Add hallway open and close capabilities

[sea-bass]

This PR adds the ability for a robot to open/close a hallway when navigating to its doorways (which is also a new feature).

You can also lock and unlock the hallway. When locked, open/close will not work so the robot's actions will fail.

Known limitations:

• Occupancy grid based planners like A*, or roadmap based planners like PRM, will still navigate through closed hallways unless the occupancy grid/PRM is explicitly regenerated.
• When the robot navigates to a hallway, it picks the closest endpoint by direct distance, which may lead to roundabout paths in certain cases.

[github-actions]

Coverage Report

File	Stmts	Miss	Cover	Missing
__init__.py	0	0	100%
core
__init__.py	9	0	100%
dynamics.py	43	0	100%
gazebo.py	136	8	94%	55, 124, 230, 244–248
hallway.py	90	10	88%	175, 191, 216, 233–236, 258–260
locations.py	126	21	83%	53, 55, 69, 84–85, 87, 98–99, 101–102, 119, 177, 192, 217, 227, 273, 284–285, 287–288, 312
objects.py	69	4	94%	78, 106, 137, 197
robot.py	291	39	86%	248, 261, 337–338, 340–341, 358–359, 411–412, 490, 515, 532, 538–539, 541, 543–546, 554–557, 568, 576, 582, 588, 594, 603, 631, 640, 643, 648, 661–665
room.py	48	1	97%	113
world.py	636	164	74%	146–147, 183–184, 188, 241–242, 244–245, 273–274, 297–298, 310–311, 325–326, 333–334, 338–339, 353–354, 374–375, 423, 437–438, 440–441, 470–474, 476–478, 480–481, 484, 488–492, 495–497, 500–507, 538, 574–575, 578, 594, 624–625, 636, 639, 647, 663–667, 669–671, 674–675, 678–681, 683, 686, 688–690, 692–694, 696, 711, 718, 729–733, 768–769, 773–774, 792–793, 799–800, 802–803, 805, 807–808, 810, 812–813, 823–824, 827, 829, 843, 845, 852, 899, 930–931, 942, 953–955, 957–960, 962, 979–980, 984–985, 1020–1021, 1023, 1040–1041, 1060–1064, 1076–1079, 1091–1094, 1108, 1119–1120, 1122, 1166–1167, 1219, 1299–1300, 1346
yaml_utils.py	106	11	89%	64, 68, 153–155, 159–160, 183–184, 208–209
gui
__init__.py	2	0	100%
main.py	202	44	78%	24, 26, 28–30, 32, 53, 85–86, 204, 216–220, 227–230, 232, 235–241, 245, 250–251, 255–256, 267, 278, 322–326, 330–334
world_canvas.py	259	79	69%	41–43, 45–52, 55–62, 64–65, 73–74, 76–77, 153–156, 163, 165, 211, 218–220, 222–224, 240, 276, 328, 337, 343, 350–351, 353, 355–357, 360–363, 365, 369–375, 378, 381–382, 397–399, 402, 419, 462, 483, 487, 509, 525–526, 528, 539–540, 542
manipulation
__init__.py	1	0	100%
grasping.py	236	61	74%	102, 110–112, 114–122, 124, 132, 462, 464–466, 470–472, 566–568, 571–575, 583, 586–588, 593–594, 600–604, 607–614, 617–619, 628, 630, 632–638
navigation
__init__.py	3	0	100%
a_star.py	78	10	87%	67–72, 74–76, 165
execution.py	34	4	88%	45–46, 48–49
occupancy_grid.py	139	14	89%	44–47, 49–53, 56, 192, 226, 234, 238
path_planner.py	26	6	76%	33, 36, 38, 42, 85, 90
planner_base.py	59	31	47%	29–35, 51, 57–59, 86, 98, 101, 105, 113–114, 117–119, 122–124, 127, 129, 140–145
prm.py	72	2	97%	61–62
rrt.py	174	0	100%
world_graph.py	70	3	95%	118, 121, 145
planning
__init__.py	0	0	100%
actions.py	78	55	29%	59–60, 62, 66–75, 77–80, 82–86, 88–91, 93–97, 99–102, 104–111, 113–114, 116–118, 164–165, 168–172
planning/pddlstream
__init__.py	7	1	85%	13
default_mappings.py	9	0	100%
planner.py	40	8	80%	119–126
primitives.py	57	2	96%	68, 208
utils.py	85	3	96%	66, 99–100
utils
__init__.py	0	0	100%
general.py	33	4	87%	23, 45, 51–52
knowledge.py	148	14	90%	110, 145–148, 155, 159–160, 173, 188, 192, 234, 250, 313
motion.py	60	6	90%	56, 67–71
polygon.py	111	0	100%
pose.py	89	2	97%	211, 227
search_graph.py	93	3	96%	240–242
trajectory.py	65	0	100%
TOTAL	3784	610	83%

Tests	Skipped	Failures	Errors	Time
187	0 💤	0 ❌	0 🔥	2m 57s ⏱️