Refine plan demo

[charlie1329]

Introduces the REFINE-PLAN part of the overarching demo.

Here, the robot is looking for a new object (bread) in the environment. After learning from data, the robot learns to search for it anti-clockwise through the environment.

Adds a new package, refine_plan_demo, in the simulation directory. There is a README in the package on how to run it (this can be translated directly to the web page).

This PR makes the following changes to the main sim:

• Adds new dependencies to Dockerfile/requirements.txt
• Changes the Pyrobosim commit to support probabilistic object spawning
• Changes the motion planner to A*. I was observing issues under RRT* where the robot was frequently taking very suboptimal paths between locations. This would render REFINE-PLAN unable to do anything useful.
• Moved two tables slightly further apart as otherwise the navigation (regardless of planner) was unable to navigate between the two.
• Added an override in run.py to set the detect success probability to 1.0 (we can't handle partial observability in REFINE-PLAN).

If anything isn't where you'd want it to be, let me know.

[MarcoLm993]

New version 4.3.4 is out, including the probabilistic spawning required by this PR

[charlie1329]

Updated!

[charlie1329]

Just want to note that I've just significantly expanded the README for the REFINE-PLAN tutorial, so that'll need to be updated if you've already started the rst file in the overview repo!