Fix small bugs and improvements#1

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eborghi10 wants to merge 4 commits intomainfrom

OXOS-923/testing

Commits on Oct 31, 2023

Changes to make it usable
Emiliano Borghi
committed
Fix stopping when canceled
Emiliano Borghi
committed

Commits on Nov 13, 2023

Add collision detection with footprint projection
Emiliano Borghi
committed

Commits on Nov 15, 2023

Fix collision detection logic
Emiliano Borghi
committed