Enable Open, Close, and Detect actions in PDDL capabilities

[sea-bass]

This PR includes some of our new actions (open, close, detect) in the PDDL domains.

You can test this with the new 06_open_close_detect planning domain:

• Core: python3 pyrobosim/examples/demo_pddl.py --example 06_open_close_detect --verbose
• ROS: ros2 launch pyrobosim_ros demo_pddl.launch.py example:=06_open_close_detect

Note that this has some limitations:

• Hallway state is not communicated across the ROS interface (but location state does!)
• Open/locked state pertains to entire locations, but the PDDL domains deal in individual object spawns. As such, you may not get things working exactly as desired with openable locations that have multiple object spawns.
• At the start of planning, we assume no locations have been observed (which is not true in subsequent plans).
• Detect actions do not specify a specific object instance.

These limitations have been documented with TODOs in the code. If anyone wants to implement updates, you are welcome to do so :)

Closes #209

[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	93	8	91%	193, 235–238, 262–264
locations.py	131	21	83%	69, 71, 88, 103–104, 106, 117–118, 120–121, 138, 196, 211, 236, 246, 291, 302–303, 305–306, 335
objects.py	69	4	94%	78, 106, 137, 197
robot.py	459	66	85%	259–260, 272, 275, 279–280, 285–286, 334–335, 359, 425–428, 432–435, 480, 482, 524–525, 527–528, 545–547, 563–565, 632–634, 659–661, 712–714, 783–785, 795, 839–841, 851, 866, 872–873, 875, 877, 880–882, 895, 903, 909, 915, 921, 933, 975, 993, 996, 1001
room.py	48	1	97%	113
world.py	739	190	74%	147–148, 184–185, 189, 242–243, 245–246, 274–275, 298–300, 337–339, 351–353, 382–384, 409–411, 464, 478–479, 481–482, 497–499, 519–523, 525–527, 529–530, 533, 535–538, 542–546, 549–551, 554–565, 581–582, 600–602, 616–618, 654–656, 668–670, 692–694, 719–721, 769–770, 773, 789, 819–820, 831, 834, 842, 858–862, 864–866, 869–870, 873–876, 878, 881, 883–885, 887–889, 891, 906, 913, 924–928, 963–964, 968–969, 987–988, 994–995, 997–998, 1000, 1002–1003, 1005, 1007–1008, 1018–1019, 1022, 1024, 1038, 1040, 1047, 1094, 1125–1126, 1137, 1148–1150, 1152–1155, 1157, 1174–1175, 1179–1180, 1215–1216, 1218, 1235–1236, 1267, 1281–1284, 1296–1299, 1313, 1324–1325, 1327, 1371–1372, 1424, 1504–1505
yaml_utils.py	115	11	90%	65, 69, 156–158, 162–163, 183–184, 203–204
gui
__init__.py	2	0	100%
main.py	190	30	84%	22–24, 45, 77–78, 196, 208–212, 219–222, 224, 227–233, 237, 242–243, 247–248, 259
world_canvas.py	284	55	80%	44–45, 47–51, 54, 62–63, 171–174, 181, 183, 240–242, 289, 326, 360–361, 384–385, 387, 389–391, 394–397, 399, 403–409, 412, 415–416, 431–433, 436, 455, 498, 519, 523, 546, 563, 577
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	90	6	93%	73–75, 80–82
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, 89, 94
planner_base.py	59	17	71%	29–35, 51, 57–59, 142–147
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	112	0	100%
planning/pddlstream
__init__.py	7	1	85%	13
default_mappings.py	9	0	100%
planner.py	40	8	80%	119–126
primitives.py	61	4	93%	68, 82, 94, 232
utils.py	99	8	91%	66, 93, 105, 115–116, 207–208, 211
utils
__init__.py	0	0	100%
general.py	33	4	87%	23, 45, 51–52
knowledge.py	154	22	85%	86, 117, 156–161, 163–164, 167–168, 170–173, 189, 204, 208, 250, 266, 329
motion.py	65	0	100%
polygon.py	111	0	100%
pose.py	89	0	100%
search_graph.py	93	3	96%	240–242
trajectory.py	67	0	100%
TOTAL	4206	563	86%

Tests	Skipped	Failures	Errors	Time
196	0 💤	0 ❌	0 🔥	3m 26s ⏱️