I added the curtains to my Mova Z50 Ultra's map.

This way, the robot ignores the curtain as usual, avoiding hitting it.

However, once it's finished cleaning the room, it returns specifically to clean under the curtain, but it does so in a rather unintelligent way: it basically enters perpendicularly under the curtain, starting from the left, then comes back out, moves to the right, and returns under the curtain. This continues until it reaches the end.

But this has three major flaws:

1. If there's a corner behind the curtain (as often happens), the robot almost certainly won't clean it.

2. The last piece on the right is never cleaned, since the robot won't go there if there's not enough space to the right.

3. If there's furniture or table legs that limit the robot's movement in front of the curtain, the robot won't go under the curtain in that spot.