Add bounding box sensor

[jimmytyyang]

Motivation and Context

This PR introduces the semantic image for the door/drawer handle. It uses markers and 3D projection to create bounding boxes.

How Has This Been Tested

Running interative_play.py to view the effect

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.

[zephirefaith]

Thanks for the PR, Jimmy! The video is pretty cool too. I added my comments, mostly nits and some code reorg suggestions.
Curious how would this work if I need location of all handles in view (to emulate real-world scenario with a handle detector).

[zephirefaith]

This looks great, just a nit. Thank you for the PR Jimmy :)