Run all robot actions in GUI in separate threads

[sea-bass]

This PR configures all robot actions started from the GUI to be QRunnable objects run from a QThreadPool, as was already done for the "navigate" action.

This primarily makes it so that delayed actions are non-blocking to the GUI and don't freeze it up over long delays... plus you can switch to another robot and do other tasks during delayed actions.

Closes #289

[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	5	92%	78, 106, 137, 184, 197
robot.py	478	84	82%	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, 530–531, 540–543, 548, 550, 559–561, 568–570, 632–634, 659–661, 667–668, 676–680, 725–727, 738–739, 799–801, 806, 853–855, 860, 878, 884, 887, 889, 891, 894–896, 973, 991, 994
room.py	48	1	97%	113
world.py	817	190	76%	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, 551–552, 554–555, 571, 573, 576–577, 582–584, 594–596, 613–614, 616–617, 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%
action_runners.py	92	48	47%	34–35, 37–41, 43, 76–77, 79–83, 85, 111–112, 114–118, 120, 146–147, 149–153, 155, 178–179, 181–185, 187, 210–211, 213–217, 219
main.py	270	72	73%	23–25, 46, 89, 93–96, 245–254, 266–275, 278, 285–288, 290, 293–299, 303, 308–309, 313–314, 325, 365–366, 375–376, 380–381, 393, 396–399, 401–402, 405–408, 410–412, 416–419
world_canvas.py	264	52	80%	135–138, 142–143, 148–149, 156, 158, 160, 217–219, 225, 227, 247–249, 294, 351–352, 379–380, 382, 384–385, 387–390, 392–393, 397–403, 406, 409–410, 423, 441–442, 444, 450, 452–455
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	4377	659	84%

Tests	Skipped	Failures	Errors	Time
195	0 💤	0 ❌	0 🔥	3m 28s ⏱️