Simulate simple 2D robot dynamics

[sea-bass]

This PR adds simple 2D robot dynamics to core (non-ROS) pyrobosim.

Partially closes #148

[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	73	10	86%	59, 61, 63, 96, 158, 196–199, 205
locations.py	126	21	83%	53, 55, 69, 84–85, 87, 98–99, 101–102, 119, 177, 192, 217, 227, 273, 284–285, 287–288, 312
objects.py	69	4	94%	78, 106, 137, 197
robot.py	214	58	72%	140–141, 203, 216, 263, 277–278, 282, 286, 292–293, 295–296, 313–314, 342, 344–345, 366–367, 370–373, 376–378, 403, 407–409, 411, 413–416, 429–431, 435, 437–439, 441, 444–445, 448, 470–471, 479, 484–489, 492, 505
room.py	48	1	97%	113
world.py	571	138	75%	146–147, 183–184, 188, 241–242, 244–245, 273–274, 325, 339–340, 342–343, 372–376, 378–380, 382–383, 386, 390–394, 397–399, 402–409, 440, 476–477, 480, 496, 526–527, 538, 541, 563–567, 569–571, 574–575, 578–581, 583, 586, 588–590, 592–594, 596, 615, 625–629, 664–665, 668–671, 688–689, 695–696, 698–699, 701, 703–704, 706, 708–709, 719–720, 723, 725, 739, 741, 748, 795, 826–827, 846–847, 851–852, 887–888, 890, 907–908, 927–931, 943–946, 958–961, 986–987, 989, 1033–1034, 1166–1167
yaml_utils.py	106	11	89%	64, 68, 152–154, 158–159, 182–183, 207–208
gui
__init__.py	2	0	100%
main.py	152	29	80%	22, 24–26, 28, 49, 178–181, 188–191, 193, 196–202, 206–208, 212–213, 219, 230
world_canvas.py	226	52	76%	34–36, 110, 112, 114, 177, 181, 232–237, 243–244, 246–248, 253–254, 257, 260–262, 265, 270–271, 273, 300, 322–327, 330, 333–334, 349–351, 354, 371, 400, 418–419, 421–422, 464, 480, 487
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	4	0	100%
a_star.py	78	10	87%	67–72, 74–76, 165
execution.py	34	4	88%	46–47, 49–50
occupancy_grid.py	139	14	89%	44–47, 49–53, 56, 192, 226, 234, 238
path_planner.py	26	6	76%	32, 35, 37, 41, 84, 89
planner_base.py	59	17	71%	29–35, 51, 57–59, 140–145
prm.py	72	56	22%	40–44, 46, 50–51, 54, 57–64, 66–67, 76–79, 85, 101–102, 104–109, 111–112, 115–118, 121–126, 135, 144, 154, 156, 158–159, 161, 174–178
rrt.py	172	7	95%	228, 353–354, 360–361, 363, 392
trajectory.py	50	0	100%
world_graph.py	70	3	95%	118, 121, 145
planning
__init__.py	3	0	100%
actions.py	66	43	34%	59–60, 62, 66–75, 77–80, 82–86, 88–91, 93–97, 99–100, 102–104, 150–151, 154–158
planning/pddlstream
__init__.py	0	0	100%
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	139	16	88%	90–91, 100, 135–138, 145, 149–150, 163, 178, 182, 224, 240, 295
motion.py	60	6	90%	56, 67–71
polygon.py	111	0	100%
pose.py	89	3	96%	79, 211, 227
search_graph.py	93	3	96%	241–243
TOTAL	3501	598	82%

Tests	Skipped	Failures	Errors	Time
163	0 💤	0 ❌	0 🔥	5m 17s ⏱️

[ibrahiminfinite]

I like how the dynamics is implemented and only have a few small comments.

[ibrahiminfinite]

I am in favour of always getting a limit from user instead of an infinity default limit.

[sea-bass]

I think the default should actually be unlimited, because there will probably be a core set of users who just want to command a velocity based on something else. So I might leave this as is.

[ibrahiminfinite]

A get_current_velocity() method in the RobotDynamics2D could be useful here, instead of directly accessing the velocity attribute.

[sea-bass]

I think the RobotDynamics2D instance can be considered a part of the Robot class... so I'm OK leaving this to just directly access velocity here, as is done in Robot.get_pose() which directly accesses robot.dynamics.pose.

[sea-bass]

Thanks for the review @ibrahiminfinite! I made a few of the changes suggested, and will most likely leave the rest as is, if that's okay. Will work on the ROS wrapper now...

[ibrahiminfinite]

Thanks for the review @ibrahiminfinite! I made a few of the changes suggested, and will most likely leave the rest as is, if that's okay. Will work on the ROS wrapper now...

Yeah, the rest can be ignored.
This PR can go in then I guess.