Add path execution validation and abort

[sea-bass]

This PR adds an option for path executors to spawn a new thread and collision-check the remaining path to be executed.

I also did a drive-by fix of #207 :)

Closes #191
Closes #207

[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	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	318	48	84%	233–234, 246–247, 250, 255, 284–286, 288–290, 293–294, 353–356, 414–415, 417–418, 435–436, 488–489, 567, 592, 609, 620–623, 636, 644, 650, 656, 662, 671, 699, 708, 711, 716, 729–733
room.py	48	1	97%	113
world.py	650	156	76%	146–147, 183–184, 188, 241–242, 244–245, 273–274, 297–298, 327–328, 335–336, 360–361, 381–382, 430, 444–445, 447–448, 477–481, 483–485, 487–488, 491, 495–499, 502–504, 507–514, 545, 581–582, 585, 601, 631–632, 643, 646, 654, 670–674, 676–678, 681–682, 685–688, 690, 693, 695–697, 699–701, 703, 718, 725, 736–740, 775–776, 780–781, 799–800, 806–807, 809–810, 812, 814–815, 817, 819–820, 830–831, 834, 836, 850, 852, 859, 906, 937–938, 949, 960–962, 964–967, 969, 986–987, 991–992, 1027–1028, 1030, 1047–1048, 1079, 1093–1096, 1108–1111, 1125, 1136–1137, 1139, 1183–1184, 1236, 1316–1317, 1363
yaml_utils.py	108	11	89%	64, 68, 153–155, 159–160, 180–181, 200–201
gui
__init__.py	2	0	100%
main.py	198	31	84%	23–25, 46, 78–79, 197, 209–213, 220–223, 225, 228–234, 238, 243–244, 248–249, 260, 271
world_canvas.py	244	56	77%	41–42, 44–48, 51, 59–60, 136–139, 146, 148, 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, 509, 523
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	74	4	94%	70–71, 73–74
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	92	55	40%	102–103, 105, 109–118, 120–123, 125–129, 131–134, 136–140, 142–145, 147–154, 156–157, 159–161, 207–208, 211–215
planning/pddlstream
__init__.py	7	1	85%	13
default_mappings.py	9	0	100%
planner.py	40	8	80%	119–126
primitives.py	57	3	94%	64, 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	65	5	92%	85–89
polygon.py	111	0	100%
pose.py	89	0	100%
search_graph.py	93	3	96%	240–242
trajectory.py	67	0	100%
TOTAL	3870	571	85%

Tests	Skipped	Failures	Errors	Time
190	0 💤	0 ❌	0 🔥	3m 2s ⏱️