Split `MoveToMouth` Into Two Separate Actions

[amalnanavati]

Description

In service of #127 . This PR separates bite transfer into two separate actions, one to move to the staging configuration and the other to move to the mouth. It is coupled with feeding_web_interface#94.

Testing procedure

Run the code as documented in the README. Then, run the below sequence of actions and verify that they work as expected.

• [x] Sim:
  • [x] ros2 action send_goal /MoveAbovePlate ada_feeding_msgs/action/MoveTo "{}" --feedback
  • [x] ros2 action send_goal /MoveToRestingPosition ada_feeding_msgs/action/MoveTo "{}" --feedback
  • [x] ros2 action send_goal /MoveToStagingConfiguration ada_feeding_msgs/action/MoveTo "{}" --feedback
  • [x] ros2 action send_goal /MoveToMouth ada_feeding_msgs/action/MoveToMouth "{}" --feedback
  • [x] ros2 action send_goal /MoveFromMouthToStagingConfiguration ada_feeding_msgs/action/MoveTo "{}" --feedback
  • [x] ros2 action send_goal /MoveFromMouthToRestingPosition ada_feeding_msgs/action/MoveTo "{}" --feedback
  • [x] ros2 action send_goal /MoveToStagingConfiguration ada_feeding_msgs/action/MoveTo "{}" --feedback
  • [x] ros2 action send_goal /MoveToMouth ada_feeding_msgs/action/MoveToMouth "{}" --feedback
  • [x] ros2 action send_goal /MoveFromMouthToAbovePlate ada_feeding_msgs/action/MoveTo "{}" --feedback
• [x] Real:
  • [x] ros2 action send_goal /MoveAbovePlate ada_feeding_msgs/action/MoveTo "{}" --feedback
  • [x] ros2 action send_goal /MoveToRestingPosition ada_feeding_msgs/action/MoveTo "{}" --feedback
  • [x] ros2 action send_goal /MoveToStagingConfiguration ada_feeding_msgs/action/MoveTo "{}" --feedback
  • [x] ros2 action send_goal /MoveToMouth ada_feeding_msgs/action/MoveToMouth "{}" --feedback
  • [x] ros2 action send_goal /MoveFromMouthToStagingConfiguration ada_feeding_msgs/action/MoveTo "{}" --feedback
  • [x] ros2 action send_goal /MoveFromMouthToRestingPosition ada_feeding_msgs/action/MoveTo "{}" --feedback
  • [x] ros2 action send_goal /MoveToStagingConfiguration ada_feeding_msgs/action/MoveTo "{}" --feedback
  • [x] ros2 action send_goal /MoveToMouth ada_feeding_msgs/action/MoveToMouth "{}" --feedback
  • [x] ros2 action send_goal /MoveFromMouthToAbovePlate ada_feeding_msgs/action/MoveTo "{}" --feedback
• [x] Full test with web app: follow instructions in feeding_web_interface#94.

Before opening a pull request

• [x] Format your code using black formatter python3 -m black .
• [x] Run your code through pylint and address all warnings/errors. The only warnings that are acceptable to not address is TODOs that should be addressed in a future PR. From the top-level ada_feeding directory, run: pylint --recursive=y --rcfile=.pylintrc ..

Before Merging

• [ ] Squash & Merge