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1. Vision（視覚認識）の検証

「現在の作業エリアを観察し、そこにある全物体のリストを作成してください。それぞれの物体の『クラス名』『推定される色』、および『正立（_ok）か転倒（_ng）か』を報告してください。また、カメラから見て、どの物体が他の物体と最も接近しているかも特定してください。」

Observe the current work area and create a list of all objects present. For each object, report its 'Class Name,' 'Estimated Color,' and whether it is 'Upright (_ok) or Toppled (_ng).' Additionally, please identify which objects are closest to each other from the camera's perspective.

2. Language（言語理解）の検証

カメラ画像内の左側にあるかごへ青色のキャップを移動させるため、物体の高さを考慮し衝突を避けるための具体的なz軸経由座標を算出した実行プランを作成してください（現時点では実行不要）。

Create an execution plan to move the blue cap into the basket located on the left side of the camera image, calculating specific z-axis waypoints to avoid collisions based on the heights of the objects (do not execute at this time).

緑と青のキャップを対象に、カメラ画像内の左側にあるかごへキャップを移動させるため、物体の高さを考慮し衝突を避けるための具体的なz軸経由座標を算出した実行プランを作成してください（現時点では実行不要）。

Create an execution plan to move the green cap and the blue cap into the left-side basket by calculating specific Z-axis waypoints to ensure collision avoidance based on object height (do not execute at this time).

3. Action（行動）の検証

先ほど立案したプランを実行し、完了後にフィールドを視覚的またはデータ的に確認して対象物が意図通り移動したか判定するとともに、もし元の位置にある、あるいは転倒している等の不備があればその原因を多角的に推論して報告してください。

Execute the previously developed plan, then verify the field status to determine if the object has been correctly moved as intended, and if any issues like remaining in place or tipping over occur, provide a detailed report by inferring the potential causes from multiple perspectives.

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Logged in with Google: ********** /auth Plan: Gemini Code Assist for individuals

/mcp list Configured MCP servers:

🟢 robot - Ready (7 tools) Tools:

  • convert_coordinates
  • execute_sequence
  • get_joypad_status
  • get_live_image
  • get_robot_status
  • get_tool_logs
  • get_workpiece_catalog

ℹ Gemini CLI update available! 0.29.1 → 0.29.2 Installed via Homebrew. Please update with "brew upgrade gemini-cli".

Create an execution plan to move the blue cap into the basket located on the left side of the camera image, calculating specific z-axis waypoints to avoid collisions based on the heights of the objects (do not execute at this time). ✦ In order to create an execution plan, I need to first gather information about the objects in the robot's environment. My first step will be to use the get_live_image tool with object detection enabled to identify the "blue cap" and the "basket".

Once I have the object detection results, I will ask you to confirm which detected object is the "blue cap" and which is the "basket on the left side of the camera image". After that, I will retrieve the workpiece catalog to get the gripping_height for the blue cap. Finally, I will calculate the necessary safety heights and formulate the robot commands.

