lab-task-search-approach

name	lab-task-search-approach
description	Find the satellite with bounded image-only search and then approach it conservatively to a safe near-front stop.
metadata	{"skill_kind":"task","routing_summary":"Use when the target may be out of view and the mission is to find it first, then approach safely.","routing_keywords":["search target","find satellite","reacquire then approach","target not visible","search and approach"]}

Task Goal

If the satellite is not in view, reacquire it with a bounded search. Once visible, switch immediately to approach mode and stop at about 1 meter from the target surface.

Step-by-Step Decision (follow this EVERY step)

At each step, you MUST first describe what you see in the current image, then answer: Is the target satellite visible?

• YES, target is visible → You are in APPROACH mode. Go to "Approach Rules" below.
• NO, target is NOT visible → You are in SEARCH mode. Go to "Search Rules" below.

This is the most important rule: once you see the target, NEVER go back to search turning. Stay in approach mode.

Search Rules (only when target is NOT visible)

1. Sweep yaw in 15° steps to cover ±90° from starting heading. Use 15° (not 30°) so you do not skip past the target.
2. Practical sweep: first go right to +90° (six steps of +15°), then turn left past start all the way to -90° (twelve steps of -15°).
3. Remember yaw deltas accumulate: from +90°, six steps of -15° only returns to 0°, not -90°. You must keep going.
4. Check the image after every yaw step. If the target appears, immediately stop all turning.
5. If full ±90° sweep fails, retreat 0.10m and try one more sweep. If still not found, terminate.

Approach Rules (only when target IS visible)

Critical first action after finding the target: CHECK CENTERING BEFORE ANYTHING ELSE.

1. Determine where the target is in the frame:
   • Target in left third of frame → call set_attitude(dyaw=-10) to turn left and recenter. Do NOT move forward yet.
   • Target in right third of frame → call set_attitude(dyaw=+10) to turn right and recenter. Do NOT move forward yet.
   • Target in center third of frame → the target is centered. Now you may move forward.
2. Only after the target is in the center third, move forward with set_position(dx=...). Use step sizes from the navigation policy (start with 0.05m after a search, NOT 0.1m).
3. NEVER call set_attitude with a large angle (like 30°) while the target is visible. That will lose the target.
4. Reduce step size as the target grows larger. Stop when it reaches ~75% of frame width.
5. After each forward step, re-check if the target is still visible and still centered. If it drifted to one side, recenter with a small yaw before the next forward step.

Loss During Approach

• If the target disappears after a forward step, reverse that step (e.g. dx=-0.05).
• If it disappears after a yaw, reverse the yaw.
• After reversal, re-check. If target reappears, recenter it before resuming forward motion.
• Do NOT restart the full search sweep — only do small corrections (±10° yaw).