that might not be the best idea if you bd is afraid of you but if it is comfortable with you than yes go ahead as long as there arent really any places it could get to that you could not get it out of. I let mine run free in my bed room when I am home and they love to explore, but I have also bd proofed my rooms so they cannot get into in trouble.
my guy is kinda weird about it, if i try to get him with my hand in front of him he'll run around but then he'll stop and ill put my middlefinger palm up and edge it under him and he usually doesnt care and i can get him outta his cage. hes a weird guy, but i love him