(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts RAW=/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes python3 pi05/run_policy_client.py --raw-dir $RAW --steps-per-chunk 10 --via-stride 3 --settle-retries 0 --state-from-target --execute [SAFE ] 安全範囲 (学習 19 本 ±10°): j0[-72,+55] j1[-9,+88] j2[-46,+41] j3[-18,+27] j4[-90,+10] j5[-51,-14] [SAFE ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352) 元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes [MODE ] EXECUTE steps/chunk=10 max_move=20.0° log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_181602 [CAMERA] 写り方 dy=-5.5 dx=+0.3 response=0.533 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg [POLICY] 接続 ws://localhost:8000 metadata={} [GRIP ] 開始時のグリッパー開放は, 最初の目標が検査を通ってから行います (爪が閉じていたら手で開けておく) [STATE ] 実測を渡す (直前に送った目標がない) [000] 推論 1769ms 10ステップ先 Δ=-10.3 +21.0 +2.5 +2.8 -27.1 -0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [GRIP ] 開始時にグリッパーを開く [Pi] GRIPPER: OPEN result= -1 [SEND] pi05_chunk000_via02: send_angles (single) [ -2.41, +5.85, +2.67, +0.61, -6.26, -29.48] speed=20 wait=1.0s (pre max|Δ|=6.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.69° (tol 3.0°) [VIA ] step 2 Δ= -2.2 +4.4 +0.7 +0.5 -6.0 +0.1 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -6.03, +13.28, +3.53, +1.57, -16.04, -29.52] speed=20 wait=1.0s (pre max|Δ|=11.47°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.87° (tol 3.0°) [VIA ] step 5 Δ= -3.7 +6.6 -0.2 +1.5 -11.5 +0.1 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -9.54, +20.31, +4.35, +2.58, -24.91, -29.63] speed=20 wait=1.0s (pre max|Δ|=9.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 8 Δ= -3.6 +6.2 -0.0 +1.7 -9.7 -0.0 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -10.60, +22.50, +4.54, +2.85, -27.39, -29.74] speed=20 wait=1.0s (pre max|Δ|=3.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 9 Δ= -1.5 +1.2 -0.5 +0.2 -3.1 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.96°（関節 j1） [001] 推論 1140ms 10ステップ先 Δ=-14.5 +21.0 +3.6 +1.7 -30.2 +0.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk001_via02: send_angles (single) [ -15.08, +28.73, +6.00, +3.35, -35.71, -29.69] speed=20 wait=1.0s (pre max|Δ|=8.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 2 Δ= -4.4 +5.3 +1.0 +0.5 -8.4 +0.0 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -19.61, +35.39, +7.29, +4.01, -45.04, -29.62] speed=20 wait=1.0s (pre max|Δ|=9.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 5 Δ= -4.9 +5.7 +0.6 +0.3 -10.0 +0.1 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -23.73, +42.28, +8.27, +4.44, -54.59, -29.53] speed=20 wait=1.0s (pre max|Δ|=9.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 8 Δ= -3.7 +5.9 +0.4 -0.0 -9.8 +0.2 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -25.11, +44.51, +8.64, +4.55, -57.54, -29.49] speed=20 wait=1.0s (pre max|Δ|=3.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 9 Δ= -1.7 +1.3 -0.2 -0.5 -3.1 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.01°（関節 j1） [002] 推論 744ms 10ステップ先 Δ=-12.1 +17.2 +3.7 -0.1 -23.1 +0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk002_via02: send_angles (single) [ -29.58, +51.26, +9.99, +4.21, -67.18, -29.51] speed=20 wait=1.0s (pre max|Δ|=9.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 2 Δ= -4.4 +5.7 +1.1 -0.8 -9.5 +0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -34.01, +57.74, +11.30, +4.37, -75.53, -29.56] speed=20 wait=1.0s (pre max|Δ|=8.