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Implements a collision clearance cost based on distance checks #2672

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This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

@github-actions github-actions bot added the stale Inactive issues and PRs are marked as stale and may be closed automatically. label Mar 18, 2024
@github-actions github-actions bot removed the stale Inactive issues and PRs are marked as stale and may be closed automatically. label Oct 17, 2024
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