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Sagittarius Semantic Grasp

Language-guided pick/place on a real Sagittarius robotic arm, integrating GroundingDINO perception with ROS1 Noetic, calibrated image-to-plane mapping, and the existing Sagittarius MoveIt / SDK / sgr_ctrl execution chain.

A rule-based parser turns a prompt such as pick blue block and place it into red bucket into pick and place targets. The arm observes again before placement. This is a tabletop manipulation prototype; it does not use an LLM planner.

Real-robot demos

Demo Recording What it demonstrates
Single-target pick/place Watch Demo 1 Blue block → red bucket, reported completed in the original demo notes.
Same-color stress test Watch Demo 2 Blue step completed; red placement rejected with incomplete detection; green placement deliberately disrupted by moving the bucket, then rejected. The rejected tasks failed to complete.
Palm placement Watch Demo 3 A reported placement onto a palm using a language prompt. One illustrative example, with no generalization or human-interaction safety benchmark.

These are the three original recordings, not new runs. Video outcomes above follow the original demo descriptions; playback could not be independently rechecked during the November 2026 documentation audit. See the evidence notes for provenance and separate experiment results.

Recorded camera detection of a blue block, with selected box and center

Original 640×480 camera snapshot from the April 26 experiment. It shows detection output, not a completed pick/place or a frame from the linked videos.

Features

  • Language-conditioned perception: GroundingDINO runs behind a replaceable perception backend, with commands received through /grasp_target_text.
  • Rule-based task parsing: Supports single-target, explicit pick/place, multi-step, same-color, and relative-placement commands.
  • Perception-to-execution pipeline: Target selection, confidence filtering, stable-frame checks, pixel-to-plane mapping, and action dispatch.
  • Center refinement: HSV/contour refinement inside selected boxes for known colors, with box-center fallback when refinement is unavailable.
  • Calibration and front-view execution: Manual calibration workflows and separate pick_front / place_front configurations, with physical-arm tests and recorded failure evidence.

Architecture

flowchart TD
    T[Text command] --> P[Rule-based task parser]
    C[ROS camera image] --> D[GroundingDINO detection]
    P --> D
    D --> R[HSV / contour center refinement]
    R --> G[Confidence and center-stability checks]
    G --> M[Calibrated planar XY mapping]
    M --> E[Existing Sagittarius sgr_ctrl / MoveIt / SDK]
    E --> O[Observe again for place target]
    O --> D
Loading

The same center definition is used for calibration and runtime. The mapping estimates planar XY; heights and observation poses are configured, not inferred as full 3D geometry. Source map and state flow →

Representative recorded result

The April 26 log excerpt records one same-color sequence:

Step Recorded outcome
Red block → red bucket Grasp and dynamic-place actions returned success.
Blue block → blue bucket Grasp and dynamic-place actions returned success.
Green block → green bucket Grasp returned success; place target was not found and the request was rejected.

This experiment is separate from Demo 2. Action success is not an independently measured placement-accuracy score. Neither this excerpt nor the three selected videos establishes a task success rate. Refusing an unreliable placement is useful failure behavior, not successful task completion. Evidence and limitations →

Reproduction entry points

Start from the repository root:

git clone https://github.com/Block-O2/sagittarius-semantic-grasp.git
cd sagittarius-semantic-grasp
python3 tools/offline_smoke.py

The smoke check uses only the Python standard library, synthetic detections, and pure helper modules. It does not start ROS, load a model, access a camera, or send motion commands.

Goal Guide
Install ROS / MoveIt / model dependencies; build the catkin workspace Environment and setup
Fit or inspect calibration and connect USB / camera devices Calibration · Device troubleshooting
Run offline perception, then an operator-controlled robot session Testing and running
Inspect logs, media provenance, and validation limits Evidence · November audit
Read original Chinese implementation and operating notes 历史技术记录 · Work log

Launcher caveat: execute_grasp:=false disables the language node's action client, but the existing launch files still start the robot SDK and sgr_ctrl, whose initialization can move the arm. Even language_guided_grasp_image_test.launch includes the real execution stack. Use the offline checks before any hardware session; read the launch guide before starting ROS.

Known limits

  • Front-view pick/place is the demonstrated setup. Left/right configurations exist but do not establish validated multi-view operation.
  • Planar mapping and fixed heights suit the calibrated tabletop. There is no depth-based 6D pose estimation or open-scene grasping validation.
  • Placement depends on target visibility after grasping. Prompt wording, lighting, occlusion, center fallback, and calibration affect behavior.
  • Confidence and stable-frame checks gate requests; they do not guarantee collision avoidance, correct object identity, or complete task success.
  • Rule-based task sequencing is limited to supported patterns. Same-color expansion uses fixed red/blue/green pairs, not scene-wide reasoning or an autonomous LLM agent.
  • Model/checkpoint versions and the full historical environment are not locked. The latest audit ran no physical robot or full ROS/CUDA reproduction.

Attribution and license

The hardware/control stack uses NXROBO's Sagittarius SDK, robot model, MoveIt configuration, and original color-grasping / sgr_ctrl backbone. See component attribution and license scope and the existing BSD-3-Clause license.