octos-org Navigation Skill
Control the Hunter SE differential-drive mobile base through warehouse stations.
Robot: Hunter SE
- Drive: 4-wheel differential drive
- Wheelbase: 0.55m, wheel radius: 0.1m
- Path: 1065-waypoint global path along Y-axis (heading North)
- Speed control: torque-to-velocity mapping via dora-nav C++ pipeline
Stations
| ID | Y Position | Description |
|---|---|---|
| A | 10.0m | Station A — 3 colored cubes on table at x=2.5 |
| B | 18.0m | Station B — 3 colored cubes on table at x=2.5 |
| home | 0.28m | Path start (home position) |
Tool Usage
Navigate to a station:
navigate_to(waypoint="A")
Check current position:
get_robot_state()
Get map with all stations:
get_map()
Emergency stop:
stop_base()
Read LiDAR status:
read_lidar()
Important Rules
- Path is one-way (North); navigate_to "home" uses stall detection (10s timeout)
- Station arrival threshold: 1.0m from target Y coordinate
- Navigation timeout: 120 seconds per station
- Robot follows dora-nav global path — cannot go to arbitrary coordinates