{"id":85472,"date":"2026-08-28T18:24:19","date_gmt":"2026-08-28T09:24:19","guid":{"rendered":"https:\/\/www.creationline.com\/tech-blog\/?p=85472"},"modified":"2026-08-28T18:24:24","modified_gmt":"2026-08-28T09:24:24","slug":"ros2%e3%81%a7aiagent%e3%82%92%e5%8b%95%e3%81%8b%e3%81%99%e3%83%9e%e3%83%ab%e3%83%81ai%e3%82%a8%e3%83%bc%e3%82%b8%e3%82%a7%e3%83%b3%e3%83%88%e3%81%ab%e3%82%88%e3%82%8b%e8%a4%87%e6%95%b0%e3%83%ad","status":"publish","type":"post","link":"https:\/\/www.creationline.com\/tech-blog\/uncategorized\/85472","title":{"rendered":"~ROS2\u3067AIagent\u3092\u52d5\u304b\u3059~\u30de\u30eb\u30c1AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306b\u3088\u308b\u8907\u6570\u30ed\u30dc\u30c3\u30c8\u3092\u5354\u8abf\u4f5c\u696d\u3055\u305b\u3066\u307f\u305f"},"content":{"rendered":"\n<figure class=\"wp-block-video\"><video height=\"1502\" style=\"aspect-ratio: 1920 \/ 1502;\" width=\"1920\" controls 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class=\"wp-block-paragraph\">\u7de8\u6210\u306f\u30d7\u30ed\u30bb\u30b95\u3064\u3067\u3001\u7ba1\u7406\u8005\u304c1\u3064\u3001\u79fb\u52d5\u62c5\u5f53\u304c\u6a5f\u4f53\u3054\u3068\u306b3\u3064\u3001\u30a2\u30fc\u30e0\u306e\u628a\u6301\u62c5\u5f53\u304c1\u3064\u3068\u3044\u3046\u5185\u8a33\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u305d\u308c\u305e\u308c\u5225\u306e ROS 2 \u30ce\u30fc\u30c9\u3068\u3057\u3066\u7acb\u3061\u4e0a\u304c\u308a\u3001\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u540c\u58eb\u306f <code>rai_interfaces\/msg\/HRIMessage<\/code> \u3067\u4f1a\u8a71\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<figure style=\"margin:14px 0 44px;overflow-x:auto;\">\n<svg viewBox=\"0 0 900 306\" role=\"img\" 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\u904b\u642c\u8eca\u306e\u62c5\u5f53\u304c\u53d7\u3051\u305f\u4f9d\u983c\nros2 topic echo \/manipulation\/to_human     # \u30a2\u30fc\u30e0\u306e\u62c5\u5f53\u304c\u8fd4\u3057\u305f\u5831\u544a<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u3053\u3067\u3044\u3046 tool \u306f\u3001LLM \u304c\u547c\u3079\u308b\u95a2\u6570\u306e\u3053\u3068\u3067\u3059\u3002<strong>\u8ab0\u306b\u3069\u306e tool \u3092\u6e21\u3059\u304b\u3067\u3001\u305d\u306e\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306b\u3067\u304d\u308b\u3053\u3068\u304c\u6c7a\u307e\u308a\u307e\u3059<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7ba1\u7406\u8005\u306b\u6e21\u3057\u305f\u306e\u306f\u6a5f\u4f53\u3092\u52d5\u304b\u3059 tool \u3067\u306f\u306a\u304f\u3001<code>delegate_to_cargo_motion<\/code> \u306e\u3088\u3046\u306a\u59d4\u8b72\u306e tool \u3068\u3001\u4e88\u7d04\u8868\u3092\u8aad\u3080 <code>zone_status<\/code> \u306e2\u7a2e\u985e\u3060\u3051\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u79fb\u52d5\u62c5\u5f53\u306e tool \u306f\u6a5f\u4f53\u3054\u3068\u306b\u9055\u3063\u3066\u3044\u3066\u3001<strong>Nav2 \u304c\u7acb\u3063\u3066\u3044\u308b\u306e\u306f\u904b\u642c\u8eca\u3060\u3051<\/strong>\u3067\u3059\u3002\u904b\u642c\u8eca\u306b\u306f\u884c\u304d\u5148\u3092\u6e21\u3057\u3001\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u3068\u30c9\u30ed\u30fc\u30f3\u306f\u901f\u5ea6\u6307\u4ee4\u3067\u52d5\u304b\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" style=\"margin-top:76px;margin-bottom:22px\">\u8907\u6570\u306e\u30ed\u30dc\u30c3\u30c8\u3092\u540c\u6642\u306b\u52d5\u304b\u3059 tool \u3092\u8db3\u3059<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">4\u53f0\u3092\u540c\u6642\u306b\u52d5\u304b\u3057\u305f\u3044\u3068\u3053\u308d\u3067\u3059\u304c\u3001\u6700\u521d\u306e\u30c6\u30a4\u30af\u306f\u3069\u3046\u983c\u3093\u3067\u30821\u53f0\u305a\u3064\u306b\u306a\u308a\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u539f\u56e0\u306f tool \u306e\u547c\u3073\u65b9\u3067\u3057\u305f\u3002laggraph\u3067\u69cb\u6210\u3057\u305f\u30de\u30eb\u30c1AIagent\u306f<strong>\u7ba1\u7406\u8005\u306f tool \u30921\u4ef6\u547c\u3076\u3068\u3001\u305d\u306e\u7d50\u679c\u304c\u8fd4\u308b\u307e\u3067\u6b21\u306b\u9032\u3081\u307e\u305b\u3093<\/strong>\u3057\u3001\u59d4\u8b72\u306e tool \u304c\u8fd4\u308b\u306e\u306f\u983c\u3093\u3060\u76f8\u624b\u304c\u52d5\u304d\u7d42\u308f\u3063\u305f\u3042\u3068\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3064\u307e\u308a\u300c\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u306b\u983c\u3080\u300d\u3092\u547c\u3093\u3060\u6642\u70b9\u3067\u3001\u305d\u306e1\u53f0\u304c\u8d70\u308a\u7d42\u308f\u308b\u307e\u3067\u6b8b\u308a\u306e3\u53f0\u306f\u5f85\u305f\u3055\u308c\u307e\u3059\u3002\u52d5\u3044\u3066\u3044\u308b\u6a5f\u4f53\u306f\u5e38\u306b1\u53f0\u3060\u3051\u3067\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b9f\u6e2c\u3067\u3082\u3001\u300c3\u53f0\u540c\u6642\u306b\u300d\u3068\u660e\u793a\u3057\u305f\u547d\u4ee4\u3067\u904b\u642c\u8eca\u300187\u79d2\u5f8c\u306b\u30c9\u30ed\u30fc\u30f3\u3001\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u306f\u6700\u5f8c\u307e\u3067\u653e\u7f6e\u3001\u3068\u3044\u3046\u9806\u306b\u306a\u308a\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">1\u30bf\u30fc\u30f3\u306b\u8907\u6570\u306e tool \u3092\u4e26\u3079\u3066\u547c\u3076\u3053\u3068\u81ea\u4f53\u306f\u3067\u304d\u307e\u3059\u304c\u3001<strong>\u3084\u308b\u304b\u3069\u3046\u304b\u306f\u30e2\u30c7\u30eb\u6b21\u7b2c<\/strong>\u3067\u3001\u4eba\u683c\u306b\u300c\u5225\u306e\u5834\u6240\u306e\u4ed5\u4e8b\u306f\u540c\u3058\u30bf\u30fc\u30f3\u3067\u983c\u3081\u300d\u3068\u66f8\u3044\u3066\u3082\u5b88\u3089\u308c\u307e\u305b\u3093\u3067\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u305d\u3053\u3067<strong>\u8907\u6570\u306e\u30ed\u30dc\u30c3\u30c8\u3092\u540c\u6642\u306b\u52d5\u304b\u3059 