Is minor physical action permissible during obligatory prayer due to need?

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Minor physical actions during prayer are permissible when there is a need. Imam Ahmad permits a man carrying his child during obligatory prayer, citing the hadith of Abu Qatada and the hadith of Aisha, where the Prophet (peace be upon him) walked to open the door for her while praying. The Prophet (peace be upon him) also commanded the killing of the two black things during prayer, such as stepping towards a scorpion, taking a sandal, killing it, and returning the sandal to its place. If a man's outer garment falls, he may pick it up, and if his waistcloth unravels, he may tie it. If a female slave is freed while praying, she covers her head and continues her prayer. Walking to retrieve a runaway animal, as Abu Burza did, does not invalidate the prayer. This is because the Prophet (peace be upon him) is the legislator, and whatever he performed or commanded is permissible.