PDDLStream custom mappings, arbitrary args, and tuning

[sea-bass]

This PR modifies the PDDLStream planning pipeline to:

• Take in any arbitrary functions that return stream mappings/info dictionaries, which will allow users to override not just the planning domain, but those dictionaries. This will fully enable users to make custom domains.
• Fall back to always using the PDDLStream adaptive planner, and directly pass in keyword args (**kwargs) to simplify interface to planner and allow more flexibility
• Tuned the search_sample_ratio way down on one of the unit tests to prevent from getting stuck sampling placement poses in a cluttered surface when there was another placement surface wide open some distance away. This was probably the most critical change.
• Added a raw_collision_polygon attribute to objects to reduce number of times we inflate the raw polygon

I ran the test_pddlstream_manip unit tests locally 100 times in a row to give myself peace of mind, and they consistently seemed to solve in ~60 to 100 seconds (for all 4 tests combined).

I also got rid of some encoding pragma pre-commit check because it was adding stuff I didn't want to files. It's why this PR looks bigger than it actually is.

Closes #47

[sea-bass]

I'm gonna exercise executive power on this PR because I was sloppy and also fixed CI here, and I really want CI to stop failing.

@AndyZe If you have any feedback, we can handle it in a separate PR.