(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 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_182650 [CAMERA] 写り方 dy=-5.4 dx=-0.2 response=0.599 → 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 747ms 10ステップ先 Δ= -9.7 +20.3 +5.8 -2.7 -25.8 +1.1 [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) [ -2.73, +6.30, +2.91, -0.88, -6.09, -29.55] speed=20 wait=1.0s (pre max|Δ|=5.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.26° (tol 3.0°) [VIA ] step 2 Δ= -2.3 +4.9 +1.1 -0.6 -5.8 +0.1 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -5.57, +12.42, +4.87, -1.79, -14.31, -29.18] speed=20 wait=1.0s (pre max|Δ|=9.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 5 Δ= -2.8 +5.2 +1.0 -1.5 -9.5 +0.5 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -9.08, +19.44, +7.03, -2.76, -23.28, -28.70] speed=20 wait=1.0s (pre max|Δ|=9.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 8 Δ= -3.5 +6.1 +1.2 -1.7 -9.8 +1.0 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -10.14, +21.65, +7.68, -2.99, -26.02, -28.57] speed=20 wait=1.0s (pre max|Δ|=3.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 9 Δ= -1.3 +1.2 -0.1 -0.7 -3.3 +0.8 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.93°（関節 j1） [001] 推論 614ms 10ステップ先 Δ=-12.6 +23.0 +6.3 +0.3 -30.6 +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_chunk001_via02: send_angles (single) [ -14.78, +28.78, +9.82, -3.17, -35.28, -28.43] speed=20 wait=1.0s (pre max|Δ|=9.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 2 Δ= -4.8 +6.2 +1.4 -0.4 -9.2 +0.5 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -18.40, +35.78, +11.98, -2.74, -44.60, -28.37] speed=20 wait=1.0s (pre max|Δ|=9.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 5 Δ= -3.2 +6.1 +1.4 +0.2 -10.0 +0.4 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -21.47, +42.96, +14.01, -2.60, -53.56, -28.34] speed=20 wait=1.0s (pre max|Δ|=9.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.07° (tol 3.0°) [VIA ] step 8 Δ= -3.5 +6.1 +1.4 +0.4 -9.1 +0.2 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -22.59, +45.60, +14.68, -2.54, -56.68, -28.32] speed=20 wait=1.0s (pre max|Δ|=3.16°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 9 Δ= -0.8 +1.6 +0.1 +0.1 -3.2 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.98°（関節 j1） [002] 推論 625ms 10ステップ先 Δ= -5.8 +11.1 +4.2 +0.4 -13.1 +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_chunk002_via02: send_angles (single) [ -26.26, +52.49, +16.69, -2.73, -65.51, -28.32] speed=20 wait=1.0s (pre max|Δ|=8.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.12° (tol 3.0°) [VIA ] step 2 Δ= -3.3 +5.9 +1.5 -0.2 -8.9 +0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -28.28, +56.82, +18.65, -2.37, -69.60, -28.23] speed=20 wait=1.0s (pre max|Δ|=4.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.09° (tol 3.0°) [VIA ] step 5 Δ= -2.2 +3.2 +1.5 -0.1 -4.6 +0.3 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -28.84, +57.91, +19.62, -2.10, -70.08, -28.14] speed=20 wait=1.0s (pre max|Δ|=0.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 8 Δ= -0.7 -0.0 +0.6 -0.1 -0.2 +0.2 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -28.69, +57.72, +19.42, -2.10, -69.73, -28.12] speed=20 wait=1.0s (pre max|Δ|=1.16°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.16° (tol 3.0°) [VIA ] step 9 Δ= +0.5 -1.2 -0.1 -0.2 +0.5 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.16°（関節 j1） [003] 推論 558ms 10ステップ先 Δ= +0.4 +2.9 -3.6 -3.1 +5.1 +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 > [VIA ] step 2 Δ= +0.5 -0.2 +0.1 -0.4 +0.0 +0.2 送らず (0.5° 以下) [SEND] pi05_chunk003_via05: send_angles (single) [ -28.59, +59.72, +18.49, -3.27, -68.75, -27.96] speed=20 wait=1.0s (pre max|Δ|=1.47°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.00° (tol 3.0°) [VIA ] step 5 Δ= +0.6 +0.8 -1.0 -1.3 +1.5 +0.3 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -28.76, +61.29, +16.54, -4.70, -66.06, -27.89] speed=20 wait=1.0s (pre max|Δ|=4.