Shea multiagent rules

Shea Anthony Cardozorequested to merge
shea-multiagent-rules into dev

THIS PR ADDS:

  1. Working IDM Planner with the multiagent observations
  2. Working PDM Closed + Hybrid Planners with the multiagent observations
  3. Occlusions working with both of the above
  4. Motion Controllers with the multiagent observations (this ended up being required for PDM to work)
  5. A bunch of misc bugfixes

Merge request reports