moved state validity checking to the planner (major speedup) and fixed planner/world conversions
messing with action stuff
changes to millennium falcon mesh
can now specify step sizes in .env files
improved actions and tweaked some minor things
cleaned up some environment things
now plans on a background thread
removed unnecessary files
can now visualize state expansions
cleaned up some visualization stuff among other things
prevented planning while already planning
added weight adjustment for A*
fixed world to planner bug
Made a more complicated rodracer environment