Receptacle unique_name filtering

[aclegg3]

Motivation and Context

Current RearrangeEpisode generation relies on pre-configured filtering substrings to cull unwanted receptacles or split them into sets for different purposes. These substrings were checked against Receptacle names, which were not instance-unique and therefore could not differentiate between multiple instances of the same object.

This PR refactors all filtering to consider unique_name, a combination of object instance name and receptacle name, as well as adding support for per-scene filter files (output of Habitat-sim 2078).

Note: requires Habitat-sim 2081 (main merged 04/24).

Format example:
In my_scene.scene_instance.json, add a user_defined entry "scene_filter_file" referencing a dataset-local filepath to the filter JSON:

"user_defined":{
      "scene_filter_file": "scene_filter_files/104348361_171513414.rec_filter.json"
}

The filter file contains several lists of unique_names. See Habitat-sim 2078 for more details. Those currently parsed are:

{
  "manually_filtered": []
  "access_filtered": [],
  "stability_filtered": [],
  "height_filtered": [],
}

An example unique_name:

"cbb4633c95d4b985f10188b8d62be4a90593b07d_:0000|receptacle_mesh_cbb4633c95d4b985f10188b8d62be4a90593b07d.0000"

How Has This Been Tested

Locally with output from Habitat-sim 2078.

Types of changes

• [Refactoring] Large changes to the code that improve its functionality or performance
• [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.

[vincentpierre]

Not sure I am the best positioned to review this code, but it seems like an improvement,

[vincentpierre]

Are these strings documented somewhere?

[aclegg3]

We are using the "user_defined" fields for this, so there is no official documentation. It is documented in the Receptacle filtering process and the tools used to generate the configs.
Once we have everything working for the dataset release we should add a doc page to the website about the entire Receptacle system.