allow rotation while stuck
awful hack for collisions that appears to work
Can now move robots with the GUI, deletion built into GUI but doesn't work in the backend.
Added code for circles in environment. Still needs to be tested
Reorganized coordinate transforms in the GUI.
Robots drawn to scale.
Pretty single check box added for paused robots.
Can run with no robots.
Fixed race condition for adding robots?
speed now takes negative values
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