The following are some advantages: He crawls and vacuums. Everything is to my liking. There is not a single complaint. He vacuums the entire area thoroughly by going around the kitchen chairs and driving the vacuum under them. It understands that the mirror is a continuation of the room on the map, but it does not attempt to enter the mirror and it does not strike the mirror (I have a mirror cabinet). Got cons: The vision sensors are on top, and the contact sensor with anything is also around two to three centimeters from the floor (otherwise it would not crawl over anything). If you have something that is little lower than these two to three centimeters, it will attempt to crawl over it, but it may not be successful (it may not slip back). I just have a lot of it in this size, including table legs, a chair from Ikea, and acoustic supports. It's possible that everything can be covered up with a specialized tape, but I didn't bother trying it out. It is impossible for him to crawl over the threshold into the bathtub; rather, he must carry it over the threshold by hand. However, in this case, you need only construct doors that do not have thresholds. He is unable to pass through nooks created by furniture, which is understandable given that the environment is like this everywhere; there is no magic.
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