[BE] cleanup docstring sims.habitat_simulator.sim_utilities (#2009)

* add module docstring and remove now-redundant ao_root_bbs function

---------

Co-authored-by: trandaniel <trandaniel@meta.com>

Author: aclegg3

habitat-lab/habitat/sims/habitat_simulator/debug_visualizer.py

@@ -188,14 +188,7 @@ def draw_object_highlight(
     if color is None:
         color = mn.Color4.magenta()
 
-    obj_bb = None
-    if obj.is_articulated:
-        from habitat.sims.habitat_simulator.sim_utilities import get_ao_root_bb
-
-        obj_bb = get_ao_root_bb(obj)
-    else:
-        obj_bb = obj.root_scene_node.cumulative_bb
-
+    obj_bb = obj.aabb
     obj_center = obj.transformation.transform_point(obj_bb.center())
     obj_size = obj_bb.size().max() / 2
 
@@ -619,34 +612,8 @@ def peek(
                 subject = subject_obj
 
         if subject_bb is None:
-            # if we have gathered an object instance, process the bounding box and transform
-            if isinstance(
-                subject, habitat_sim.physics.ManagedArticulatedObject
-            ):
-                from habitat.sims.habitat_simulator.sim_utilities import (
-                    get_ao_global_bb,
-                )
-
-                obj_bb = get_ao_global_bb(subject)
-                obj_bb_local = mn.Range3D.from_center(
-                    subject.transformation.inverted().transform_point(
-                        obj_bb.center()
-                    ),
-                    obj_bb.size() / 2.0,
-                )
-                subject_bb = obj_bb_local
-                subject_transform = (
-                    subject.root_scene_node.absolute_transformation()
-                )
-            elif isinstance(subject, habitat_sim.physics.ManagedRigidObject):
-                subject_bb = subject.root_scene_node.cumulative_bb
-                subject_transform = (
-                    subject.root_scene_node.absolute_transformation()
-                )
-            else:
-                raise AssertionError(
-                    f"The subject, '{subject}', is not a supported value. Should be an object, object handle, object_id integer, or one of 'stage' or 'scene'."
-                )
+            subject_bb = subject.aabb
+            subject_transform = subject.transformation
 
         return self._peek_bb(
             bb=subject_bb,