Lab Navigation 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.