octos-org/octos-tutorial/navigation

Claude Code and agent skill by octos-org/octos-tutorial

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Hunter SE mobile base navigation using dora-nav pipeline

Install

npx vskill@latest install octos-org/octos-tutorial/navigation

SKILL.md

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

IDY PositionDescription
A10.0mStation A — 3 colored cubes on table at x=2.5
B18.0mStation B — 3 colored cubes on table at x=2.5
home0.28mPath 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

Security

  • Security scanPassed, 95 of 100Pattern checks on the skill's files.
  • Model reviewPassed

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Source

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