tool<\/strong> \u3092\u8db3\u3057\u307e\u3057\u305f\u3002<code>delegate_together<\/code> \u306f\u53d7\u3051\u53d6\u3063\u305f\u4ed5\u4e8b\u3092\u30b9\u30ec\u30c3\u30c9\u306b\u5206\u3051\u3066\u540c\u6642\u306b\u6295\u3052\u3001\u5168\u90e8\u306e\u5831\u544a\u304c\u63c3\u3063\u3066\u304b\u3089\u8fd4\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\" style=\"margin-top:20px;margin-bottom:44px\"><code>\u7ba1\u7406\u8005  delegate_together {\"jobs\": [\n  {\"agent\": \"ground_motion\",  \"task\": \"furrow_lane_7 \u3092\u4e88\u7d04\u3057\u3066 (2.4, -7.0) \u3078\u5165\u308a\u2026\"},\n  {\"agent\": \"air_motion\",     \"task\": \"\u9ad8\u5ea63m\u306e\u307e\u307e\u540c\u3058\u5834\u6240\u3092\u4e0a\u7a7a\u304b\u3089\u64ae\u3063\u3066\u5831\u544a\u2026\"},\n  {\"agent\": \"cargo_motion\",   \"task\": \"\u30ec\u30fc\u30f3\u5165\u53e3\u306b\u306f\u8fd1\u3065\u304b\u305a\u7a4d\u307f\u8fbc\u307f\u4f4d\u7f6e\u3078\u623b\u308b\u2026\"},\n  {\"agent\": \"manipulation\",   \"task\": \"\u30aa\u30ec\u30f3\u30b8\u306e\u90e8\u54c1\u3092\u4f5c\u696d\u53f0\u306e\u4e0a\u3078\u623b\u3059\u2026\"}]}\n\n\u2192 Tool delegate_together completed in 301.40 seconds.   # 4\u4ef6\u306e\u5831\u544a\u304c\u307e\u3068\u3081\u3066\u8fd4\u308b<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u52d5\u753b\u306e\u5f8c\u534a\u306f\u3053\u306e1\u56de\u306e\u547c\u3073\u51fa\u3057\u3067\u3001\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u304c\u30ec\u30fc\u30f3\u3078\u5165\u308a\u3001\u30c9\u30ed\u30fc\u30f3\u304c\u4e0a\u304b\u3089\u64ae\u308a\u3001\u904b\u642c\u8eca\u304c\u4f5c\u696d\u53f0\u3078\u623b\u308a\u3001\u30a2\u30fc\u30e0\u304c\u6b21\u306e\u90e8\u54c1\u3092\u63b4\u3093\u3067\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7ba1\u7406\u8005\u304c\u3084\u308b\u306e\u306f<strong>\u3053\u306e tool \u30921\u56de\u547c\u3076\u3053\u3068\u3060\u3051<\/strong>\u3067\u3001\u540c\u6642\u306b\u52d5\u304b\u3059\u304b\u3069\u3046\u304b\u306f\u30e2\u30c7\u30eb\u306e\u5224\u65ad\u304b\u3089\u3053\u3061\u3089\u5074\u306e\u30b9\u30ec\u30c3\u30c9\u306e\u8a71\u306b\u79fb\u308a\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" style=\"margin-top:76px;margin-bottom:22px\">1\u53f0\u3057\u304b\u5165\u308c\u306a\u3044\u5834\u6240\u306f\u3001\u4e88\u7d04\u8868\u3067\u634c\u304f<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u30ec\u30fc\u30f3\u306b\u5165\u308c\u308b\u306e\u306f\u7269\u7406\u7684\u306b1\u53f0\u307e\u3067\u3067\u3067<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Nav2 \u306e\u969c\u5bb3\u7269\u56de\u907f\u3082\u884c\u3044\u307e\u3057\u305f\u304c<strong>\u907f\u3051\u308b\u306b\u306f\u3088\u3051\u308b\u30b9\u30da\u30fc\u30b9\u304c\u8981\u308b<\/strong>\u306e\u3067\u3001\u4e00\u672c\u9053\u306e\u30ec\u30fc\u30f3\u3067\u306f\u76f8\u624b\u304c\u898b\u3048\u3066\u3082\u5f85\u907f\u3082\u3059\u308c\u9055\u3044\u3082\u3067\u304d\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Nav2\u306f\u9759\u7684\u969c\u5bb3\u7269\u306b\u5bfe\u3059\u308b\u3002\u56de\u907f\u306f\u3067\u304d\u307e\u3059\u304c\u3001\u6642\u7cfb\u5217\u3067\u969c\u5bb3\u7269\u304c\u52d5\u304f\u5834\u5408\u306a\u3069\u306f\u305d\u306e\u307e\u307e\u3067\u306f\u3046\u307e\u304f\u3044\u304d\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u306a\u306e\u3067\u3001\u540d\u524d\u3092\u3064\u3051\u305f\u533a\u9593\u3092\u4e00\u53f0\u305a\u3064\u4e88\u7d04\u3059\u308b\u30c4\u30fc\u30eb\u3092\u8a2d\u5b9a\u3057\u3066\u3001\u305d\u3053\u306b\u5165\u308c\u308b\u304b\u3069\u3046\u304b\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u306b\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">tool \u306f <code>reserve_zone<\/code>\u3001<code>release_zone<\/code>\u3001<code>zone_status<\/code> \u306e3\u3064\u3060\u3051\u3067\u3059\u3002\u53d6\u308c\u306a\u304b\u3063\u305f\u5074\u306b\u306f\u3001\u8ab0\u304c\u6301\u3063\u3066\u3044\u308b\u304b\u3068\u300c\u5165\u308b\u306a\u300d\u304c\u8fd4\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<figure style=\"margin:14px 0 44px;overflow-x:auto;\">\n<svg viewBox=\"0 0 900 250\" role=\"img\" aria-label=\"\u4e88\u7d04\u8868\u306e\u56f3\u3002\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u306e\u62c5\u5f53\u3068\u904b\u642c\u8eca\u306e\u62c5\u5f53\u304c\u540c\u6642\u306breserve_zone\u3092\u547c\u3073\u3001O_CREAT\u3068O_EXCL\u3067\u4f5c\u3089\u308c\u308b1\u3064\u306e\u30d5\u30a1\u30a4\u30eb\u306b\u3088\u3063\u3066\u7247\u65b9\u3060\u3051\u304c\u4e88\u7d04\u3092\u53d6\u308a\u3001\u3082\u3046\u7247\u65b9\u306f\u4fdd\u6301\u8005\u306e\u540d\u524d\u3068\u7d4c\u904e\u79d2\u6570\u3092\u8fd4\u3055\u308c\u308b\" style=\"display:block;width:100%;min-width:700px;max-width:900px;height:auto;font-family:-apple-system,BlinkMacSystemFont,'Hiragino Sans','Noto Sans JP',sans-serif;\">\n<defs>\n<marker id=\"g5zn\" viewBox=\"0 0 10 10\" refX=\"9\" refY=\"5\" markerWidth=\"7\" markerHeight=\"7\" orient=\"auto-start-reverse\"><path d=\"M0,0 L10,5 L0,10 z\" fill=\"#9AA5B1\"\/><\/marker>\n<\/defs>\n\n<text x=\"450\" y=\"20\" text-anchor=\"middle\" fill=\"#333\" font-size=\"12.5\" font-weight=\"700\">\u540c\u6642\u306b\u983c\u307e\u308c\u3066\u3082\u3001\u52dd\u3064\u306e\u306f\u5fc5\u305a1\u53f0<\/text>\n\n<rect x=\"16\" y=\"46\" width=\"200\" height=\"54\" rx=\"9\" fill=\"#fff\" stroke=\"#12408F\" stroke-width=\"1.8\"\/>\n<text x=\"116\" y=\"70\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"12\" font-weight=\"700\">\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u306e\u62c5\u5f53<\/text>\n<text x=\"116\" y=\"88\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"11\">reserve_zone(furrow_lane_7)<\/text>\n\n<rect