[trajoptlib] Remove anti-tunneling constraint #1109
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Artificially constraining the step travel distance like this makes the solver report infeasible more often than it should. This isn't ideal in projects that don't use keep-out constraints. I saw differential drive generation report infeasible less often with the anti-tunneling constraint removed. See SleipnirGroup#1108 for better potential alternatives.
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Artificially constraining the step travel distance like this makes the solver report infeasible more often than it should. This isn't ideal in projects that don't even use keep-out constraints.
I saw differential drive generation report infeasible less often with the anti-tunneling constraint removed.
See #1108 for better potential alternatives.