Allow specifying poses as YAML in world files

[sea-bass]

This PR allows YAML specifications of poses, such as

pose:
  position:
    x: 1.0
    y: 2.0
  rotation_eul:
    yaw: 1.57

or

pose:
  position:
    x: 1.0
    y: 2.0
  rotation_quat:
    w: 0.7071
    x: 0.0
    y: 0.0
    z: -0.7071

This is intended to be the default specification going forward, but keeping the old one for backward compatibility.

It also adds a to_dict() method for poses, which will be instrumental to serializing worlds to YAML in follow-on PRs.

[github-actions[bot]]

Coverage Report

File	Stmts	Miss	Cover	Missing
__init__.py	0	0	100%
core
__init__.py	9	0	100%
dynamics.py	49	1	97%	142
gazebo.py	137	8	94%	55, 128, 234, 248–252
hallway.py	94	8	91%	200, 242–245, 269–271
locations.py	131	18	86%	69, 71, 88, 104, 117–118, 120–121, 138, 196, 211, 236, 246, 302–303, 305–306, 335
objects.py	69	5	92%	78, 106, 137, 184, 197
robot.py	480	84	82%	268, 271, 283, 286, 290–291, 296–297, 337–339, 355, 372–373, 412–414, 418–422, 447, 450, 454–456, 483, 485, 527–528, 530–531, 537–538, 547–550, 555, 557, 566–568, 575–577, 639–641, 666–668, 674–675, 683–687, 732–734, 745–746, 806–808, 813, 860–862, 867, 885, 891, 894, 896, 898, 901–903, 980, 998, 1001
room.py	48	1	97%	113
world.py	820	190	76%	160, 163, 197–198, 202, 274–275, 277, 280, 310–311, 373, 387–388, 390, 393, 408–410, 430–434, 436–438, 440–441, 444, 446–449, 453–457, 460–461, 464, 467–478, 494–495, 513–515, 529, 531, 534–535, 540–542, 561–562, 564–565, 581, 583, 586–587, 592–594, 604–606, 623–624, 626–627, 641, 643, 646–647, 652–654, 677, 679, 682–683, 688–690, 726, 732, 768–769, 772, 795, 815, 818, 829, 832, 840, 856–860, 862, 865–866, 869–872, 874, 877, 880–881, 884–886, 888–890, 892–894, 896, 911, 918, 929–933, 968–969, 973–974, 992–993, 999–1000, 1002–1003, 1005, 1007–1008, 1010, 1012–1013, 1023–1024, 1027, 1029, 1043, 1045, 1052, 1099, 1130–1131, 1154–1155, 1159–1160, 1179–1180, 1184–1185, 1210–1211, 1264–1265, 1289, 1354, 1361, 1471–1472, 1524, 1604–1605, 1671, 1681
yaml_utils.py	109	6	94%	62, 66, 165, 168, 187, 190
gui
__init__.py	2	0	100%
action_runners.py	91	48	47%	32–33, 35–39, 41, 74–75, 77–81, 83, 109–110, 112–116, 118, 144–145, 147–151, 153, 176–177, 179–183, 185, 208–209, 211–215, 217
main.py	274	72	73%	23–25, 46, 90, 94–97, 246–255, 267–276, 279, 286–289, 291, 294–300, 304, 309–310, 314–315, 326, 369–370, 379–380, 384–385, 397, 400–403, 405–406, 409–412, 414–416, 420–423
world_canvas.py	263	52	80%	134–137, 141–142, 147–148, 155, 157, 159, 216–218, 224, 226, 246–248, 293, 350–351, 378–379, 381, 383–384, 386–389, 391–392, 396–402, 405, 408–409, 422, 440–441, 443, 449, 451–454
manipulation
__init__.py	1	0	100%
grasping.py	237	64	73%	100, 108, 110–112, 114–122, 124, 132, 462, 464–466, 470–472, 566–567, 569–571, 574–578, 586, 589–591, 596–597, 603–607, 610–617, 620–622, 631, 633, 635–641
navigation
__init__.py	11	1	90%	37
a_star.py	76	11	85%	82–84, 87–89, 91–93, 181, 190
execution.py	94	7	92%	81–83, 88–90, 125
occupancy_grid.py	139	14	89%	45–48, 50–54, 57, 193, 227, 235, 239
prm.py	55	4	92%	59–60, 139, 148
rrt.py	160	0	100%
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
defaultmappings.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	152	20	86%	91, 122, 163–168, 170–171, 174–178, 209–210, 252, 268, 331
logging.py	15	1	93%	55
motion.py	70	3	95%	93–94, 96
polygon.py	111	0	100%
pose.py	111	0	100%
search_graph.py	93	3	96%	239–241
trajectory.py	67	2	97%	130, 167
TOTAL	4419	658	85%

Tests	Skipped	Failures	Errors	Time
197	0 :zzz:	0 :x:	0 :fire:	3m 23s :stopwatch: