Add partial observability to robots

[sea-bass]

This PR augments the Robot class with the ability to simulate partial observability; that is, a robot must explicitly run a "detect" action to find objects at a specific location.

It also does some UI cleanup and preparation for other features coming up (opening / closing).

Closes https://github.com/sea-bass/pyrobosim/issues/186

[github-actions[bot]]

Coverage Report

File	Stmts	Miss	Cover	Missing
__init__.py	0	0	100%
core
__init__.py	9	0	100%
dynamics.py	43	0	100%
gazebo.py	136	8	94%	55, 124, 230, 244–248
hallway.py	73	10	86%	59, 61, 63, 96, 158, 196–199, 205
locations.py	126	21	83%	53, 55, 69, 84–85, 87, 98–99, 101–102, 119, 177, 192, 217, 227, 273, 284–285, 287–288, 312
objects.py	69	4	94%	78, 106, 137, 197
robot.py	247	53	78%	150–151, 237, 250, 297, 311–312, 316, 320, 326–327, 329–330, 347–348, 376, 378–379, 400–401, 404–407, 410–412, 470, 474–476, 478, 480–483, 498, 506, 512, 517–518, 521, 541–542, 549, 558, 561, 566, 579–583
room.py	48	1	97%	113
world.py	575	139	75%	146–147, 183–184, 188, 241–242, 244–245, 273–274, 325, 339–340, 342–343, 372–376, 378–380, 382–383, 386, 390–394, 397–399, 402–409, 440, 476–477, 480, 496, 526–527, 538, 541, 549, 565–569, 571–573, 576–577, 580–583, 585, 588, 590–592, 594–596, 598, 613, 620, 631–635, 670–671, 675–676, 694–695, 701–702, 704–705, 707, 709–710, 712, 714–715, 725–726, 729, 731, 745, 747, 754, 801, 832–833, 852–853, 857–858, 893–894, 896, 913–914, 933–937, 949–952, 964–967, 981, 992–993, 995, 1039–1040, 1172–1173
yaml_utils.py	106	11	89%	64, 68, 153–155, 159–160, 183–184, 208–209
gui
__init__.py	2	0	100%
main.py	183	33	81%	24, 26, 28–30, 32, 53, 85–86, 211–215, 222–225, 227, 230–236, 240–242, 246–247, 253, 264
world_canvas.py	253	60	76%	29–31, 35–37, 41, 119–121, 128, 130, 187, 225, 229, 270–275, 281–282, 284–286, 291–292, 295, 298–300, 303, 308–309, 311, 329, 351–356, 359, 362–363, 378–380, 383, 400, 445, 447–448, 450–451, 487, 508, 512, 534
manipulation
__init__.py	1	0	100%
grasping.py	236	61	74%	102, 110–112, 114–122, 124, 132, 462, 464–466, 470–472, 566–568, 571–575, 583, 586–588, 593–594, 600–604, 607–614, 617–619, 628, 630, 632–638
navigation
__init__.py	3	0	100%
a_star.py	78	10	87%	67–72, 74–76, 165
execution.py	34	4	88%	46–47, 49–50
occupancy_grid.py	139	14	89%	44–47, 49–53, 56, 192, 226, 234, 238
path_planner.py	26	6	76%	33, 36, 38, 42, 85, 90
planner_base.py	59	17	71%	29–35, 51, 57–59, 140–145
prm.py	72	56	22%	40–44, 46, 50–51, 54, 57–64, 66–67, 76–79, 85, 101–102, 104–109, 111–112, 115–118, 121–126, 135, 144, 154, 156, 158–159, 161, 174–178
rrt.py	172	7	95%	228, 353–354, 360–361, 363, 392
world_graph.py	70	3	95%	118, 121, 145
planning
__init__.py	0	0	100%
actions.py	70	47	32%	59–60, 62, 66–75, 77–80, 82–86, 88–91, 93–97, 99–102, 104–105, 107–109, 155–156, 159–163
planning/pddlstream
__init__.py	7	1	85%	13
defaultmappings.py	9	0	100%
planner.py	40	8	80%	119–126
primitives.py	57	2	96%	68, 208
utils.py	85	3	96%	66, 99–100
utils
__init_\.py	0	0	100%
general.py	33	4	87%	23, 45, 51–52
knowledge.py	144	16	88%	95–96, 105, 140–143, 150, 154–155, 168, 183, 187, 229, 245, 308
motion.py	60	6	90%	56, 67–71
polygon.py	111	0	100%
pose.py	89	2	97%	211, 227
search_graph.py	93	3	96%	240–242
trajectory.py	65	0	100%
TOTAL	3623	610	83%

Tests	Skipped	Failures	Errors	Time
172	0 :zzz:	0 :x:	0 :fire:	3m 58s :stopwatch: