I have noticed that the robot has some problems identifying doorways with thresholds:
1. Identifying false doorway at edge of thin carpet close to wall shelf
2. Problems when trying to enter room. Makes 2 spinns then give up.
It seems like it doesn't measure room depth through the doorway/threshold.
If roomdepth is >1m it should try (harder) to enter, and if it is <1m it is a false doorway.