Add python binding to render color sensors into CPU images.

[0mdc]

Motivation and Context

This adds a missing replay renderer python binding to transfer sensor output into CPU images.
Note that this function only works for one color sensor. This will be revisited as we integrate multiple sensors into the batch renderer.

How Has This Been Tested

Tested manually in Python from Habitat-Lab.

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• 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.

[eundersander]

LGTM