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.93° (tol 3.0°) [VIA ] step 8 Δ= +0.4 +0.9 -3.0 -1.9 +4.7 -0.6 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -28.76, +61.77, +15.87, -5.03, -65.15, -27.87] speed=20 wait=1.0s (pre max|Δ|=3.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.43° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -0.0 -1.2 -0.6 +3.8 -1.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.43°（関節 j4） [004] 推論 562ms 8ステップ先 Δ= +0.8 +2.4 -2.8 -2.2 +5.8 -0.7 グリッパー→閉 [VIA ] 中継点 3 点: step 2, 5, 7 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) [ -28.35, +63.41, +14.21, -6.32, -62.97, -27.84] speed=20 wait=1.0s (pre max|Δ|=1.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.81° (tol 3.0°) [VIA ] step 2 Δ= +0.6 +0.7 -2.0 -0.4 -1.1 +1.3 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -28.37, +64.50, +13.14, -7.13, -61.55, -27.81] speed=20 wait=1.0s (pre max|Δ|=1.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 5 Δ= +0.5 +0.4 -1.7 -1.2 +0.7 +0.8 着いた [SEND] pi05_chunk004_via07: send_angles (single) [ -28.32, +64.40, +13.23, -7.15, -61.77, -27.78] speed=20 wait=1.0s (pre max|Δ|=0.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.80° (tol 3.0°) [VIA ] step 7 Δ= +0.4 -0.6 -0.6 -0.7 +0.8 +0.6 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 0.89°（関節 j4） [005] 推論 1531ms 10ステップ先 Δ= +0.6 -3.9 +5.1 +2.1 -4.8 +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_chunk005_via02: send_angles (single) [ -28.41, +63.39, +14.65, -6.29, -63.46, -27.66] speed=20 wait=1.0s (pre max|Δ|=1.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.30° (tol 3.0°) [VIA ] step 2 Δ= +0.3 -1.6 +1.6 +0.6 -0.8 -0.1 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -28.42, +62.44, +16.36, -5.48, -65.33, -27.54] speed=20 wait=1.0s (pre max|Δ|=3.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.45° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -2.2 +3.0 +1.2 -2.7 +0.0 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -28.32, +61.40, +17.96, -4.81, -67.00, -27.45] speed=20 wait=1.0s (pre max|Δ|=2.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.70° (tol 3.0°) [VIA ] step 8 Δ= +0.4 -2.5 +2.4 +1.6 -2.4 -0.3 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -28.19, +61.10, +18.20, -4.67, -67.51, -27.46] speed=20 wait=1.0s (pre max|Δ|=2.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.00° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -2.0 +0.8 +0.7 -1.6 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.00°（関節 j1） [006] 推論 560ms 10ステップ先 Δ=+16.5 -7.6 -1.5 +4.2 +0.5 -2.4 [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_chunk006_via02: send_angles (single) [ -28.44, +60.45, +19.32, -4.25, -68.70, -27.37] speed=20 wait=1.0s (pre max|Δ|=2.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.95° (tol 3.0°) [VIA ] step 2 Δ= -0.5 -2.7 +1.9 +0.8 -2.3 -0.4 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -23.02, +58.91, +18.29, -3.08, -68.19, -28.03] speed=20 wait=1.0s (pre max|Δ|=4.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 5 Δ= +4.9 -3.5 -0.8 +1.4 -0.7 -1.0 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -13.90, +56.20, +16.48, -1.34, -66.40, -29.08] speed=20 wait=1.0s (pre max|Δ|=9.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.68° (tol 3.0°) [VIA ] step 8 Δ= +9.2 -5.0 -2.8 +0.8 +1.1 -1.9 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -11.44, +55.54, +15.90, -0.88, -65.74, -29.32] speed=20 wait=1.0s (pre max|Δ|=3.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.37° (tol 3.0°) [VIA ] step 9 Δ= +2.7 -3.3 -1.9 +0.1 +1.6 -1.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.37°（関節 j1） [007] 推論 560ms 10ステップ先 Δ=+29.2 -9.5 -8.6 +3.4 +7.7 -1.8 [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) [ -3.36, +53.63, +14.16, +0.57, -64.07, -30.18] speed=20 wait=1.0s (pre max|Δ|=8.15°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.44° (tol 3.0°) [VIA ] step 2 Δ= +8.2 -4.3 -3.6 +1.5 +2.0 -1.3 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +5.63, +51.36, +12.00, +1.84, -62.23, -30.64] speed=20 wait=1.0s (pre max|Δ|=9.