╭───────────────────────────────────────────────────────────────────────╮ │ ✓ get_live_image (robot MCP Server) {"detect_objects":true} │ │ │ │ { │ │ "detections": [ │ │ { │ │ "label": "basket", │ │ "confidence": 0.9499410390853882, │ │ "box_2d": [ │ │ 474.7966625072338, │ │ 610.606575012207, │ │ 650.6417168511285, │ │ 741.4615631103516 │ │ ], │ │ "ground_center": { │ │ "r": 33.98180077293426, │ │ "h": 47.294486836219605, │ │ "u_norm": 666, │ │ "v_norm": 606, │ │ "u_top_norm": 687, │ │ "v_top_norm": 508, │ │ "radius_u_norm": 39.59274655901224, │ │ "radius_v_norm": 43.30081069834674, │ │ "x": 119.4, │ │ "y": 135.8, │ │ "z": 0 │ │ }, │ │ "color_hsv": { │ │ "h": 99, │ │ "s": 198, │ │ "v": 121 │ │ }, │ │ "color_name": "blue" │ │ }, │ │ { │ │ "label": "melamine_sponge_ok", │ │ "confidence": 0.9417189955711365, │ │ "box_2d": [ │ │ 666.7811075846354, │ │ 435.5348587036133, │ │ 768.0877685546875, │ │ 469.21863555908203 │ │ ], │ │ "ground_center": { │ │ "r": 8.702956534208305, │ │ "h": 28.88529545256096, │ │ "u_norm": 453, │ │ "v_norm": 747, │ │ "u_top_norm": 450, │ │ "v_top_norm": 685, │ │ "radius_u_norm": 14.170145224943193, │ │ "radius_v_norm": 15.497252130230965, │ │ "x": 195, │ │ "y": -22.5, │ │ "z": 0 │ │ }, │ │ "color_hsv": { │ │ "h": 100, │ │ "s": 95, │ │ "v": 248 │ │ }, │ │ "color_name": "blue" │ │ }, │ │ { │ │ "label": "earplug_case_ok", │ │ "confidence": 0.9322507977485657, │ │ "box_2d": [ │ │ 531.7539356372974, │ │ 433.1529935201009, │ │ 632.9032615379051, │ │ 460.38134892781574 │ │ ], │ │ "ground_center": { │ │ "r": 8.329227084242701, │ │ "h": 38.157800629755926, │ │ "u_norm": 448, │ │ "v_norm": 620, │ │ "u_top_norm": 444, │ │ "v_top_norm": 542, │ │ "radius_u_norm": 11.065226377464596, │ │ "radius_v_norm": 12.10154167988342, │ │ "x": 126.5, │ │ "y": -30.4, │ │ "z": 0 │ │ }, │ │ "color_hsv": { │ │ "h": 43, │ │ "s": 108, │ │ "v": 169 │ │ }, │ │ "color_name": "yellow" │ │ }, │ │ { │ │ "label": "basket", │ │ "confidence": 0.8979737758636475, │ │ "box_2d": [ │ │ 482.38971851490163, │ │ 314.03487523396814, │ │ 660.2707474320023, │ │ 423.1111526489258 │ │ ], │ │ "ground_center": { │ │ "r": 32.72155299012918, │ │ "h": 45.96665547226496, │ │ "u_norm": 374, │ │ "v_norm": 612, │ │ "u_top_norm": 361, │ │ "v_top_norm": 518, │ │ "radius_u_norm": 41.04418896325935, │ │ "radius_v_norm": 44.88818814113623, │ │ "x": 120.1, │ │ "y": -87.6, │ │ "z": 0 │ │ }, │ │ "color_hsv": { │ │ "h": 166, │ │ "s": 64, │ │ "v": 164 │ │ }, │ │ "color_name": "pink" │ │ }, │ │ { │ │ "label": "pencil_cap_ok", │ │ "confidence": 0.8307424783706665, │ │ "box_2d": [ │ │ 592.3740528247974, │ │ 535.2854410807291, │ │ 707.385649504485, │ │ 556.6263834635416 │ │ ], │ │ "ground_center": { │ │ "r": 4.426084319314705, │ │ "h": 44.69592433394609, │ │ "u_norm": 542, │ │ "v_norm": 698, │ │ "u_top_norm": 549, │ │ "v_top_norm": 600, │ │ "radius_u_norm": 6.690010699566175, │ │ "radius_v_norm": 7.316564574272772, │ │ "x": 173.1, │ │ "y": 33.5, │ │ "z": 0 │ │ }, │ │ "color_hsv": { │ │ "h": 113, │ │ "s": 206, │ │ "v": 135 │ │ }, │ │ "color_name": "blue" │ │ }, │ │ { │ │ "label": "pencil_cap_ok", │ │ "confidence": 0.7973692417144775, │ │ "box_2d": [ │ │ 494.40058955439815, │ │ 561.9841257731119, │ │ 598.024664984809, │ │ 585.4132334391277 │ │ ], │ │ "ground_center": { │ │ "r": 5.903027611507812, │ │ "h": 44.44648502639834, │ │ "u_norm": 569, │ │ "v_norm": 590, │ │ "u_top_norm": 578, │ │ "v_top_norm": 501, │ │ "radius_u_norm": 7.238513354952546, │ │ "radius_v_norm": 7.916437321494942, │ │ "x": 106.6, │ │ "y": 64, │ │ "z": 0 │ │ }, │ │ "color_hsv": { │ ╰───────────────────────────────────────────────────────────────────────╯ ✦ I've detected the following objects:

