- World: Refined hospital_ward SDF with interaction zones (comm_zone) and enhanced material properties for beds/cabinets.
- Nav2: Replaced DWB with RegulatedPurePursuitController for optimal 'rotate to heading' behavior through narrow doors. Removed hardcoded 0.26 m/s speed limits. Tuned inflation_radius to 0.4.
- Map: Cleared outdated vertical beds from hospital_ward.pgm static map to allow correct collision-free navigation into the wards.
- Task Logic: Fixed bed Y coordinates in ward_task_server (4.85 instead of 3.9) to guarantee precise 50cm bedside delivery.
- Launch: Added unified proj15_all.launch.py script and updated README documentation.