Unify navigation code and automatically extract robot location

[sea-bass]

This PR reduces duplication in the nav code that existed in both the GUI and the robot. Now it's all delegated to the robot, which has a navigate() method that contains find_path() and follow_path().

Additionally, the target_location argument of the nav functions is gone, meaning it does not need to be specified a priori; the World.get_location_from_pose() method has been extended to also extract object spawn and hallway information.

I also found a few other UI simplifications along the way...

[github-actions]

Coverage Report

File	Stmts	Miss	Cover	Missing
__init__.py	0	0	100%
core
__init__.py	9	0	100%
dynamics.py	43	0	100%
gazebo.py	136	8	94%	55, 124, 230, 244–248
hallway.py	92	10	89%	176, 192, 217, 234–237, 261–263
locations.py	125	21	83%	53, 55, 69, 84–85, 87, 98–99, 101–102, 119, 177, 192, 217, 227, 272, 283–284, 286–287, 311
objects.py	69	4	94%	78, 106, 137, 197
robot.py	315	48	84%	231–232, 244–245, 248, 253, 282–284, 286–288, 291–292, 351–354, 412–413, 415–416, 433–434, 486–487, 565, 590, 607, 613–616, 629, 637, 643, 649, 655, 664, 692, 701, 704, 709, 722–726
room.py	48	1	97%	113
world.py	646	161	75%	146–147, 183–184, 188, 241–242, 244–245, 273–274, 297–298, 310–311, 325–326, 333–334, 338–339, 353–354, 374–375, 423, 437–438, 440–441, 470–474, 476–478, 480–481, 484, 488–492, 495–497, 500–507, 538, 574–575, 578, 594, 624–625, 636, 639, 647, 663–667, 669–671, 674–675, 678–681, 683, 686, 688–690, 692–694, 696, 711, 718, 729–733, 768–769, 773–774, 792–793, 799–800, 802–803, 805, 807–808, 810, 812–813, 823–824, 827, 829, 843, 845, 852, 899, 930–931, 942, 953–955, 957–960, 962, 979–980, 984–985, 1020–1021, 1023, 1040–1041, 1072, 1074, 1086–1089, 1101–1104, 1118, 1129–1130, 1132, 1176–1177, 1229, 1309–1310, 1356
yaml_utils.py	106	11	89%	64, 68, 153–155, 159–160, 183–184, 208–209
gui
__init__.py	2	0	100%
main.py	198	41	79%	23–25, 46, 78–79, 197, 209–213, 220–223, 225, 228–234, 238, 243–244, 248–249, 260, 271, 315–319, 323–327
world_canvas.py	244	64	73%	41–42, 44–48, 51, 59–60, 136–139, 146, 148, 194, 201–203, 205–207, 223, 259, 311, 320, 326, 333–334, 336, 338–340, 343–346, 348, 352–358, 361, 364–365, 380–382, 385, 402, 445, 466, 470, 492, 508–509, 511, 522–523, 525
manipulation
__init__.py	1	0	100%
grasping.py	236	61	74%	102, 110–112, 114–122, 124, 132, 462, 464–466, 470–472, 566–568, 571–575, 583, 586–588, 593–594, 600–604, 607–614, 617–619, 628, 630, 632–638
navigation
__init__.py	3	0	100%
a_star.py	78	10	87%	67–72, 74–76, 165
execution.py	34	4	88%	45–46, 48–49
occupancy_grid.py	139	14	89%	44–47, 49–53, 56, 192, 226, 234, 238
path_planner.py	26	6	76%	33, 36, 38, 42, 85, 90
planner_base.py	59	31	47%	29–35, 51, 57–59, 86, 98, 101, 105, 113–114, 117–119, 122–124, 127, 129, 140–145
prm.py	72	2	97%	61–62
rrt.py	174	0	100%
world_graph.py	70	3	95%	118, 121, 145
planning
__init__.py	0	0	100%
actions.py	78	55	29%	59–60, 62, 66–75, 77–80, 82–86, 88–91, 93–97, 99–102, 104–111, 113–114, 116–118, 164–165, 168–172
planning/pddlstream
__init__.py	7	1	85%	13
default_mappings.py	9	0	100%
planner.py	40	8	80%	119–126
primitives.py	57	2	96%	68, 208
utils.py	85	3	96%	66, 99–100
utils
__init__.py	0	0	100%
general.py	33	4	87%	23, 45, 51–52
knowledge.py	148	14	90%	110, 145–148, 155, 159–160, 173, 188, 192, 234, 250, 313
motion.py	60	6	90%	56, 67–71
polygon.py	111	0	100%
pose.py	89	2	97%	211, 227
search_graph.py	93	3	96%	240–242
trajectory.py	65	0	100%
TOTAL	3800	598	84%

Tests	Skipped	Failures	Errors	Time
187	0 💤	0 ❌	0 🔥	3m 22s ⏱️