Create a new LookAtAction

[robertocaiwu]

We need a new skill to move/turn the head towards a specific point in order to perceive.

Context

This component is needed for the Take out the garbage [see #110] task in order to find the trash bins located on the arena.

[minhnh]

I would rename this to a skill which configures the whole robot to look at a point of interest, i.e. a LookAtAction. This skill may include:

• turn the head to an appropriate angle
• raise or lower the head to an appropriate height
• move the arm out of the way of the cameras

After the above operations, the skill can be included in a larger skill or extended to handle #44, which would also involve:

• navigate to a general area which may have a subject of interest
• look around the area to find the subject
• find an ideal location to observe the subject

@argenos @alex-mitrevski this may need to be in a separated, bigger issue/project

[argenos]

The first 3 bullets sound to me like a perfect use for FTSM. I agree the second part belongs on a different PR (and skill).

[minhnh]

Here's a helpful post on getting the distances from a 3D point to each plane of the camera's frustum. I believe the distances would be then in world coordinates (e.g. meters).