x=\"16\" y=\"140\" width=\"200\" height=\"54\" rx=\"9\" fill=\"#fff\" stroke=\"#12408F\" stroke-width=\"1.8\"\/>\n<text x=\"116\" y=\"164\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"12\" font-weight=\"700\">\u904b\u642c\u8eca\u306e\u62c5\u5f53<\/text>\n<text x=\"116\" y=\"182\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"11\">reserve_zone(furrow_lane_7)<\/text>\n\n<line x1=\"216\" y1=\"73\" x2=\"292\" y2=\"98\" stroke=\"#9AA5B1\" stroke-width=\"1.6\" marker-end=\"url(#g5zn)\"\/>\n<line x1=\"216\" y1=\"167\" x2=\"292\" y2=\"142\" stroke=\"#9AA5B1\" stroke-width=\"1.6\" marker-end=\"url(#g5zn)\"\/>\n\n<rect x=\"296\" y=\"82\" width=\"256\" height=\"76\" rx=\"10\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"2\"\/>\n<text x=\"424\" y=\"110\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"12.5\" font-weight=\"700\">\u4e88\u7d04\u8868 furrow_lane_7<\/text>\n<text x=\"424\" y=\"134\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"11\">\u540c\u6642\u306b\u6765\u3066\u3082\u3001\u6301\u3066\u308b\u306e\u306f1\u53f0\u3060\u3051<\/text>\n\n<line x1=\"552\" y1=\"106\" x2=\"600\" y2=\"86\" stroke=\"#9AA5B1\" stroke-width=\"1.6\" marker-end=\"url(#g5zn)\"\/>\n<line x1=\"552\" y1=\"134\" x2=\"600\" y2=\"168\" stroke=\"#9AA5B1\" stroke-width=\"1.6\" marker-end=\"url(#g5zn)\"\/>\n\n<rect x=\"604\" y=\"54\" width=\"280\" height=\"60\" rx=\"9\" fill=\"#fff\" stroke=\"#0E7C6B\" stroke-width=\"2.4\"\/>\n<text x=\"744\" y=\"78\" text-anchor=\"middle\" fill=\"#0E7C6B\" font-size=\"12\" font-weight=\"700\">Reserved furrow_lane_7.<\/text>\n<text x=\"744\" y=\"98\" text-anchor=\"middle\" fill=\"#0E7C6B\" font-size=\"11\">\u5165\u3063\u3066\u3044\u3044\u3002\u51fa\u305f\u3089 release_zone<\/text>\n\n<rect x=\"604\" y=\"140\" width=\"280\" height=\"60\" rx=\"9\" fill=\"#FFF4E5\" stroke=\"#C05621\" stroke-width=\"2\"\/>\n<text x=\"744\" y=\"164\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"12\" font-weight=\"700\">held by ground_motion, 12 s ago<\/text>\n<text x=\"744\" y=\"184\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"11\">Do not drive in anyway.<\/text>\n\n<rect x=\"600\" y=\"50\" width=\"288\" height=\"68\" rx=\"12\" fill=\"none\" stroke=\"#0E7C6B\" stroke-width=\"3\" opacity=\"0\">\n<animate attributeName=\"opacity\" values=\"0;1;1;0;0\" keyTimes=\"0;0.05;0.35;0.45;1\" dur=\"4.5s\" repeatCount=\"indefinite\"\/><\/rect>\n\n<text x=\"450\" y=\"228\" text-anchor=\"middle\" fill=\"#7A869A\" font-size=\"11.5\">\u7ba1\u7406\u8005\u306f zone_status \u3067\u76e4\u9762\u3092\u8aad\u3080\u3060\u3051\u3002\u81ea\u5206\u3067\u306f\u53d6\u3089\u306a\u3044<\/text>\n<\/svg>\n<figcaption