S2M2 violates the workspace constraints
Closed this issue · 2 comments
whoenig commented
For example in swap4_unicycle, S2M2 lets one robot move outside the workspace, which is not a valid motion according to our problem definition.
whoenig commented
Discussed to add 4 rectangular obstacles that bound the space (shifted by the robot radius!).
akmaralAW commented
Added and merged!