Implement visualizing trajectories

[amalnanavati]

Description

This PR implements an optional flag, save_trajectory_viz, in MoveTo that saves a PNG and CSV of the trajectory before executing it.

Testing procedure

Launch all the necessary nodes as documented in the README.

• Run an action (e.g., /MoveAbovePlate) and verify that it succeeds.
• Manually modify move_to.py to set save_trajectory_viz: bool = True, and re-run the action. Look in the share folder for ada_feeding within your workspace's install dir. Verify that the PNG and CSV of the trajectory was saved.

Future TODOs

If we end up using this visualization often, we should enable passing a debug flag via kwargs to each MoveTo tree and turn the save_trajectory_viz flag on based on that. That way, this flag can be turned on via config files, and won't require modifying source files. However, since we only envision using this visualization for one specific issue (#98 ), we are currently merging the code in where the only way to enable this flag is modifying source.

Before opening a pull request

• Format your code using black formatter python3 -m black .
• 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