feat/websocket visualization

[leshy]

Implements websocket based visualizer for common types like costmap, path and vector.

• Non invasive to the codebase, only updates these types with serialize() methods
• Any submodule can return an observable of these types and they will be automatically visualized

websocket_vis.connect(planner.vis_stream())

in planner (at any point):

        self.vis("global_costmap", smudge)
        self.vis("pos", pos)

(multiple subsystems can draw in the same context, so local/global planners, semantic map can share the vis)

initial UI is scrapped quickly - main part is that we can pass real time internal state to web, so can use this in the dimos console or other UIs

run

python tests/test_websocketvis.py

for demo, or

python tests/test_websocketvis.py --live

for live robot connection/mouse control

[spomichter]

Good to go other than two small changes

[spomichter]

Approving, in future no formatting changes / linter