Hallway obstacle clear (push soft clutter aside)

Hallways collect shoes and baskets. A wheeled base with a bumper or gentle push behavior can clear soft obstacles from a nav costmap inflation zone, then resume patrol. Hard objects and pets are hard-stops — this kit is opinionated about what counts as "pushable."

Curated seed / example; advanced and easy to get wrong. Prefer Unitree Go or TurtleBot only after bumper testing in an empty hall.

Never enable on stairs. Never push toward glass or animals.