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.42° (tol 3.0°) [VIA ] step 5 Δ= +9.1 -4.7 -3.6 +1.3 +2.1 -0.8 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +14.74, +49.02, +9.69, +2.40, -59.56, -30.64] speed=20 wait=1.0s (pre max|Δ|=9.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.57° (tol 3.0°) [VIA ] step 8 Δ= +9.3 -4.8 -3.8 +0.6 +2.9 -0.3 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +17.71, +48.41, +9.10, +2.47, -58.59, -30.66] speed=20 wait=1.0s (pre max|Δ|=3.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.47° (tol 3.0°) [VIA ] step 9 Δ= +3.2 -3.2 -2.1 +0.1 +1.3 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.47°（関節 j1） [008] 推論 652ms 10ステップ先 Δ=+23.0 -2.8 -7.6 +0.4 +4.3 -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) [ +26.07, +46.36, +6.91, +2.70, -55.58, -30.75] speed=20 wait=1.0s (pre max|Δ|=8.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.41° (tol 3.0°) [VIA ] step 2 Δ= +8.4 -4.5 -4.1 +0.1 +3.2 -0.4 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +35.26, +44.84, +4.67, +2.88, -52.83, -30.82] speed=20 wait=1.0s (pre max|Δ|=9.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.53° (tol 3.0°) [VIA ] step 5 Δ= +9.3 -3.9 -3.8 +0.2 +3.1 -0.4 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +40.73, +46.67, +3.33, +3.01, -53.48, -30.86] speed=20 wait=1.0s (pre max|Δ|=5.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.50° (tol 3.0°) [VIA ] step 8 Δ= +5.3 -0.7 -2.9 +0.1 -0.6 -0.4 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +40.69, +48.08, +3.36, +3.05, -54.51, -30.84] speed=20 wait=1.0s (pre max|Δ|=1.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 9 Δ= -0.2 +0.3 -1.5 -0.2 -1.6 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.47°（関節 j2） [009] 推論 1568ms 10ステップ先 Δ= +0.2 +13.6 -2.0 +0.5 -14.8 -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_chunk009_via02: send_angles (single) [ +40.93, +53.30, +3.28, +3.26, -59.32, -30.85] speed=20 wait=1.0s (pre max|Δ|=5.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.55° (tol 3.0°) [VIA ] step 2 Δ= -0.1 +4.0 -1.5 +0.1 -5.5 -0.3 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +41.38, +58.49, +3.15, +3.45, -63.95, -30.81] speed=20 wait=1.0s (pre max|Δ|=4.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.68° (tol 3.0°) [VIA ] step 5 Δ= +0.3 +4.0 -1.7 +0.3 -5.0 -0.2 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +41.19, +62.24, +2.83, +3.62, -67.30, -30.83] speed=20 wait=1.0s (pre max|Δ|=3.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.00° (tol 3.0°) [VIA ] step 8 Δ= +0.2 +2.7 -2.0 +0.5 -3.8 -0.3 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +41.27, +62.89, +2.80, +3.64, -67.87, -30.83] speed=20 wait=1.0s (pre max|Δ|=2.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.94° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -0.4 -2.0 +0.4 +0.4 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.94°（関節 j2） [010] 推論 560ms 2ステップ先 Δ= +0.1 -0.9 -2.0 +0.5 +0.3 +0.7 グリッパー→開 [VIA ] 中継点 1 点: step 1 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk010_via01: send_angles (single) [ +41.22, +62.94, +2.75, +3.72, -68.11, -30.85] speed=20 wait=1.0s (pre max|Δ|=1.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.99° (tol 3.0°) [VIA ] step 1 Δ= -0.0 -0.9 -2.0 +0.4 +0.3 +0.5 着いた [Pi] GRIPPER: OPEN result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.99°（関節 j2） [011] 推論 641ms 10ステップ先 Δ= -0.2 -18.7 -2.0 -0.5 +17.8 -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_chunk011_via02: send_angles (single) [ +41.21, +57.80, +2.65, +3.69, -63.13, -31.08] speed=20 wait=1.0s (pre max|Δ|=6.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.31° (tol 3.0°) [VIA ] step 2 Δ= -0.0 -6.1 -2.1 -0.5 +5.2 -0.1 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +41.70, +52.66, +2.59, +3.69, -57.71, -31.38] speed=20 wait=1.0s (pre max|Δ|=7.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.15° (tol 3.0°) [VIA ] step 5 Δ= +0.5 -7.4 -2.2 -0.5 +6.8 -0.6 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +41.55, +47.10, +2.77, +3.75, -52.37, -31.68] speed=20 wait=1.0s (pre max|Δ|=7.