akmaralAW
commented
1 month ago - support ellipsoid shape collision object for inter-robot collision, while robot-env is spherical shape of radius=0.05 in order to be able to expand nodes passing through the window
- the flag for residual or not is in .hpp file, maybe should be in some params file (.yaml)
- checked with benchmarking (drone12c looks good, and all n >=16 fails as before)