What is the criterion for excusing ignorance?

Question : Also, from some of the hadiths regarding the issue of excusing ignorance, the Prophet (peace and blessings be upon him) did not excuse it, such as the prayer of the one who started behind the prayer, and the one who stood beside the Prophet (peace and blessings be upon him) while he was praying, and a donkey passed between him and the prayer, and the one who performed his prayer poorly; he was not excused due to ignorance. So what is the criterion in the issue of excusing ignorance?

Answer : I leave the commands if they can be made up, for they are made up, such as the one who made a mistake in his prayer. For this reason, he was not ordered to repeat the previous prayer he was performing while not being tranquil, because it cannot be made up now; it has passed. As for the one he ordered to repeat the prayer, this is a specific case where it is possible that the Messenger (peace and blessings be upon him) saw him praying behind the row and the row was not complete, so he ordered him to repeat the prayer. It is known that if making up the prayer is possible, it is obligatory to make it up, and the time had not passed for the man praying behind the row, so for this reason he ordered him to repeat the prayer.