The true answer is that it is hard, and requies very carefull analysis. Putting a “door opener” on the robot is sometimes at no extra marginal cost. (Because i

The true answer is that it is hard, and requies very carefull analysis. Putting a “door opener” on the robot is sometimes at no extra marginal cost. (Because it already has a manipulator to fullfill its job.) Sometimes it would make the robot cost prohibitive, and the correct solution is to use automatic doors. Depends on how many doors there are and how many robots, and what kind of robot and what kind of door. Then again even if the correct solution in a particular situation is to add door opening manipulators on the robots very likely you would only want to support a few different kinds of handles. Imagine the complications of trying to support all door handles from baroque brass levers through modern spherical knobs to dogged doors the kind you find on a warship.