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.88° (tol 3.0°) [VIA ] step 5 Δ= -4.7 +5.5 +0.8 -0.1 -8.7 +0.1 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -36.86, +62.18, +12.44, +4.82, -80.71, -29.58] speed=20 wait=1.0s (pre max|Δ|=5.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 8 Δ= -2.8 +3.6 +0.7 +0.2 -5.3 +0.1 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -37.36, +62.73, +12.54, +4.99, -80.79, -29.57] speed=20 wait=1.0s (pre max|Δ|=0.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 9 Δ= -0.6 -0.5 -0.0 +0.2 -0.5 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.99°（関節 j1） [003] 推論 583ms 10ステップ先 Δ= -1.7 +5.3 +1.1 -0.5 -6.8 +0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk003_via02: send_angles (single) [ -38.23, +65.18, +13.70, +4.96, -84.08, -29.55] speed=20 wait=1.0s (pre max|Δ|=3.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 2 Δ= -0.8 +1.5 +1.1 +0.1 -3.7 +0.1 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -38.79, +66.66, +14.22, +4.82, -85.95, -29.54] speed=20 wait=1.0s (pre max|Δ|=1.40°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 5 Δ= -0.4 +0.6 +0.2 -0.0 -1.4 +0.2 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -39.10, +68.49, +13.73, +4.43, -86.91, -29.57] speed=20 wait=1.0s (pre max|Δ|=1.05°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 8 Δ= -0.7 +0.8 -0.2 -0.4 -1.0 +0.1 着いた [VIA ] step 9 Δ= -0.0 -0.4 -0.3 -0.4 +0.1 +0.1 送らず (0.5° 以下) [STATE ] 目標を渡す 目標と実測の最大差 0.42°（関節 j1） [004] 推論 650ms 10ステップ先 Δ= -0.5 +9.5 -5.7 -1.2 -2.0 -0.0 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk004_via02: send_angles (single) [ -39.30, +72.85, +11.94, +4.10, -88.42, -29.58] speed=20 wait=1.0s (pre max|Δ|=3.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.15° (tol 3.0°) [VIA ] step 2 Δ= -0.1 +3.4 -2.0 -0.6 -1.2 +0.1 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -39.51, +76.02, +10.17, +3.86, -88.91, -29.64] speed=20 wait=1.0s (pre max|Δ|=2.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 5 Δ= -0.3 +2.2 -2.9 -0.5 -0.9 +0.1 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ -39.54, +78.58, +8.60, +3.61, -89.19, -29.69] speed=20 wait=1.0s (pre max|Δ|=2.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 8 Δ= -0.3 +1.6 -2.6 -0.5 -0.5 +0.0 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ -39.58, +78.96, +8.32, +3.52, -89.27, -29.70] speed=20 wait=1.0s (pre max|Δ|=1.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.26° (tol 3.0°) [VIA ] step 9 Δ= -0.4 -0.6 -1.3 -0.3 -0.2 -0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.26°（関節 j2） [005] 推論 607ms 4ステップ先 Δ= -0.4 +0.7 -2.1 -0.4 -0.5 -0.1 グリッパー→閉 [VIA ] 中継点 2 点: step 2, 3 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk005_via02: send_angles (single) [ -39.63, +80.64, +7.46, +3.41, -89.50, -29.76] speed=20 wait=1.0s (pre max|Δ|=2.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 2 Δ= -0.4 +0.7 -2.1 -0.4 -0.5 -0.1 着いた [SEND] pi05_chunk005_via03: send_angles (single) [ -39.63, +80.64, +7.46, +3.41, -89.50, -29.76] speed=20 wait=1.0s (pre max|Δ|=1.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 3 Δ= -0.4 -1.0 -1.0 -0.3 -0.2 -0.1 着いた [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.01°（関節 j1） [006] 推論 559ms 10ステップ先 Δ= +0.3 -13.6 +7.9 -0.1 +1.3 -0.