feat: add RRT* planner

[villekuosmanen]

Motivation and Context

RRT* planner for planning optimal trajectories.

Tested in my own robot agent that's based on Habitat Lab. Should work here as well but haven't tested. Needs to be integrated into the agents, possibly as an optional param only used for real robots with a fallback to RRTConnect of failed plans, as it feels too inefficient to use in sim.

Changelog

Add RRT* planner.

How Has This Been Tested

Tested as is within my robot agent that is based on the same planning system, but not specifically tested here.

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist:

• I have made changes to existing documentation where needed.
• I have added tests that show that the PR is functional.
• I ran tests/hw_manual_test.py on hardware and observed that robot behavior looks normal.