[habitat_31] Add Humanoid + ArticulatedAgent Tutorial tutorial (#1765)

* Add tutorial

* ao tutorial

* updated tutorial

* typos and private variables

* rename snap pos

* clarify param

* modifications to run ao_tutorial in Jupyter notebook locally

* addressing alex comments

* download data paths
:

* remove todos

* precommti

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Co-authored-by: aclegg3 <[email protected]>