utils \
      wget

!pip install ninja numpy pytest pytest-cov hypothesis pytest-mock

%cd habitat-sim
!pip install -r requirements.txt --progress-bar off
!pip install imageio imageio-ffmpeg
!git submodule update --init --recursive --jobs 8
!python -u setup.py install --build-type "Release" --lto --headless --vhacd --bullet
!python src_python/habitat_sim/utils/datasets_download.py --uids ci_test_assets --replace --data-path data/

Install habitat_lab:

%cd /content/
!git clone https://github.com/facebookresearch/habitat-lab --depth 1
%cd /content/habitat-lab/
!set +e
!pip install -r ./habitat-lab/requirements.txt
!reqs=(./habitat_baselines/**/requirements.txt)
!pip install "${reqs[@]/#/-r}"
!set -e
!pip install -e habitat-lab

and then follow the instructions mentioned in #1818. Restart runtime, and then run the remaining cells (except for the first one).

!add-apt-repository ppa:ubuntu-toolchain-r/test -y
!apt-get update --fix-missing
!apt-get dist-upgrade

I checked the visual outputs to the colab files are identical to the the colab outputs before the changes.

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.

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