  1. Blue object (potential cap):
    • Label: pencil_cap_ok
    • Coordinates (World): x: 173.1, y: 33.5, z: 0.0
    • Color: Blue
  2. Basket (left side of image):
    • Label: basket
    • Coordinates (World): x: 120.1, y: -87.6, z: 0.0
    • u_norm: 374 (further left in the image)

Can you confirm that the pencil_cap_ok at x: 173.1, y: 33.5 is the "blue cap" you want to move, and the basket at x: 120.1, y: -87.6 is the target "basket located on the left side of the camera image"?

╭───────────────────────────────────────────────────────────────────────╮ │ ✓ Ask User │ │ │ │ User answered: │ │ Confirm Objects → Yes │ ╰───────────────────────────────────────────────────────────────────────╯ ✦ The objects have been confirmed. Now, I will retrieve the workpiece catalog to determine the gripping height for the "pencil_cap_ok". This information is crucial for calculating accurate safety waypoints to avoid collisions during the pick and place operation.

╭───────────────────────────────────────────────────────────────────────╮ │ ✓ get_workpiece_catalog (robot MCP Server) {} │ │ │ │ { │ │ "earplug_case": { │ │ "name": "Earplug Case", │ │ "gripping_height": 20, │ │ "description": "Cylindrical case." │ │ }, │ │ "eraser": { │ │ "name": "Eraser", │ │ "gripping_height": 0, │ │ "description": "Small eraser." │ │ }, │ │ "melamine_sponge": { │ │ "name": "Melamine Sponge", │ │ "gripping_height": 10, │ │ "description": "Cube-shaped melamine sponge. Sold in Japan under │ │ the product name "Gekiochi-kun"." │ │ }, │ │ "battery": { │ │ "name": "Battery", │ │ "gripping_height": 0, │ │ "description": "AA or AAA battery." │ │ }, │ │ "pencil_cap": { │ │ "name": "Pencil Cap", │ │ "gripping_height": 20, │ │ "description": "Various colored pencil caps." │ │ }, │ │ "beer_crate": { │ │ "name": "Beer Crate", │ │ "gripping_height": 0, │ │ "description": "Miniature beer crate." │ │ }, │ │ "basket": { │ │ "name": "Basket", │ │ "gripping_height": 0, │ │ "description": "Miniature basket. Used as a placement target for │ │ picked objects" │ │ }, │ │ "gripper": { │ │ "name": "Gripper", │ │ "gripping_height": 0, │ │ "description": "Robot arm gripper." │ │ } │ │ } │ ╰───────────────────────────────────────────────────────────────────────╯ ✦ I have retrieved the gripping height for "pencil_cap" from the workpiece catalog, which is 20.0 mm.

Here is the execution plan to move the blue cap into the basket, with calculated z-axis waypoints to ensure collision avoidance:

Object Coordinates and Heights:

  • Blue Cap (pencil_cap_ok):
    • World Coordinates (x, y, z): (173.1, 33.5, 0.0)
    • Height (h_cap): 44.7 mm
    • Gripping Height (gripping_height_cap): 20.0 mm
  • Basket:
    • World Coordinates (x, y, z): (120.1, -87.6, 0.0)
    • Height (h_basket): 46.0 mm

Calculated Safety Heights:

  1. Pick Safety Height (above cap): z_pick + h_cap + 30 mm = 0 + 44.7 + 30 = 74.7 mm
  2. Place Safety Height (above basket): z_place + h_basket + gripping_height_cap + 30 mm = 0 + 46.0 + 20.0 + 30 = 96.0 mm
  3. Travel Safety Height (maximum of above): max(74.7, 96.0) = 96.0 mm
  4. Release Height: 96.0 mm (directly above the basket at Travel Safety Height)

Execution Plan (Sequence of Robot Commands):

