added polymetis usage example

[laikhtewari]

Motivation and Context

A jupyter notebook demonstrating how to use habitat with a custom controller through polymetis was created.
T122948275

How Has This Been Tested

Running the Jupyter notebook with the correct environment setup shows a waving robot in a specified scene (franka arm in an apartment with defaults)

Note that the following were added to the polymetis conda environment:
- opencv=4.5.1
- jupyter

Types of changes

• New feature (non-breaking change which adds functionality)

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.

[Skylion007]

@laikhtewari Can you look into try to make this a colab notebook? See the ones defined in the examples folder for comparison.

[aclegg3]

@laikhtewari Can you look into try to make this a colab notebook? See the ones defined in the examples folder for comparison.

Agreed. We also have automation tools in place to automatically convert to a python script on commit which can be run locally and during CI testing.
Just place the colab notebook in examples/tutorials/nb_python/

[dhruvbatra]

Agreed. Once it's in that state, we can also add your tutorial to our current set of tutorials: https://aihabitat.org/tutorial/

[1heart]

From Alex's comment over chat:

Thanks for trying.
If Colab as a platform is prohibitive here then we can leave it in Jupyter. Let's add a note about why in the text of the notebook.
In that case you can leave it in tutorials, but maybe not in the colab subdirectories (those are explicitly scanned and converted to python).

We can file an Issue for converting to Colab another time. Let's try to merge this soon.

[laikhtewari]

Added issue to convert notebook into colab: #910