Simulate robot battery usage and charging

[sea-bass]

This PR adds battery level to robots, as well as the option to simulate battery usage per action.

As a side effect, this PR also correctly applies action execution options from manually interacting with the GUI, which was not previously available.

Closes #230

[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	8	91%	192, 234–237, 261–263
locations.py	131	21	83%	69, 71, 88, 103–104, 106, 117–118, 120–121, 138, 196, 211, 236, 246, 291, 302–303, 305–306, 335
objects.py	69	4	94%	78, 106, 137, 197
robot.py	459	66	85%	259–260, 272, 275, 279–280, 285–286, 334–335, 359, 425–428, 432–435, 480, 482, 524–525, 527–528, 545–547, 563–565, 632–634, 659–661, 712–714, 783–785, 795, 839–841, 851, 866, 872–873, 875, 877, 880–882, 895, 903, 909, 915, 921, 933, 975, 993, 996, 1001
room.py	48	1	97%	113
world.py	735	186	74%	147–148, 184–185, 189, 242–243, 245–246, 274–275, 298–300, 337–339, 351–353, 382–384, 409–411, 464, 478–479, 481–482, 497–499, 515–519, 521–523, 525–526, 529, 533–537, 540–542, 545–556, 572–573, 591–593, 607–609, 645–647, 659–661, 683–685, 710–712, 760–761, 764, 780, 810–811, 822, 825, 833, 849–853, 855–857, 860–861, 864–867, 869, 872, 874–876, 878–880, 882, 897, 904, 915–919, 954–955, 959–960, 978–979, 985–986, 988–989, 991, 993–994, 996, 998–999, 1009–1010, 1013, 1015, 1029, 1031, 1038, 1085, 1116–1117, 1128, 1139–1141, 1143–1146, 1148, 1165–1166, 1170–1171, 1206–1207, 1209, 1226–1227, 1258, 1272–1275, 1287–1290, 1304, 1315–1316, 1318, 1362–1363, 1415, 1495–1496
yaml_utils.py	115	11	90%	65, 69, 156–158, 162–163, 183–184, 203–204
gui
__init__.py	2	0	100%
main.py	190	30	84%	22–24, 45, 77–78, 196, 208–212, 219–222, 224, 227–233, 237, 242–243, 247–248, 259
world_canvas.py	284	55	80%	44–45, 47–51, 54, 62–63, 171–174, 181, 183, 240–242, 289, 326, 360–361, 384–385, 387, 389–391, 394–397, 399, 403–409, 412, 415–416, 431–433, 436, 455, 498, 519, 523, 546, 563, 577
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	90	6	93%	73–75, 80–82
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, 89, 94
planner_base.py	59	17	71%	29–35, 51, 57–59, 142–147
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	110	0	100%
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	154	22	85%	86, 117, 156–161, 163–164, 167–168, 170–173, 189, 204, 208, 250, 266, 329
motion.py	65	0	100%
polygon.py	111	0	100%
pose.py	89	0	100%
search_graph.py	93	3	96%	240–242
trajectory.py	67	1	98%	165
TOTAL	4181	553	86%

Tests	Skipped	Failures	Errors	Time
196	0 💤	0 ❌	0 🔥	3m 10s ⏱️