[WIP] [3/3] Voxel bindings

[ScottCSteinhauser]

Motivation and Context

This PR creates python bindings for using the voxel framework on the python level as well as a tutorial which illustrates the framework's flexibility.

How Has This Been Tested

A tutorial can be found at examples/tutorials/voxel_framework_tutorial.py, and some of it's code is shown here:

This code produces this short video:

https://user-images.githubusercontent.com/56770849/113169084-e38e1580-920a-11eb-8dfe-66521ebc4684.mp4

Types of changes

• Bindings added to SimBindings.cpp and GeoBindings.cpp
• A tutorial for using these bindings found in examples/tutorials/voxel_framework_tutorial.py

What needs to be done

• I plan on creating a rst file for the tutorial so it is easily accessible on the habitat-sim website/docs.
• Bindings for directly accessing the voxel grids are in the works

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