Step Inside (found BBC live-action series; 2001)
From The Lost Media Wiki
Step Inside was a live-action BBC television series produced in 2001 and originally shown on the CBBC strand on BBC One and Two, and later repeated on the CBeebies channel until mid-2010[1]. The only human character in the show is Mr Mopple, played by Chris Jarvis, who is well-known for being one of the longest serving CBeebies presenters, serving until 2009, and still starring in a show named 'Show Me Show Me' with his CBeebies presentation co-star Pui Fan Lee on the CBeebies channel. The other characters featured in the show are mainly puppets, and are Twinkle, a cat, Boris, a bookshelf, and Chloe, a clock.
Out of the 50 [2] episodes broadcast, part of one has resurfaced, and can be viewed here [3]