lab-navigation-policy

name	lab-navigation-policy
description	Image-first laboratory navigation policy for ground-robot experiments. Use when the task must be solved with raw current images, conservative motion, and no oracle geometry.
metadata	{"skill_kind":"helper","routing_summary":"Add for laboratory image-only navigation that must avoid collisions, use small steps, and stop conservatively.","routing_keywords":["laboratory navigation","image only","raw camera","conservative motion","no lidar","no pose","safe stop"]}

Lab Assumptions

• Treat test_agv_pro semantics as ground truth for motion:
  • dx: forward or backward
  • dy: lateral motion
  • dyaw: planar yaw turn
• Do not rely on dz, dpitch, or droll for laboratory navigation.
• Do not assume lidar_info(), helper visual tools, or oracle geometry exist unless they are explicitly exposed.

Target Size Reference

The laboratory satellite model (including deployed solar panels) is roughly 50-60 cm wide. Camera field of view is wide. Measured calibration data:

• At ~2.5m away: target occupies about 50-55% of frame width
• At ~1.8m away: target occupies about 65% of frame width
• At ~1.0m away: target should occupy about 80-90% of frame width
• At ~0.5m away: target overflows the frame (too close)

If the target occupies less than ~75% of the frame width, you are still farther than 1 meter — keep approaching but start reducing step size once over 50%.

Conservative Motion Policy

• Re-observe after each meaningful motion.
• Do not take more than two translation steps in a row without checking a fresh image again.
• If the target is clearly visible and centered:
  • target small (< 40% of frame) -> dx around +0.20m
  • target medium (40-55% of frame) -> dx around +0.10m
  • target large (55-75% of frame) -> dx around +0.05m
  • target very large (> 75% of frame) -> stop and consider termination
• If the target looks too large, cropped, or dangerously near, retreat with dx around -0.05m to -0.10m.
• Use dyaw only when the target is clearly drifting toward the edge of the frame and needs recentering. If the target is already roughly centered, do NOT turn — go straight forward.
• Use dy only in small amounts when lateral adjustment is truly needed.

Decision Order

1. Decide whether the target is visible in the current fresh image.
2. If visible and already centered (within the middle third of the frame), go straight forward — do NOT turn.
3. If visible but drifting toward a frame edge, use set_attitude() to recenter BEFORE the next forward step.
4. Estimate target frame width percentage and pick step size accordingly.

Safety And Termination

• Never keep moving forward after the target disappears.
• Never terminate from a stale frame or vague memory.
• Prefer stopping over gambling when the scene is ambiguous.
• A visual stop should require two consecutive fresh frames showing the target still visible, not severely cropped, and plausibly at about 1 meter from the target surface.