One less bridge

[erikwijmans]

Motivation and Context

Use inheritance instead of a member variable for the instance of habitat-sim. This alleviates the needs for _sim._sim to get to methods where a bridge hasn't been built.

The one downside is that inheritance won't allow both habitat_sim.Simulator and HabitatSimulator to have their existing self.config. The one in for HabitatSimulator was renamed hab_config.

How Has This Been Tested

The existing tests

Types of changes

• Docs change / refactoring / dependency upgrade
• 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.

[mathfac]

Really like the change! Can we use hab_config => habitat_config 4 characters more , but better readability. Thank you!

[codecov]

Codecov Report

Merging #418 into master will decrease coverage by 0.01%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##           master     #418      +/-   ##
==========================================
- Coverage   76.33%   76.32%   -0.02%     
==========================================
  Files         108      108              
  Lines        7670     7665       -5     
==========================================
- Hits         5855     5850       -5     
  Misses       1815     1815              

Impacted Files	Coverage Δ
habitat/datasets/pointnav/pointnav_generator.py	87.75% <ø> (ø)
habitat/core/simulator.py	78.61% <100.00%> (+0.13%)	⬆️
...abitat/sims/habitat_simulator/habitat_simulator.py	94.41% <100.00%> (-0.16%)	⬇️
habitat/tasks/nav/shortest_path_follower.py	73.17% <100.00%> (ø)

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