style=\"font-size:0.85em;color:#7A869A;text-align:center;margin-top:14px;line-height:1.7;\">\u56f32\uff1a\u72ed\u3044\u4e00\u672c\u9053\u306f\u3001\u5165\u308b\u524d\u306b1\u53f0\u3060\u3051\u304c\u53d6\u308b<\/figcaption>\n<\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u7ba1\u7406\u8005\u306b\u6e21\u3057\u305f\u306e\u306f\u8aad\u3080\u65b9\u306e <code>zone_status<\/code> \u3060\u3051\u3067\u3001\u53d6\u308b tool \u306f\u3042\u308a\u307e\u305b\u3093\u3002\u81ea\u5206\u3067\u306f\u533a\u753b\u306b\u5165\u3089\u306a\u3044\u306e\u3067\u3001\u63e1\u3063\u305f\u307e\u307e\u5fd8\u308c\u308b\u8a70\u307f\u65b9\u304c\u5897\u3048\u308b\u304b\u3089\u3067\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" style=\"margin-top:76px;margin-bottom:22px\">\u5354\u8abf\u306f\u3001tool \u304c\u4f7f\u3048\u308b\u304b\u306e\u5224\u65ad\u304b\u3089\u59cb\u307e\u308b<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u5354\u8abf\u52d5\u4f5c\u306f\u5168\u3066\u306e\u30c4\u30fc\u30eb\u304c\u305d\u306e\u307e\u307e\u4f7f\u3048\u308b\u308f\u3051\u3067\u306f\u306a\u3044\u72b6\u6cc1\u306b\u3088\u3063\u3066\u306f\u305d\u306e\u52d5\u4f5c\u304c\u3067\u304d\u306a\u3044\u30b1\u30fc\u30b9\u304c\u751f\u307e\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u306a\u306e\u3067\u3001<strong>tool \u304c\u4f7f\u3048\u308b\u304b\u3069\u3046\u304b\u306f\u3001\u5b9f\u884c\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u81ea\u8eab\u306b\u78ba\u304b\u3081\u3055\u305b\u307e\u3059\u3002<\/strong>\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u306a\u3051\u308c\u3070\u3001\u4f55\u304c\u3069\u308c\u3060\u3051\u8db3\u308a\u306a\u3044\u304b\u304c\u8fd4\u308b\u3088\u3046\u306a\u8a2d\u8a08\u306b\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8db3\u308a\u306a\u3044\u6570\u5b57\u3092\u8aad\u3093\u3060\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u304c\u3001\u305d\u308c\u3092\u57cb\u3081\u3089\u308c\u308b\u76f8\u624b\u306b\u983c\u307f\u307e\u3059\u3002\u5354\u8abf\u304c\u59cb\u307e\u308b\u306e\u306f\u3053\u3053\u304b\u3089\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4f8b\u3048\u3070\u3001\u30a2\u30fc\u30e0\u304c\u8377\u53f0\u306b\u8377\u7269\u3092\u4e57\u305b\u308b\u5834\u5408\u306f\u3001\u8377\u53f0\u304c\u30a2\u30fc\u30e0\u304c\u5c4a\u304f\u7bc4\u56f2\u306e\u5916\u306a\u3089<strong><mark style=\"background-color:rgba(0,0,0,0);color:#c05621\" class=\"has-inline-color\">\u30a2\u30fc\u30e0\u306f1\u30df\u30ea\u3082\u52d5\u304d\u307e\u305b\u3093<\/mark><\/strong>\u3002\u4ee3\u308f\u308a\u306b\u8fd4\u3063\u3066\u304f\u308b\u306e\u306f\u300c\u4f55\u30e1\u30fc\u30c8\u30eb\u5bc4\u308c\u300d\u3068\u3044\u3046\u6570\u5b57\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\" style=\"margin-top:20px;margin-bottom:44px\"><code>radius = math.hypot(x - base[0], y - base[1])\nif radius &gt; _TRAY_MAX_R:            # 0.70 m\n    return (f'The cargo bed of {target_fleet} is {radius:.2f} m from the arm '\n            f'base, too far to load safely. Ask {target_fleet} to come '\n            f'{radius - _TRAY_MAX_R + 0.05:.2f} m closer, then try again. '\n            f'Nothing was attempted.')