{"id":2035,"date":"2026-07-18T06:45:41","date_gmt":"2026-07-18T13:45:41","guid":{"rendered":"http:\/\/macdaddy4sure.ai\/?p=2035"},"modified":"2026-07-18T06:45:41","modified_gmt":"2026-07-18T13:45:41","slug":"robot-movement-prototyping-movement-cpp","status":"publish","type":"post","link":"http:\/\/macdaddy4sure.ai\/index.php\/2026\/07\/18\/robot-movement-prototyping-movement-cpp\/","title":{"rendered":"Robot Movement + Prototyping (Movement.cpp)"},"content":{"rendered":"\n

Unified robot locomotion with manual primitives<\/strong>, scripted prototypes<\/strong>, and RL \/ assist<\/strong> modes. Actuates through ROS `cmd_vel`<\/strong> when connected; otherwise (or with dry-run) uses an internal unicycle simulator.<\/p>\n\n\n\n

Modes<\/h2>\n\n\n\n
Mode<\/strong><\/td>Behavior<\/strong><\/td><\/tr>
off<\/td>Idle (manual set-twist still allowed when called explicitly)<\/td><\/tr>
assist<\/td>Blend heuristic + RL by movement_assist_blend<\/td><\/tr>
prototype<\/td>Play scripted movement sequences<\/td><\/tr>
train<\/td>Online Q-table + linear DQN updates<\/td><\/tr>
eval<\/td>Greedy policy<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Algorithms<\/h2>\n\n\n\n

manual \u00b7 heuristic \u00b7 qtable \u00b7 dqn \u00b7 auto<\/p>\n\n\n\n

Backends<\/h2>\n\n\n\n

simulate \u00b7 ros \u00b7 auto (ROS if _ROS::Connected())<\/p>\n\n\n\n

Discrete RL actions (12)<\/h2>\n\n\n\n

stop, forward, back, left, right, forward_left, forward_right, slow_forward, reverse_left, reverse_right, spin_ccw, spin_cw<\/p>\n\n\n\n

Prototypes<\/h2>\n\n\n\n

square \u00b7 circle \u00b7 figure8 \u00b7 spin_scan \u00b7 dock_approach \u00b7 obstacle_probe \u00b7 stop_go \u00b7 zig_zag \u00b7 backup_turn \u00b7 soft_start_stop \u00b7 strafe_box \u00b7 idle<\/p>\n\n\n\n

Commands<\/h2>\n\n\n\n

[text]
<\/em>movement help
movement status
movement mode assist|prototype|train|eval|off
movement algorithm heuristic|qtable|dqn|auto|manual
movement backend simulate|ros|auto
movement dry-run on
movement shield on
movement assist 0.4

movement stop
movement forward 0.3
movement left 0.5
movement vel 0.2 0.1

movement goal 2.0 1.0
movement path demo
movement path from 0 0 to 9 9

movement proto list
movement proto square
movement proto circle 2
movement proto status
movement proto cancel

movement tick 20
movement train 200
movement save
movement load
movement features
movement actions
movement explain
movement dashboard<\/p>\n\n\n\n

Aliases: robot \u2026, move \u2026<\/p>\n\n\n\n

Safety<\/h2>\n\n\n\n
    \n
  • Obstacle stop distance: movement_obstacle_stop_m (uses depth occupancy when available)<\/li>\n\n\n\n
  • Defaults: dry-run on<\/strong>, shield on \u2014 safe for first runs without a robot<\/li>\n<\/ul>\n\n\n\n

    Checkpoints<\/h2>\n\n\n\n
      \n
    • File: C:\/_AugmentedIntelligence\/movement_logs\/movement_rl_checkpoint.txt<\/li>\n\n\n\n
    • MySQL: rl_agent_net_checkpoints profile movement_<profile> when movement_checkpoint_mysql_enabled=true<\/li>\n<\/ul>\n\n\n\n

      Settings<\/h2>\n\n\n\n

      [text]
      <\/em>movement_enabled
      movement_dry_run
      movement_safety_shield
      movement_default_linear \/ movement_default_angular
      movement_max_linear \/ movement_max_angular
      movement_assist_blend
      movement_obstacle_stop_m
      movement_checkpoint_mysql_enabled
      movement_checkpoint_profile<\/p>\n\n\n\n

      Integration<\/h2>\n\n\n\n
        \n
      • ROS: _ROS::PublishTwist<\/li>\n\n\n\n
      • Path: _Pathfinding::aStar<\/li>\n\n\n\n
      • Depth: _DepthOccupancyEstimator<\/li>\n\n\n\n
      • Portal: included in portal export RL section as movement<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"

        Unified robot locomotion with manual primitives, scripted prototypes, and RL \/ assist modes. Actuates through ROS `cmd_vel` when connected; otherwise (or with dry-run) uses an internal unicycle simulator. Modes Mode Behavior off Idle (manual set-twist still allowed when called explicitly) assist Blend heuristic + RL by movement_assist_blend prototype Play scripted movement sequences train Online Q-table […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-2035","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"_links":{"self":[{"href":"http:\/\/macdaddy4sure.ai\/index.php\/wp-json\/wp\/v2\/posts\/2035","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/macdaddy4sure.ai\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/macdaddy4sure.ai\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/macdaddy4sure.ai\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/macdaddy4sure.ai\/index.php\/wp-json\/wp\/v2\/comments?post=2035"}],"version-history":[{"count":1,"href":"http:\/\/macdaddy4sure.ai\/index.php\/wp-json\/wp\/v2\/posts\/2035\/revisions"}],"predecessor-version":[{"id":2036,"href":"http:\/\/macdaddy4sure.ai\/index.php\/wp-json\/wp\/v2\/posts\/2035\/revisions\/2036"}],"wp:attachment":[{"href":"http:\/\/macdaddy4sure.ai\/index.php\/wp-json\/wp\/v2\/media?parent=2035"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/macdaddy4sure.ai\/index.php\/wp-json\/wp\/v2\/categories?post=2035"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/macdaddy4sure.ai\/index.php\/wp-json\/wp\/v2\/tags?post=2035"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}