[WIP] Sensor update and refactor

[jrreyna]

Motivation and Context

Refactoring sensor code in python to mirror what the C++ code does. Continuing work from pull request #1151.

How Has This Been Tested

So far it has passed several tests in habitat-sim/tests, like "test_sensors.py" for example, though it skipped a lot of the tests that use the Matterport3D assets because I don't have access to those yet. It also skipped the tests that use CUDA and torch because I don't have those set up. Doesn't pass 2 of the CI tests

Types of changes

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

Checklist

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

[Skylion007]

@jrreyna You should look into making sure you have pre-commit setup locally. It would have caught the merge diff issue before you committed as well as the linter issues.