nav-backtrack

name	nav-backtrack
type	python
description	Attempt to return to a recently known safe navigation state using bounded local motion.

nav-backtrack

Recovery tool that searches world_state("nav") history for a safe prior cell and attempts to reach it using atomic nav primitives.

Input

• max_targets: Integer maximum number of safe targets to try (default: 3)

Output

Success (status: "success"):

• value: Summary text
• extra.recovered_to: {x, y, z, yaw} position recovered to
• extra.method: "step" | "climb" | "descend"
• extra.yaw: Final yaw

Failure (status: "failed"):

• reason: One of "NO_HISTORY", "STATUS_FAILED", "NO_SAFE_TARGET", "UNREACHABLE"

Behavior

• Reads world_state("nav") and chooses up to max_targets safe entries
• Uses nav-turn + one of: nav-move, nav-climb, nav-descend
• Verifies cell match via mc-status

Planning Notes

• Requires navigation history to be maintained by nav tools
• If recovery fails, consider mc-place-until-supported or broader replanning

Example

{"type":"nav-backtrack","max_targets":3,"out":"$recovery"}