(2) is actually the main problem.
The problem is that POD-bot only knows ONE and ONLY ONE goal, it is the path it's following.
You want to make it able to temporarily disregard this goal (sorta "put it in the background") and find ANOTHER goal (push the button) with ANOTHER path that it must follow, and THEN, switch back to the primary, main goal.
It's quite a big change in the POD-bot code.
Although I agree: this will need to be done, sooner or later.
Once this will be working (running several goals at once, I mean), then the bot will be able to not only open doors, but to do a whole lot of incredible things
