Controller

[LiamWellacott]

• basic controller implementation with a state machine: idle -> summoned -> receive instructions -> fetch -> receive instructions | idle

• 77 added a static semmap file, we will use this so nlp, controller, and nav can agree on the name of furniture/objects. nlp may need to add to the sem map file whatever it needs to be able to identify a requested object/furniture item.

[LiamWellacott]

force merging because others are depending on the changes here