lab-target-recovery

name	lab-target-recovery
description	Recover a temporarily lost target in the laboratory with bounded planar search and no blind forward motion.
metadata	{"skill_kind":"helper","routing_summary":"Add when the target may leave the camera view and a bounded image-only recovery policy is needed.","routing_keywords":["target lost","recovery","reacquire target","search policy","bounded yaw search"]}

Recovery Policy

Priority 1: Reverse the last action

If the target was just lost after a specific action (e.g., a yaw or position change), first reverse that exact action to return to the state where the target was last visible. For example:

• Lost after set_attitude(0, 0, +15) → try set_attitude(0, 0, -15)
• Lost after set_position(dx=0.1, dy=0, dz=0) → try set_position(dx=-0.1, dy=0, dz=0)

After the reverse, re-check the image. If the target reappears, re-center it and resume the mission.

Priority 2: Small correction toward last known direction

If reversal does not help, use the last known relative direction with small yaw corrections (10-15°):

• Last known off to the right → set_attitude(0, 0, +15)
• Last known off to the left → set_attitude(0, 0, -15)

If the target is still visible but merely off-center, prefer a small yaw correction to re-center it before any forward motion.

Priority 3: Expanding search (last resort)

If there is no reliable last known direction and reversal did not work, sweep yaw from the loss heading to cover ±90°. First go one direction (e.g. right to +90°), then turn past the loss heading and continue to the opposite side (e.g. -90°). Remember that yaw deltas accumulate: from +90°, three steps of -30° only returns to 0°, not to -90° — you must keep going. Check the image after every step.

Hard Safety Rule

• Never issue another forward motion command while the target is still not visible.
• After the allowed recovery rounds are exhausted, terminate safely instead of wandering.