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.20° (tol 3.0°) [VIA ] step 8 Δ= +0.3 -7.7 -2.0 -0.5 +6.2 -0.9 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +41.05, +45.19, +2.76, +3.68, -50.54, -31.76] speed=20 wait=1.0s (pre max|Δ|=4.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.44° (tol 3.0°) [VIA ] step 9 Δ= -0.2 -4.1 -2.0 -0.5 +2.4 -0.8 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.44°（関節 j1） [012] 推論 1488ms 10ステップ先 Δ=-21.4 -26.5 -2.7 -3.7 +30.7 +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_chunk012_via02: send_angles (single) [ +35.76, +38.39, +2.55, +2.82, -42.22, -31.64] speed=20 wait=1.0s (pre max|Δ|=9.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.21° (tol 3.0°) [VIA ] step 2 Δ= -5.5 -9.2 -2.2 -1.2 +8.5 -0.4 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +29.05, +31.04, +2.29, +1.68, -32.65, -31.39] speed=20 wait=1.0s (pre max|Δ|=9.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.18° (tol 3.0°) [VIA ] step 5 Δ= -7.2 -9.6 -2.4 -1.1 +10.0 -0.1 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +22.25, +23.59, +2.07, +0.63, -23.14, -31.18] speed=20 wait=1.0s (pre max|Δ|=9.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.98° (tol 3.0°) [VIA ] step 8 Δ= -6.8 -9.6 -2.0 -1.4 +9.9 +0.1 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +19.83, +21.15, +1.99, +0.34, -20.03, -31.11] speed=20 wait=1.0s (pre max|Δ|=4.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.05° (tol 3.0°) [VIA ] step 9 Δ= -2.4 -4.4 -2.0 -0.6 +3.3 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.05°（関節 j2） [013] 推論 568ms 10ステップ先 Δ=-16.6 -19.4 -1.8 +0.3 +16.3 +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_chunk013_via02: send_angles (single) [ +12.95, +12.64, +2.19, +0.15, -11.38, -31.00] speed=20 wait=1.0s (pre max|Δ|=10.47°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.85° (tol 3.0°) [VIA ] step 2 Δ= -6.6 -10.5 -1.8 +0.2 +8.8 +0.3 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +6.10, +5.31, +2.24, +0.18, -4.14, -30.92] speed=20 wait=1.0s (pre max|Δ|=8.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.80° (tol 3.0°) [VIA ] step 5 Δ= -7.2 -8.9 -1.8 -0.2 +7.5 +0.4 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +2.84, +3.23, +2.24, +0.22, -3.26, -30.90] speed=20 wait=1.0s (pre max|Δ|=3.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.80° (tol 3.0°) [VIA ] step 8 Δ= -3.6 -3.5 -1.8 +0.1 +1.2 +0.4 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +3.02, +3.67, +2.21, +0.27, -3.93, -30.90] speed=20 wait=1.0s (pre max|Δ|=1.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.83° (tol 3.0°) [VIA ] step 9 Δ= +0.5 -0.9 -1.8 +0.2 -0.4 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.83°（関節 j2） [014] 推論 1648ms 10ステップ先 Δ= -1.4 -1.7 -2.0 +0.2 +0.5 +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_chunk014_via02: send_angles (single) [ +1.32, +2.98, +2.12, +0.26, -3.26, -30.90] speed=20 wait=1.0s (pre max|Δ|=1.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.92° (tol 3.0°) [VIA ] step 2 Δ= -1.2 -1.6 -1.9 +0.2 +0.3 +0.4 着いた [SEND] pi05_chunk014_via05: send_angles (single) [ +1.16, +2.91, +2.09, +0.24, -3.17, -30.90] speed=20 wait=1.0s (pre max|Δ|=1.95°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.95° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -1.7 -2.0 +0.2 +0.3 +0.4 着いた [SEND] pi05_chunk014_via08: send_angles (single) [ +1.12, +2.85, +2.08, +0.25, -2.98, -30.90] speed=20 wait=1.0s (pre max|Δ|=1.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.96° (tol 3.0°) [VIA ] step 8 Δ= +0.3 -1.7 -2.0 +0.2 +0.5 +0.3 着いた [SEND] pi05_chunk014_via09: send_angles (single) [ +1.16, +2.84, +2.07, +0.26, -3.03, -30.90] speed=20 wait=1.0s (pre max|Δ|=1.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.97° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -1.7 -2.0 +0.2 +0.4 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.97°（関節 j2） [015] 推論 810ms 10ステップ先 Δ= -0.3 -1.8 -2.0 +0.1 +0.6 +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 > 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|=4.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.58° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_182650