Nav Advance

nav-advance

Planner-friendly multi-step forward motion. Reduces fragile planner loops while preserving nav invariants (verification, snap-to-grid, nav history).

Input

• blocks: Integer number of blocks to advance (required)
• step_duration: Float seconds per move (default: 0.2)
• max_abs_delta_y: Float tolerance for Y noise (default: 0.2)

Output

Success (status: "success"):

• value: Summary text (e.g., "Advance completed: TARGET_REACHED (3/3)")

Failure (status: "failed"):

• value: Summary with steps completed
• reason: One of "INVALID_TARGET", "STATUS_FAILED", "MOVE_FAILED", "COLLISION", "FELL", "OBSERVATION_FAILED", "UNEXPECTED_VERTICAL_CHANGE", "SUPPORT_AMBIGUOUS"

Behavior

• Automatically aligns agent to block center and cardinal yaw before movement
• Moves forward in the direction of current yaw (use nav-turn first if yaw isn't in desired direction)
• Internally performs up to blocks single moves with verification
• Snaps to block center after each landed move and updates nav history
• Stops immediately when unsafe conditions are detected

Alignment

Before each movement, agent is automatically aligned:

• Position: Block center (x+0.5, y, z+0.5) - eliminates fractional offsets
• Yaw: Nearest cardinal (0°=South, 90°=West, 180°=North, 270°=East)
• Pitch: 0°

This prevents collisions from fractional offsets and ensures predictable movement direction.

Planning Notes

• Ensure agent yaw points in desired direction before calling (use nav-turn if needed)
• Use instead of planner loops over nav-move
• If reason is FELL, treat as safety event and consider nav-backtrack

Example

{"type":"nav-advance","blocks":3,"out":"$adv"}