<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e tool \u3092\u6e21\u3057\u305f\u72b6\u614b\u3067\u4ed5\u4e8b\u3092\u983c\u3080\u3068\u3001\u3053\u3046\u306a\u308a\u307e\u3057\u305f\u3002\u7ba1\u7406\u8005\u3078\u306e\u6307\u793a\u306f\u300c\u30a2\u30fc\u30e0\u304c\u9060\u3044\u3068\u8a00\u3063\u305f\u3089\u3001\u305d\u306e\u8ddd\u96e2\u3092\u904b\u8ee2\u5074\u306b\u4f1d\u3048\u3066\u300d\u306e\u4e00\u6587\u3060\u3051\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\" style=\"margin-top:20px;margin-bottom:44px\"><code>\u628a\u6301\u62c5\u5f53  place_on_tray {\"fleet\":\"cargo\"}\n       \u2192 The cargo bed of cargo is 0.92 m from the arm base, too far to load\n         safely. Ask cargo to come 0.27 m closer ... Nothing was attempted.\n\n\u7ba1\u7406\u8005   \u2192 \u79fb\u52d5\u62c5\u5f53(cargo)\u300c\u6771\u5411\u304d\u306e\u307e\u307e 0.27 m \u524d\u9032\u3057\u3066\u3001\u8377\u53f0\u3092\u30a2\u30fc\u30e0\u306b\u8fd1\u3065\u3051\u3066\u300d\n\u79fb\u52d5\u62c5\u5f53  drive_distance {\"distance\":0.27} \u2192 Moved forward 0.288 m\n\n\u628a\u6301\u62c5\u5f53  place_on_tray {\"fleet\":\"cargo\"}\n       \u2192 Cargo bed of cargo is at (1.369, -2.500), 0.63 m from the arm base.\n         Placed part_cube at x=1.371, y=-2.501, z=0.297, as asked.<\/code><\/pre>\n\n\n\n<figure style=\"margin:14px 0 44px;overflow-x:auto;\">\n<svg viewBox=\"0 0 900 206\" role=\"img\" aria-label=\"4\u3064\u306e\u624b\u9806\u304c\u5faa\u74b0\u3059\u308b\u56f3\u3002\u628a\u6301\u62c5\u5f53\u304cplace_on_tray\u3092\u547c\u3076\u30010.92m\u3067\u9060\u3044\u3068\u65ad\u3089\u308c\u308b\u3001\u7ba1\u7406\u8005\u304c0.27m\u3068\u3044\u3046\u6570\u5b57\u3092\u904b\u642c\u8eca\u306e\u62c5\u5f53\u306b\u4e2d\u7d99\u3059\u308b\u3001\u904b\u642c\u8eca\u304c0.27m\u524d\u9032\u3059\u308b\u3001\u305d\u3057\u3066\u518d\u8a66\u884c\u3067\u7a4d\u8f09\u304c\u6210\u529f\u3059\u308b\" style=\"display:block;width:100%;min-width:680px;max-width:900px;height:auto;font-family:-apple-system,BlinkMacSystemFont,'Hiragino Sans','Noto Sans JP',sans-serif;\">\n<defs>\n<marker id=\"g5ar\" viewBox=\"0 0 10 10\" refX=\"9\" refY=\"5\" markerWidth=\"7\" markerHeight=\"7\" orient=\"auto-start-reverse\"><path d=\"M0,0 L10,5 L0,10 z\" fill=\"#12408F\"\/><\/marker>\n<\/defs>\n\n<rect x=\"16\" y=\"46\" width=\"196\" height=\"76\" rx=\"10\" fill=\"#FFF4E5\" stroke=\"#C05621\" stroke-width=\"2\"\/>\n<text x=\"114\" y=\"72\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"12.5\" font-weight=\"700\">\u2460 tool \u304c\u65ad\u308b<\/text>\n<text x=\"114\" y=\"92\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"11\">\u8377\u53f0\u306f 