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk006_via02: send_angles (single) [ -39.68, +77.07, +9.90, +3.46, -89.55, -29.87] speed=20 wait=1.0s (pre max|Δ|=4.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.20° (tol 3.0°) [VIA ] step 2 Δ= -0.5 -4.6 +1.5 -0.2 +0.2 -0.2 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -39.86, +73.10, +12.69, +3.43, -89.30, -29.87] speed=20 wait=1.0s (pre max|Δ|=6.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 5 Δ= -0.7 -6.2 +2.2 -0.3 +0.6 -0.2 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -39.67, +69.26, +15.59, +3.53, -88.84, -29.88] speed=20 wait=1.0s (pre max|Δ|=5.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.10° (tol 3.0°) [VIA ] step 8 Δ= +0.4 -6.0 +2.4 -0.1 +1.1 -0.2 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -38.89, +68.03, +16.34, +3.63, -88.42, -29.89] speed=20 wait=1.0s (pre max|Δ|=3.33°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.54° (tol 3.0°) [VIA ] step 9 Δ= +1.2 -3.3 +0.2 +0.0 +1.5 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.54°（関節 j1） [007] 推論 648ms 10ステップ先 Δ=+22.7 -14.3 +1.3 +2.9 +11.6 -0.4 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk007_via02: send_angles (single) [ -33.94, +64.77, +17.17, +4.28, -86.42, -29.93] speed=20 wait=1.0s (pre max|Δ|=5.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.20° (tol 3.0°) [VIA ] step 2 Δ= +4.5 -5.8 +1.0 +0.9 +3.0 -0.2 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ -26.46, +61.14, +17.40, +5.13, -82.85, -29.90] speed=20 wait=1.0s (pre max|Δ|=7.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.58° (tol 3.0°) [VIA ] step 5 Δ= +7.6 -5.8 -0.3 +1.1 +4.2 -0.2 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ -18.62, +57.65, +17.49, +6.08, -79.39, -30.01] speed=20 wait=1.0s (pre max|Δ|=8.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.55° (tol 3.0°) [VIA ] step 8 Δ= +8.1 -6.1 -0.2 +1.3 +4.0 -0.3 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ -15.67, +56.27, +17.49, +6.32, -78.11, -30.09] speed=20 wait=1.0s (pre max|Δ|=3.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.44° (tol 3.0°) [VIA ] step 9 Δ= +3.2 -3.9 -0.2 +0.4 +1.7 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.44°（関節 j1） [008] 推論 1547ms 10ステップ先 Δ=+28.8 -14.4 -0.4 +0.4 +10.3 -0.5 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk008_via02: send_angles (single) [ -7.18, +52.94, +17.30, +6.53, -74.96, -30.12] speed=20 wait=1.0s (pre max|Δ|=8.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.51° (tol 3.0°) [VIA ] step 2 Δ= +8.5 -5.8 -0.4 +0.5 +3.2 -0.3 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +1.16, +49.26, +17.12, +6.35, -71.17, -30.09] speed=20 wait=1.0s (pre max|Δ|=8.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.41° (tol 3.0°) [VIA ] step 5 Δ= +8.6 -6.2 -0.5 +0.3 +4.0 -0.3 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +10.55, +45.15, +17.30, +6.35, -68.18, -30.14] speed=20 wait=1.0s (pre max|Δ|=9.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.39° (tol 3.0°) [VIA ] step 8 Δ= +9.8 -6.5 -0.4 +0.1 +3.2 -0.3 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +13.11, +44.33, +17.28, +6.41, -67.85, -30.17] speed=20 wait=1.0s (pre max|Δ|=3.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.42° (tol 3.0°) [VIA ] step 9 Δ= +2.7 -3.2 -0.4 +0.2 +0.4 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.42°（関節 j1） [009] 推論 634ms 10ステップ先 Δ=+27.0 -8.5 -2.2 +0.4 +7.4 -0.5 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk009_via02: send_angles (single) [ +21.90, +40.81, +17.46, +6.67, -65.00, -30.26] speed=20 wait=1.0s (pre max|Δ|=8.