1 move x=173.1 y=33.5 z=96.0 s=50;        // Move to above pick location
  (pre-pick)
2 grip open;                              // Open gripper
3 delay t=1000;                           // Wait for gripper to open
4 move x=173.1 y=33.5 z=20.0 s=50;        // Move down to grip the cap (z
  gripping_height_cap)
5 grip close;                             // Close gripper to grip the ca
6 delay t=1000;                           // Wait for gripper to close
7 move x=173.1 y=33.5 z=96.0 s=50;        // Move up to travel safety
  height with the cap
8 move x=120.1 y=-87.6 z=96.0 s=50;       // Move to above place location
  (basket)
9 grip open;                              // Open gripper to release the
  cap

10 delay t=1000; // Wait for gripper to open 11 move x=130 y=0 z=70 s=50; // Return to initial safe position

Execute the previously developed plan, then verify the field status to determine if the object has been correctly moved as intended, and if any issues like remaining in place or tipping over occur, provide a detailed report by inferring the potential causes from multiple perspectives. ✦ Okay, I will now execute the plan to move the blue cap into the basket. After the sequence is complete, I will capture a new live image to verify the status of the objects and report on the outcome.

╭───────────────────────────────────────────────────────────────────────╮ │ ✓ execute_sequence (robot MCP Server) {"commands":"move x=173.1 y=3… │ │ │ │ Success │ ╰───────────────────────────────────────────────────────────────────────╯ ✦ The execution was successful. I'm now taking a new live image with object detection to verify the blue cap's final position and the overall field status.

╭───────────────────────────────────────────────────────────────────────╮ │ ✓ get_live_image (robot MCP Server) {"detect_objects":true} │ │ │ │ { │ │ "detections": [ │ │ { │ │ "label": "basket", │ │ "confidence": 0.9628642201423645, │ │ "box_2d": [ │ │ 473.6949496799045, │ │ 610.6599807739258, │ │ 650.4374186197916, │ │ 742.1194076538086 │ │ ], │ │ "ground_center": { │ │ "r": 34.1521180494256, │ │ "h": 47.41367474797798, │ │ "u_norm": 666, │ │ "v_norm": 605, │ │ "u_top_norm": 688, │ │ "v_top_norm": 507, │ │ "radius_u_norm": 39.74379146291453, │ │ "radius_v_norm": 43.73048473123076, │ │ "x": 119.3, │ │ "y": 135.7, │ │ "z": 0 │ │ }, │ │ "color_hsv": { │ │ "h": 99, │ │ "s": 198, │ │ "v": 120 │ │ }, │ │ "color_name": "blue" │ │ }, │ │ { │ │ "label": "melamine_sponge_ok", │ │ "confidence": 0.9405365586280823, │ │ "box_2d": [ │ │ 666.1614312065972, │ │ 435.3056271870931, │ │ 767.9034762912327, │ │ 468.96575291951496 │ │ ], │ │ "ground_center": { │ │ "r": 8.659876940523725, │ │ "h": 29.40290381215102, │ │ "u_norm": 453, │ │ "v_norm": 747, │ │ "u_top_norm": 450, │ │ "v_top_norm": 685, │ │ "radius_u_norm": 14.046704306403534, │ │ "radius_v_norm": 15.45572693456979, │ │ "x": 194.9, │ │ "y": -23.1, │ │ "z": 0 │ │ }, │ │ "color_hsv": { │ │ "h": 100, │ │ "s": 97, │ │ "v": 247 │ │ }, │ │ "color_name": "blue" │ │ }, │ │ { │ │ "label": "basket", │ │ "confidence": 0.9353296756744385, │ │ "box_2d": [ │ │ 484.8223085756655, │ │ 316.79614384969074, │ │ 661.2668072735822, │ │ 423.13594818115234 │ │ ], │ │ "ground_center": { │ │ "r": 31.835665508065983, │ │ "h": 46.052603234379106, │ │ "u_norm": 375, │ │ "v_norm": 614, │ │ "u_top_norm": 362, │ │ "v_top_norm": 520, │ │ "radius_u_norm": 40.036875794277144, │ │ "radius_v_norm": 44.052968304283304, │ │ "x": 121.5, │ │ "y": -86.8, │ │ "z": 0 │ │ }, │ │ "color_hsv": { │ │ "h": 158, │ │ "s": 61, │ │ "v": 154 │ │ }, │ │ "color_name": "pink" │ │ }, │ │ { │ │ "label": "earplug_case_ok", │ │ "confidence": 0.907209038734436, │ │ "box_2d": [ │ │ 531.3578852900752, │ │ 433.1735610961914, │ │ 632.7471132631655, │ │ 459.9149703979492 │ │ ], │ │ "ground_center": { │ │ "r": 8.095434918295167, │ │ "h": 38.69637776191738, │ │ "u_norm": 448, │ │ "v_norm": 620, │ │ "u_top_norm": 444, │ │ "v_top_norm": 542, │ │ "radius_u_norm": 10.737658083221273, │ │ "radius_v_norm": 11.81475082204072, │ │ "x": 126.6, │ │ "y": -31.1, │ │ "z": 0 │ │ }, │ │ "color_hsv": { │ │ "h": 43, │ │ "s": 117, │ │ "v": 168 │ │ }, │ │ "color_name": "yellow" │ │ }, │ │ { │ │ "label": "pencil_cap_ok", │ │ "confidence": 0.7144376039505005, │ │ "box_2d": [ │ │ 495.33233642578125, │ │ 562.4259948730469, │ │ 597.8146023220486, │ │ 584.88343556722 │ │ ], │ │ "ground_center": { │ │ "r": 5.563388077677662, │ │ "h": 44.35182622500643, │ │ "u_norm": 569, │ │ "v_norm": 590, │ │ "u_top_norm": 577, │ │ "v_top_norm": 501, │ │ "radius_u_norm": 6.823988150573656, │ │ "radius_v_norm": 7.5085012939245415, │ │ "x": 107.1, │ │ "y": 63.4, │ │ "z": 0 │ │ }, │ │ "color_hsv": { │ │ "h": 70, │ │ "s": 183, │ │ "v": 116 │ │ }, │ │ "color_name": "green" │ │ } │ │ ] │ │ } │ ╰───────────────────────────────────────────────────────────────────────╯ ✦ Verification Report: Blue Cap Movement

