Improved BoundedShapes and array typing

[timbernat]

Description

This PR aims to improve consistency, usability, and feature completeness of the mupt.geometry module, especially as pertains to BoundedShape, as well as strengthening array-related typing.

Todos

Notable points that this PR has either accomplished or will accomplish.

• Resolve Feature additions to BoundedShape and subtypes #10
• Standardize abstract interface for Shapes
  • Provide uniform contract for surface_mesh() (in terms of a triangulated mesh)
  • Implement support vector calculation
  • Implement uniform scaling interface
  • Add visualize() interface with thin mpl wrapper
  • Add Cylinder/Rod class
• Decouple BoundedShape from RigidlyTransformable
• Tighten up numpy-related typehints
• Fix non-updating visualization for PointCloud in mupt-examples

Questions

• Should a NullShape class be implemented to avoid NoneType sentinels for unset .shape fields on Primitive?
• Is it worth adding support for arbitrary mapped labels to points in PointCloud.positions, rather than just int indices?
  DEV: opting for no on both questions

Status

• Address points in Feature additions to BoundedShape and subtypes #10
• Update mupt_shapes notebook in parallel examples repo
• Ensure new tests pass
• Ready to go

[codecov]

Codecov Report

❌ Patch coverage is 73.08642% with 109 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
mupt/geometry/shapes/cylinder.py	61.53%	35 Missing ⚠️
mupt/geometry/shapes/ellipsoid.py	68.75%	35 Missing ⚠️
mupt/geometry/shapes/visualize.py	28.00%	18 Missing ⚠️
mupt/geometry/shapes/shapes.py	75.00%	11 Missing ⚠️
mupt/geometry/shapes/pointcloud.py	88.46%	6 Missing ⚠️
mupt/geometry/transforms/rigid/__init__.py	85.71%	1 Missing ⚠️
mupt/geometry/transforms/rigid/application.py	66.66%	1 Missing ⚠️
mupt/mupr/primitives.py	83.33%	1 Missing ⚠️
mupt/mutils/copyable.py	87.50%	1 Missing ⚠️

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