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 2 Δ= +8.7 -5.9 -0.2 +0.2 +2.9 -0.4 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +31.05, +37.10, +17.50, +6.74, -61.59, -30.27] speed=20 wait=1.0s (pre max|Δ|=9.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.36° (tol 3.0°) [VIA ] step 5 Δ= +9.3 -6.0 -0.2 +0.2 +3.4 -0.4 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +39.43, +37.15, +16.11, +6.93, -60.01, -30.37] speed=20 wait=1.0s (pre max|Δ|=8.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.31° (tol 3.0°) [VIA ] step 8 Δ= +8.5 -2.3 -1.6 +0.2 +1.6 -0.4 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +40.14, +38.24, +15.42, +6.91, -60.52, -30.39] speed=20 wait=1.0s (pre max|Δ|=2.15°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.98° (tol 3.0°) [VIA ] step 9 Δ= +0.9 -1.2 -2.1 +0.1 -0.7 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.98°（関節 j2） [010] 推論 641ms 10ステップ先 Δ= +3.2 +20.4 -11.5 +1.9 -12.4 -0.7 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk010_via02: send_angles (single) [ +41.74, +44.82, +12.41, +7.47, -63.53, -30.50] speed=20 wait=1.0s (pre max|Δ|=5.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 3.0°) [VIA ] step 2 Δ= +1.4 +5.4 -5.0 +0.5 -3.7 -0.5 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +42.97, +52.31, +8.95, +8.28, -67.42, -30.59] speed=20 wait=1.0s (pre max|Δ|=6.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.42° (tol 3.0°) [VIA ] step 5 Δ= +1.0 +6.4 -5.0 +1.2 -5.5 -0.3 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +43.48, +58.54, +6.40, +8.86, -71.25, -30.74] speed=20 wait=1.0s (pre max|Δ|=5.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.33° (tol 3.0°) [VIA ] step 8 Δ= +0.2 +5.0 -4.0 +0.9 -4.5 -0.4 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +43.57, +59.84, +5.93, +8.89, -72.24, -30.79] speed=20 wait=1.0s (pre max|Δ|=1.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.80° (tol 3.0°) [VIA ] step 9 Δ= +0.3 +0.3 -1.8 +0.5 -1.7 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.80°（関節 j2） [011] 推論 609ms 4ステップ先 Δ= +0.4 +1.2 -2.3 +0.4 -1.3 -0.3 グリッパー→開 [VIA ] 中継点 2 点: step 2, 3 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk011_via02: send_angles (single) [ +43.52, +62.11, +5.46, +9.04, -73.43, -30.81] speed=20 wait=1.0s (pre max|Δ|=2.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 2 Δ= +0.4 +1.2 -2.3 +0.4 -1.3 -0.3 着いた [SEND] pi05_chunk011_via03: send_angles (single) [ +43.52, +62.11, +5.46, +9.04, -73.43, -30.81] speed=20 wait=1.0s (pre max|Δ|=1.39°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 3 Δ= +0.5 -1.2 -1.4 +0.3 -0.2 -0.3 着いた [Pi] GRIPPER: OPEN result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.39°（関節 j2） [012] 推論 1560ms 10ステップ先 Δ= -0.9 -21.1 +2.9 -1.5 +15.5 -0.5 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk012_via02: send_angles (single) [ +43.41, +56.73, +7.00, +8.65, -69.99, -30.78] speed=20 wait=1.0s (pre max|Δ|=6.