By 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)→ tryset_attitude(0, 0, -15) - Lost after
set_position(dx=0.1, dy=0, dz=0)→ tryset_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.