When reading <R22>, I immediately thought "what if the robot doesn't have corners?" (e.g. a circular robot)
I could interpret it both ways:
- Bumpers must cover corners. no corners, no bumpers.
- An pentagon would has five corners, a hexagon six corners, an octagon eight, a nonagon nine, a decagon ten.... a circle is ALL CORNERS, and thus must have full bumper coverage.
Unless I missed something, it's definitely one for the Q&A...
-Leav