Split MoveToMouth Into two Actions

[amalnanavati]

Describe this pull request. Link to relevant GitHub issues, if any.

Paired with ada_feeding#128, this PR splits MoveToMouth into two actions, with face detection in-between handled by the web app and transparently exposed to the user.

Explain how this pull request was tested, including but not limited to the below checkmarks.

Then, test the following.

• Sim:
  • Follow the instructions in the feedingwebapp README to launch the dummy nodes along with the web app.
  • Test one whole bite normally, ensure it works. (Note that the bite selection image will not display, since we aren't running the republisher)
  • Pause it while it is moving to the staging configuration, ensure back and resume do the correct things.
  • Pause it while it is moving to the user's mouth, ensure back and resume do the correct things. In particular, Back should call MoveFromMouthToStagingConfiguration (Move To Mouth: getting stuck in error cases #90 ).
  • Make bite acquisition fail (e.g., terminating the node) and verify that the Retry button does not appear after the app registers the failure. (Don't show "Retry" if Bite Acquisiton Fails #91).
  • Verify that it doesn't auto-continue when that box is not checked, it does when that box is checked, and the state of that checkbox persists.
• Real:
  • Follow the instructions in the ada_feeding README to launch the real robot nodes along with the web app.
  • Test one whole bite normally, ensure it works.
  • Pause it while it is moving to the staging configuration, ensure back and resume do the correct things.
  • During face detection, ensure there is no face in the scene. Verify that it doesn't progress.
  • During face detection, put a face more than 1.25m away from the camera. Verify that it doesn't proceed.
  • Press to continue moving to the mouth without detecting a face. Verify that the arm moves to the old face position.
  • Pause it while it is moving to the user's mouth, ensure back and resume do the correct things. In particular, Back should call MoveFromMouthToStagingConfiguration (Move To Mouth: getting stuck in error cases #90 ).
  • Make bite acquisition fail (e.g., terminating the node) and verify that the Retry button does not appear after the app registers the failure. (Don't show "Retry" if Bite Acquisiton Fails #91).
  • Verify that it doesn't auto-continue when that box is not checked, it does when that box is checked, and the state of that checkbox persists.

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