RVO Local Avoidance Obstacle Wall Force Question

Hey all, in this doc:

It says under the Obstacles sub heading that “the RVOController can also apply force based avoidance from walls”. I can’t find any example of this. Is there one? If not can someone point me in the right direction for implementation here?

I’m using a PointGraph with RVO local avoidance and I need to be able to add and remove obstacles on the fly. Right now I’m getting clipping through walls and I’m hoping this type of tuning could help avoid that.