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.
test_agv_pro semantics as ground truth for motion:
dx: forward or backwarddy: lateral motiondyaw: planar yaw turndz, dpitch, or droll for laboratory navigation.lidar_info(), helper visual tools, or oracle geometry exist unless they are explicitly exposed.The laboratory satellite model (including deployed solar panels) is roughly 50-60 cm wide. Camera field of view is wide. Measured calibration data:
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%.
dx around +0.20mdx around +0.10mdx around +0.05mdx around -0.05m to -0.10m.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.dy only in small amounts when lateral adjustment is truly needed.set_attitude() to recenter BEFORE the next forward step.