World knowledge tests

[henrygerardmoore]

Added world knowledge tests. Not entirely sure if this is a good format or if we want more or different kinds of tests, feel free to ask for any of that! This is my first time making python tests so it will be a learning experience

Resolves #99

[sea-bass]

Thanks for doing this!

I have some high-level suggestions, in addition to / to summarize the inline comments:

1. I just realized that apply_resolution_strategy doesn't actually use the world argument? We can remove it.
2. Add docstrings to each test function explaining what is being tested
3. Check out my comment on using pytest.raises -- will save a lot of lines of code
4. Instead of using Pose.from_list() just use the regular constructor with named arguments, e.g. Pose(x=1.0, y=2.0, yaw=np.pi/2)

[henrygerardmoore]

@sea-bass made all the changes except the pytest-assume one, which I commented on above. I also broke up another of the larger test into its conceptual parts, hopefully now it's easier to parse what's going on in the tests.

[sea-bass]

Looks awesome -- thanks @henrygerardmoore!

[sea-bass]

I just tried locally and it worked great for me...

You can either just do pip install pytest-assume in your existing environment, or if you add it to the requirements file you'll need to rerun the entire setup/create_python_env.bash.

... but like, this doesn't matter for this PR -- it was just an out there suggestion. I'll let you follow up in another if you care!