0.92 m\u3001\u9060\u3059\u304e\u308b<\/text>\n<text x=\"114\" y=\"110\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"11\">\u30a2\u30fc\u30e0\u306f\u52d5\u304b\u3055\u306a\u3044<\/text>\n\n<line x1=\"212\" y1=\"84\" x2=\"248\" y2=\"84\" stroke=\"#12408F\" stroke-width=\"2\" marker-end=\"url(#g5ar)\"\/>\n\n<rect x=\"248\" y=\"46\" width=\"196\" height=\"76\" rx=\"10\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"2\"\/>\n<text x=\"346\" y=\"72\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"12.5\" font-weight=\"700\">\u2461 \u6570\u5b57\u3092\u8fd4\u3059<\/text>\n<text x=\"346\" y=\"92\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"11\">\u300c0.27 m \u5bc4\u3063\u3066\u300d<\/text>\n<text x=\"346\" y=\"110\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"11\">0.92 \u2212 0.70 \uff0b \u4f59\u88d5 0.05<\/text>\n\n<line x1=\"444\" y1=\"84\" x2=\"480\" y2=\"84\" stroke=\"#12408F\" stroke-width=\"2\" marker-end=\"url(#g5ar)\"\/>\n\n<rect x=\"480\" y=\"46\" width=\"196\" height=\"76\" rx=\"10\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"2\"\/>\n<text x=\"578\" y=\"72\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"12.5\" font-weight=\"700\">\u2462 \u7ba1\u7406\u8005\u304c\u4e2d\u7d99<\/text>\n<text x=\"578\" y=\"92\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"11\">\u904b\u642c\u8eca\u306e\u62c5\u5f53\u3078\u59d4\u8b72<\/text>\n<text x=\"578\" y=\"110\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"11\">0.288 m \u524d\u9032\u3057\u305f<\/text>\n\n<line x1=\"676\" y1=\"84\" x2=\"712\" y2=\"84\" stroke=\"#12408F\" stroke-width=\"2\" marker-end=\"url(#g5ar)\"\/>\n\n<rect x=\"712\" y=\"46\" width=\"172\" height=\"76\" rx=\"10\" fill=\"#fff\" stroke=\"#0E7C6B\" 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\u306b\u8ddd\u96e2\u3092\u6301\u305f\u305b\u3066\u304a\u304f\u3068\u3001\u624b\u9806\u3092\u66f8\u304b\u306a\u304f\u3066\u3082\u300c\u5c4a\u304b\u306a\u3044\u2192\u5bc4\u308b\u2192\u7a4d\u3080\u300d\u304c\u51fa\u3066\u304d\u307e\u3059\u3002<\/mark><\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u52d5\u753b\u306e\u30c6\u30a4\u30af\u3067\u306f\u4ea4\u6e09\u306f\u8d77\u304d\u3066\u3044\u307e\u305b\u3093\u3002\u904b\u642c\u8eca\u304c Nav2 \u3067\u7a4d\u307f\u8fbc\u307f\u4f4d\u7f6e\u3078\u5165\u308a\u3001<code>place_on_tray<\/code> \u304c\u6e2c\u3063\u305f\u8ddd\u96e2\u306f 0.70 m\u3001\u7bc4\u56f2\u306e\u3061\u3087\u3046\u3069\u7aef\u3067\u3057\u305f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" style=\"margin-top:76px;margin-bottom:22px\">\u4ed5\u4e8b\u304c\u3046\u307e\u304f\u3044\u3063\u3066\u3044\u308b\u304b\u4ed6\u306e\u30ed\u30dc\u30c3\u30c8\u306b\u78ba\u304b\u3081\u3055\u305b\u308b<\/h2>\n\n\n\n<p 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