[ISSUE]: Boundary orientation

### Description

If robot inside the first edge on the row, and then if we select a waypoint node outside, the orientation of the boundary changes to be in same direction is the connected edge between `ca` node and `waypoint` node as illustrated bellow. 

<img width="945" height="643" alt="Image" src="https://github.com/user-attachments/assets/d8bb8b03-1c6b-4ce0-bb0b-572637d0e82c" />