Function simulate_push_with_obstacles 

pub fn simulate_push_with_obstacles(
    config: PusherMppiConfig,
    params: PusherSliderParams,
    start: SliderState,
    goal: SliderState,
    obstacles: &[[f64; 2]],
    max_steps: usize,
) -> RoboticsResult<PushReport>

Like simulate_push but the controller keeps the slider clear of the given obstacle centers (keep-out discs of config.obstacle_radius).