Simplify path planner API and allow planner resets

[sea-bass]

This PR makes path planners less complex by not using any hierarchy or factory patterns; rather, it is a bunch of flat classes that implement a common contract for grabbing the latest graphs and plans.

As part of this common contract, all planners now have a reset() method which will do different things in different planners. Right now:

• RRT : Basically a no-op, just clears out the graphs
• PRM / WorldGraphPlanner : Re-generates the roadmaps from the world polygons
• A* : Re-generates the occupancy grid from the world

This is also available through a ROS interface, e.g.:

ros2 service call /robot0/reset_path_planner std_srvs/srv/Trigger {}

All the "common" stuff that was formerly in a base class is now available as free functions. Composition over inheritance all the way!

Closes #212

[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	93	8	91%	193, 235–238, 262–264
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	451	66	85%	259–260, 272, 275, 279–280, 285–286, 328–329, 337, 397–400, 404–407, 447, 449, 491–492, 494–495, 512–514, 530–532, 599–601, 626–628, 679–681, 750–752, 762, 806–808, 818, 833, 839–840, 842, 844, 847–849, 859, 867, 873, 879, 885, 897, 939, 957, 960, 965
room.py	48	1	97%	113
world.py	739	190	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, 519–523, 525–527, 529–530, 533, 535–538, 542–546, 549–551, 554–565, 581–582, 600–602, 616–618, 654–656, 668–670, 692–694, 719–721, 769–770, 773, 789, 819–820, 831, 834, 842, 858–862, 864–866, 869–870, 873–876, 878, 881, 883–885, 887–889, 891, 906, 913, 924–928, 963–964, 968–969, 987–988, 994–995, 997–998, 1000, 1002–1003, 1005, 1007–1008, 1018–1019, 1022, 1024, 1038, 1040, 1047, 1094, 1125–1126, 1137, 1148–1150, 1152–1155, 1157, 1174–1175, 1179–1180, 1215–1216, 1218, 1235–1236, 1267, 1281–1284, 1296–1299, 1313, 1324–1325, 1327, 1371–1372, 1424, 1504–1505
yaml_utils.py	108	6	94%	65, 69, 171–172, 191–192
gui
__init__.py	2	0	100%
main.py	198	34	82%	22–24, 45, 77–78, 203, 215–221, 228–231, 233, 236–242, 246, 251–252, 256–257, 268, 319–320
world_canvas.py	301	62	79%	45–46, 48–52, 55, 61–62, 169–172, 176–177, 182–183, 190, 192, 249–251, 257, 274–276, 323, 380–381, 408–409, 411, 413–415, 418–421, 423, 427–433, 436, 439–440, 455–457, 460, 479, 522, 543, 547, 570, 587, 601
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	11	1	90%	37
a_star.py	77	11	85%	83–88, 90–92, 180, 189
execution.py	90	7	92%	73–75, 80–82, 119
occupancy_grid.py	139	14	89%	44–47, 49–53, 56, 192, 226, 234, 238
prm.py	56	4	92%	60–61, 140, 149
rrt.py	162	1	99%	365
visualization.py	32	6	81%	88–93
world_graph.py	58	4	93%	117, 120, 130, 139
planning
__init__.py	0	0	100%
actions.py	112	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	61	4	93%	68, 82, 94, 232
utils.py	99	8	91%	66, 93, 105, 115–116, 207–208, 211
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	70	3	95%	93–94, 96
polygon.py	111	0	100%
pose.py	89	0	100%
search_graph.py	93	3	96%	240–242
trajectory.py	67	2	97%	130, 165
TOTAL	4135	564	86%

Tests	Skipped	Failures	Errors	Time
194	0 💤	0 ❌	0 🔥	3m 14s ⏱️

[eholum]

So much cleaner! Did a quick scan through and some testing. The examples need the info function removed but other than that...

[sea-bass]

This is also considering the addition of the new resetting feature 🤘🏻

[eholum]

Re-tested all the examples and looking good!