clean up spatial reasoning

## Type of Issue

Select the type of issue:
- [ ] Bug report (to report a bug)
- [ ] Feature request (to request an additional feature)
- [ ] Tracker (I am just using this as a tracker)
- [x] Refactor request
- [ ] Documentation Ask

## Description

Spatial reasoning is implemented in several places in the interpreter, for example in interpret_location, interpret_reference_objects, and spatial_reasoning; relative directions except "between" for moves are handled separately in the move interpreter. These should be unified and simplified.