Motivation and Context

Removes a few outdated things from C++ Simulator:

• setObjectBBDraw and python set_object_bb_draw - removed because debug line rendering is the preferred method for this kind of feature, not a Simulator API
• saveFrame - not implemented
• queryArticulatedObjWrapper - outdated, use the manager

How Has This Been Tested

CI should pass (maybe not lab) see facebookresearch/habitat-lab#2106

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.