Sample object poses in World.update_object

[sea-bass]

This PR allows for sampling object poses if its location is updated in World.update_object().

Since the sampling logic was already present in World.add_object(), it also factors it out into a reusable function.

Closes #286

[github-actions]

Coverage Report

File	Stmts	Miss	Cover	Missing
__init__.py	0	0	100%
core
__init__.py	9	0	100%
dynamics.py	47	1	97%	140
gazebo.py	136	8	94%	55, 124, 230, 244–248
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	4	94%	78, 106, 137, 197
robot.py	474	72	84%	263–264, 276, 279, 283–284, 289–290, 330–332, 348, 365–366, 405–407, 411–415, 440, 443, 447–449, 476, 478, 520–521, 523–524, 541–543, 559–561, 628–630, 655–657, 708–710, 779–781, 833–835, 858, 864, 867, 869, 871, 874–876, 886, 894, 900, 906, 912, 924, 972, 990, 993, 998
room.py	48	1	97%	113
world.py	817	182	77%	154–155, 191–192, 196, 270–271, 273–274, 304–305, 367, 381–382, 384–385, 400–402, 422–426, 428–430, 432–433, 436, 438–441, 445–449, 452–454, 457–468, 484–485, 503–505, 519, 521, 524–525, 530–532, 571, 573, 576–577, 582–584, 594–596, 631, 633, 636–637, 642–644, 667, 669, 672–673, 678–680, 716, 722, 758–759, 762, 783, 803–804, 815, 818, 826, 842–846, 848, 851–852, 855–858, 860, 863, 866–867, 870–872, 874–876, 878–880, 882, 897, 904, 915–919, 954–955, 959–960, 978–979, 985–986, 988–989, 991, 993–994, 996, 998–999, 1009–1010, 1013, 1015, 1029, 1031, 1038, 1085, 1116–1117, 1140–1141, 1145–1146, 1165–1166, 1170–1171, 1196–1197, 1250–1251, 1275, 1340, 1347, 1457–1458, 1510, 1590–1591, 1657, 1667
yaml_utils.py	109	6	94%	62, 66, 168–169, 188–189
gui
__init__.py	2	0	100%
main.py	266	72	72%	22–24, 45, 85, 89–92, 239–248, 260–269, 272, 279–282, 284, 287–293, 297, 302–303, 307–308, 319, 359–360, 369–370, 374–375, 387, 390–393, 395–396, 399–402, 404–406, 410–413
world_canvas.py	304	58	80%	47–48, 50–54, 57, 171–174, 178–179, 184–185, 192, 194, 196, 253–255, 261, 263, 283–285, 330, 387–388, 415–416, 418, 420–421, 423–426, 428–429, 433–439, 442, 445–446, 459, 478, 521, 545, 575, 595, 612
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	77	11	85%	83–88, 90–92, 180, 189
execution.py	94	7	92%	81–83, 88–90, 125
occupancy_grid.py	139	14	89%	44–47, 49–53, 56, 192, 226, 234, 238
prm.py	56	4	92%	60–61, 140, 149
rrt.py	161	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
default_mappings.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	154	22	85%	86, 117, 156–161, 163–164, 167–168, 170–173, 189, 204, 208, 250, 266, 329
motion.py	70	3	95%	93–94, 96
polygon.py	111	0	100%
pose.py	89	0	100%
search_graph.py	93	3	96%	240–242
trajectory.py	67	2	97%	130, 165
TOTAL	4317	596	86%

Tests	Skipped	Failures	Errors	Time
195	0 💤	0 ❌	0 🔥	3m 32s ⏱️