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.24° (tol 3.0°) [VIA ] step 2 Δ= +0.4 -6.5 +0.2 -0.1 +3.2 -0.3 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +43.54, +50.64, +8.81, +8.20, -65.91, -30.77] speed=20 wait=1.0s (pre max|Δ|=8.33°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.00° (tol 3.0°) [VIA ] step 5 Δ= +0.5 -8.3 +1.3 -0.6 +5.7 -0.3 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +42.91, +43.98, +9.89, +7.61, -60.08, -30.85] speed=20 wait=1.0s (pre max|Δ|=8.66°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.98° (tol 3.0°) [VIA ] step 8 Δ= -0.1 -8.7 +0.5 -1.3 +6.8 -0.3 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +42.12, +42.14, +9.75, +7.31, -57.73, -30.94] speed=20 wait=1.0s (pre max|Δ|=3.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.33° (tol 3.0°) [VIA ] step 9 Δ= -0.8 -3.8 -0.7 -1.0 +3.0 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.33°（関節 j1） [013] 推論 634ms 10ステップ先 Δ=-17.2 -22.6 -1.7 -4.5 +26.3 +0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk013_via02: send_angles (single) [ +38.69, +35.80, +10.59, +6.30, -51.57, -30.88] speed=20 wait=1.0s (pre max|Δ|=8.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.08° (tol 3.0°) [VIA ] step 2 Δ= -3.4 -8.7 +0.1 -1.4 +6.6 -0.1 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +33.34, +29.76, +10.04, +4.99, -43.45, -30.74] speed=20 wait=1.0s (pre max|Δ|=8.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.05° (tol 3.0°) [VIA ] step 5 Δ= -5.6 -8.1 -1.0 -1.5 +8.3 +0.0 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +26.95, +23.51, +8.96, +3.61, -34.09, -30.65] speed=20 wait=1.0s (pre max|Δ|=9.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.06° (tol 3.0°) [VIA ] step 8 Δ= -6.6 -8.3 -2.1 -1.7 +9.7 +0.2 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +24.92, +21.83, +8.71, +3.30, -31.89, -30.64] speed=20 wait=1.0s (pre max|Δ|=3.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.27° (tol 3.0°) [VIA ] step 9 Δ= -2.5 -3.7 -2.3 -0.5 +2.4 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.27°（関節 j2） [014] 推論 639ms 10ステップ先 Δ=-20.2 -19.0 -8.1 -2.0 +28.3 +0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk014_via02: send_angles (single) [ +19.31, +16.58, +6.97, +2.22, -23.67, -30.64] speed=20 wait=1.0s (pre max|Δ|=8.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.90° (tol 3.0°) [VIA ] step 2 Δ= -5.6 -7.2 -4.0 -0.4 +8.4 +0.2 着いた [SEND] pi05_chunk014_via05: send_angles (single) [ +12.52, +10.42, +5.03, +1.33, -13.55, -30.70] speed=20 wait=1.0s (pre max|Δ|=10.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.91° (tol 3.0°) [VIA ] step 5 Δ= -7.4 -8.0 -3.8 -1.5 +10.4 +0.2 着いた [SEND] pi05_chunk014_via08: send_angles (single) [ +6.18, +5.48, +3.37, +0.68, -4.93, -30.70] speed=20 wait=1.0s (pre max|Δ|=8.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.90° (tol 3.0°) [VIA ] step 8 Δ= -6.7 -6.6 -3.6 -1.1 +8.9 +0.2 着いた [SEND] pi05_chunk014_via09: send_angles (single) [ +4.67, +4.77, +2.88, +0.60, -3.78, -30.75] speed=20 wait=1.0s (pre max|Δ|=2.39°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.39° (tol 3.0°) [VIA ] step 9 Δ= -1.6 -2.3 -2.4 -0.4 +1.4 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.39°（関節 j2） [015] 推論 813ms 10ステップ先 Δ= -3.0 -3.1 -2.7 -0.4 +1.3 +0.3 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk015_via02: send_angles (single) [ +1.57, +3.38, +2.51, +0.52, -2.21, -30.70] speed=20 wait=1.0s (pre max|Δ|=3.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.76° (tol 3.0°) [VIA ] step 2 Δ= -2.9 -3.1 -2.8 -0.4 +1.6 +0.2 着いた [SEND] pi05_chunk015_via05: send_angles (single) [ +1.39, +3.44, +2.55, +0.50, -2.48, -30.70] speed=20 wait=1.0s (pre max|Δ|=2.