Hey, I think my original post was totally misinterpreted. I was referring to the instance near the beginning where Arrington drove the robot forward, directly into Dan Casner, a few times. That mistake will almost certainly be repeated by everybody who uses QA, as they try to get a better view of the people they're talking to. So, I was commenting on the lack of a hard limit on how close one can get to objects directly in front of the robot. Will this be addressed in the final implementation?
I believe there might also be a ROS package that detects ankles (well, legs) in 2D scans, which could help.