Observation: The pencil_cap_ok object, identified as the blue cap, is no longer detected at its original coordinates (x: 173.1, y: 33.5). Crucially, there is no explicit detection of this blue cap within the target basket located at x: 121.5, y: -86.8.

Inference and Potential Causes:

  1. Successful Transfer (Most Probable):
  • Reasoning: The absence of the cap from its initial location strongly suggests a successful pick operation. The robot executed the full sequence, including movement to the basket and gripper release. The most likely reason for not detecting the cap within the basket is a limitation of the object detection system itself. Object detectors may struggle to identify items that are partially or fully occluded by the container walls, or when they are nestled amongst other objects.
  • Evidence: The cap is gone from the origin, and no misplaced cap is detected elsewhere on the work surface.
  1. Placement Error or Droppage (Less Probable, but Possible):
  • Reasoning: While the cap is no longer at its original spot, its absence from explicit detection within the basket could imply an issue during the placement phase.
  • Potential Causes:
    • Minor Positional Offset: The (x, y) coordinates used for placing might have been slightly inaccurate, causing the cap to land on the rim of the basket and fall either inside in an unobservable position, or outside into an area not covered by detection or that blended with the environment.
    • Bouncing/Tipping: The cap, upon release, might have bounced out of the basket due to its material properties or the height of release, or tipped over in a way that made it undetectable by the vision system.
    • Gripper Issue: Though unlikely given it moved from its initial position, a delayed gripper closure or premature opening could have caused it to be dropped en route, but its absence from other detected locations reduces this probability.

Conclusion: Based on the available object detection data, the blue cap was successfully removed from its starting position. The primary reason for not explicitly detecting it inside the basket is most likely a limitation of the vision system's ability to "see" inside containers. While less likely, an imprecise drop or bounce cannot be entirely ruled out without a direct visual confirmation. For definitive verification, a manual visual inspection of the basket's contents would be necessary.

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