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.72° (tol 3.0°) [VIA ] step 5 Δ= -0.1 -1.4 -2.7 -0.2 -0.0 +0.2 着いた [SEND] pi05_chunk015_via08: send_angles (single) [ +1.37, +3.37, +2.53, +0.46, -2.43, -30.67] speed=20 wait=1.0s (pre max|Δ|=2.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.74° (tol 3.0°) [VIA ] step 8 Δ= -0.1 -1.5 -2.7 -0.2 +0.0 +0.3 着いた [SEND] pi05_chunk015_via09: send_angles (single) [ +1.43, +3.40, +2.54, +0.47, -2.54, -30.66] speed=20 wait=1.0s (pre max|Δ|=2.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.73° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -1.4 -2.7 -0.2 -0.1 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.73°（関節 j2） [016] 推論 1562ms 10ステップ先 Δ= -1.0 -1.9 -2.8 -0.3 -0.1 +0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk016_via02: send_angles (single) [ +0.65, +3.20, +2.41, +0.48, -2.49, -30.69] speed=20 wait=1.0s (pre max|Δ|=2.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.86° (tol 3.0°) [VIA ] step 2 Δ= -0.8 -1.6 -2.9 -0.2 -0.0 +0.2 着いた [SEND] pi05_chunk016_via05: send_angles (single) [ +0.48, +3.13, +2.43, +0.46, -2.53, -30.71] speed=20 wait=1.0s (pre max|Δ|=2.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.84° (tol 3.0°) [VIA ] step 5 Δ= +0.1 -1.7 -2.8 -0.2 -0.1 +0.1 着いた [SEND] pi05_chunk016_via08: send_angles (single) [ +0.39, +3.03, +2.45, +0.44, -2.54, -30.72] speed=20 wait=1.0s (pre max|Δ|=2.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.82° (tol 3.0°) [VIA ] step 8 Δ= -0.0 -1.8 -2.8 -0.3 -0.1 +0.1 着いた [SEND] pi05_chunk016_via09: send_angles (single) [ +0.48, +2.97, +2.45, +0.45, -2.51, -30.71] speed=20 wait=1.0s (pre max|Δ|=2.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.82° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -1.6 -2.8 -0.3 -0.1 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.82°（関節 j2） [017] 推論 631ms 10ステップ先 Δ= -0.7 -1.6 -2.8 -0.2 -0.5 +0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk017_via02: send_angles (single) [ -0.10, +3.02, +2.44, +0.46, -2.67, -30.74] speed=20 wait=1.0s (pre max|Δ|=2.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.83° (tol 3.0°) [VIA ] step 2 Δ= -0.5 -1.5 -2.8 -0.2 -0.2 +0.1 着いた [SEND] pi05_chunk017_via05: send_angles (single) [ -0.20, +2.94, +2.43, +0.45, -2.80, -30.76] speed=20 wait=1.0s (pre max|Δ|=2.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.84° (tol 3.0°) [VIA ] step 5 Δ= -0.6 -1.6 -2.8 -0.2 -0.3 +0.1 着いた [SEND] pi05_chunk017_via08: send_angles (single) [ -0.27, +2.98, +2.45, +0.47, -2.90, -30.75] speed=20 wait=1.0s (pre max|Δ|=2.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.82° (tol 3.0°) [VIA ] step 8 Δ= -0.6 -1.6 -2.8 -0.2 -0.4 +0.1 着いた [SEND] pi05_chunk017_via09: send_angles (single) [ -0.25, +2.97, +2.45, +0.47, -2.92, -30.75] speed=20 wait=1.0s (pre max|Δ|=2.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.82° (tol 3.0°) [VIA ] step 9 Δ= -0.6 -1.6 -2.8 -0.2 -0.5 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.82°（関節 j2） [018] 推論 616ms 10ステップ先 Δ= -1.0 -1.8 -2.8 -0.2 -0.7 +0.0 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > h [SEND] pi05_home: send_angles (single) [ +0.00, +0.00, +0.00, +0.00, +0.00, -30.00] speed=20 wait=1.0s (pre max|Δ|=5.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.49° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_181602