[bugfix] in support surface selection and KRM hard failure #2083
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Motivation and Context
Fixes a bug causing the last hit to be used as the default support surface for rec match. Usually this is the stage, so no matches were being found with furniture.
Also prevents program crash when Episode contains a non-active object->receptacle match. Logs an error and skips the kinematic relationship creation.
How Has This Been Tested
Locally.
Types of changes
Checklist