Repository navigation
Conversation
Codex Review SummaryThis comment shows the latest Codex review activity on this pull request.
ℹ️ About Codex in GitHubYour team has set up Codex to review pull requests in this repo. Reviews are triggered when you
Codex reacts with 👀 while any review is running, comments if it has suggestions, and reacts with 👍 once all reviews finish with no findings. |
A target that kept landing just outside the goal was corrected again and again until the sequencer's acquisition timeout. Two slicecamd.cfg keys: FINE_ACQUIRE_MAX_ADJUSTMENTS=<n> (default 3, 0 = previous behaviour): at most <n> corrections are commanded in one run, and the <n>-th decides. It is sent only if the offset it removes is within FINE_ACQUIRE_RELAXED_FACTOR x goal, and the run converges once that move has executed and settled; otherwise the run fails at once without sending it. A correction acamd does not confirm within FINE_ACQUIRE_MOVE_TIMEOUT also fails a budgeted run. Nothing is sampled or evaluated once no correction can follow. FINE_ACQUIRE_RELAXED_FACTOR=<f> (default 2.0, at least 1). Also: a single frame inside the goal after a correction converges the run; FINE_ACQUIRE_SETTLE_SEC=1 (was 3.0) now that the settle starts when the move has executed; every lock writes the same "fine acquisition converged" line, with how it locked appended. Co-Authored-By: Claude Opus 5.5 <[email protected]>
cfremling
force-pushed
the
feat/fineacquire-correction-budget
branch
from
October 29, 2026 14:09
37df938 to
c01f948
Compare
Collaborator
Author
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
A target that keeps landing just outside the fine-acquire goal was otherwise corrected again and again until the sequencer's acquisition timeout. Two config keys in slicecamd.cfg.in:
FINE_ACQUIRE_MAX_ADJUSTMENTS(default 3; 0 = previous behaviour): a hard correction budget. After the Nth correction no further correction is sent; the run ends on that correction — converged if the residual it removed was withinFINE_ACQUIRE_RELAXED_FACTOR× the goal, else failed at once (runningcleared without a lock, which the sequencer reports as "stopped without locking" and the robot retries on another star). Nothing is sampled after the budget.FINE_ACQUIRE_RELAXED_FACTOR(default 2.0).Also: a single frame inside the goal after a correction accepts (the full sample set is not awaited);
FINE_ACQUIRE_SETTLE_SEC=1(was 3.0) now that the settle is anchored to the executed move (#479); every lock writes the same "fine acquisition converged" line with how it locked appended.Stacked on #479; base branch
feat/fineacquire-wait-for-move.Jira: PAL-182. Tested on sky 2026-10-28/29 UT using branch cf/summit-20261020, 18 targets: 18 of 18 converged, 17 with one correction accepted on the single frame after it, one on the budget's third (relaxed accept, 0.76").
🤖 Generated with Claude Code