(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_183027 [CAMERA] 写り方 dy=-5.1 dx=+0.3 response=0.502 → 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 750ms 10ステップ先 Δ=-10.6 +21.7 +5.6 -2.5 -25.1 +2.2 [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 > [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) [ -3.03, +6.71, +2.52, -0.45, -6.12, -29.69] speed=20 wait=1.0s (pre max|Δ|=6.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.29° (tol 3.0°) [VIA ] step 2 Δ= -2.9 +5.4 +0.9 -0.5 -6.3 +0.5 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -6.17, +13.65, +4.37, -1.23, -13.97, -28.97] speed=20 wait=1.0s (pre max|Δ|=9.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 5 Δ= -3.0 +6.0 +0.9 -1.2 -9.1 +0.9 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -9.54, +20.44, +6.55, -2.18, -22.05, -28.21] speed=20 wait=1.0s (pre max|Δ|=9.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 8 Δ= -3.2 +5.7 +1.2 -1.3 -9.1 +1.0 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -10.84, +22.97, +7.17, -2.43, -24.95, -28.01] speed=20 wait=1.0s (pre max|Δ|=3.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 9 Δ= -1.1 +1.5 -0.3 -0.5 -3.4 +0.4 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 1490ms 10ステップ先 Δ=-12.1 +21.9 +5.4 -0.3 -28.5 +0.6 [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) [ -14.93, +29.78, +9.28, -3.15, -33.04, -27.74] speed=20 wait=1.0s (pre max|Δ|=8.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 2 Δ= -3.8 +5.9 +1.4 -0.9 -8.2 +0.5 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -18.68, +36.59, +11.32, -2.94, -41.96, -27.69] speed=20 wait=1.0s (pre max|Δ|=9.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 5 Δ= -3.7 +5.8 +1.1 +0.2 -9.1 +0.2 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -22.21, +43.46, +12.95, -2.69, -50.75, -27.64] speed=20 wait=1.0s (pre max|Δ|=9.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 8 Δ= -3.8 +5.8 +0.9 +0.7 -9.2 +0.2 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -23.29, +45.75, +13.31, -2.59, -53.40, -27.61] speed=20 wait=1.0s (pre max|Δ|=2.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.09° (tol 3.0°) [VIA ] step 9 Δ= -1.4 +1.3 -0.2 +0.3 -3.0 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.09°（関節 j1） [002] 推論 565ms 10ステップ先 Δ= -6.2 +13.3 +3.9 +0.7 -17.1 +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) [ -26.67, +52.59, +15.16, -2.82, -62.09, -27.55] speed=20 wait=1.0s (pre max|Δ|=8.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 2 Δ= -2.9 +5.7 +1.4 +0.1 -8.7 +0.3 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -29.26, +58.25, +16.98, -2.63, -68.33, -27.53] speed=20 wait=1.0s (pre max|Δ|=6.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.07° (tol 3.0°) [VIA ] step 5 Δ= -2.9 +4.6 +1.3 -0.2 -6.9 +0.2 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -29.96, +60.18, +17.74, -2.22, -70.52, -27.51] speed=20 wait=1.0s (pre max|Δ|=2.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 8 Δ= -1.1 +0.9 +0.4 -0.1 -2.7 +0.3 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -29.97, +60.18, +17.66, -2.20, -70.43, -27.49] speed=20 wait=1.0s (pre max|Δ|=0.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -1.0 +0.4 -0.3 +0.8 +0.2 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 565ms 10ステップ先 Δ= +0.8 +3.8 -4.4 -4.2 +8.9 +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_chunk003_via02: send_angles (single) [ -29.67, +61.77, +16.02, -3.54, -68.27, -27.46] speed=20 wait=1.0s (pre max|Δ|=2.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.20° (tol 3.0°) [VIA ] step 2 Δ= +0.7 +0.6 -1.3 -1.6 +2.9 +0.2 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -29.40, +63.39, +14.33, -4.89, -65.00, -27.46] speed=20 wait=1.0s (pre max|Δ|=4.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.13° (tol 3.0°) [VIA ] step 5 Δ= -0.1 +0.6 -2.9 -1.8 +4.4 +0.2 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -29.50, +64.74, +13.12, -5.97, -62.56, -27.44] speed=20 wait=1.0s (pre max|Δ|=3.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.33° (tol 3.0°) [VIA ] step 8 Δ= +0.0 +0.5 -2.3 -1.5 +3.2 +0.2 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -29.58, +64.95, +12.91, -6.15, -62.29, -27.44] speed=20 wait=1.0s (pre max|Δ|=1.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.16° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -0.5 -0.9 -0.6 +1.6 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.16°（関節 j4） [004] 推論 1555ms 4ステップ先 Δ= +0.5 -0.1 -1.5 -1.1 +2.0 +0.5 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_chunk004_via02: send_angles (single) [ -29.39, +65.50, +12.29, -6.84, -61.49, -27.38] speed=20 wait=1.0s (pre max|Δ|=1.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 2 Δ= +0.5 -0.1 -1.5 -1.1 +1.8 +0.5 着いた [SEND] pi05_chunk004_via03: send_angles (single) [ -29.39, +65.50, +12.29, -6.84, -61.49, -27.38] speed=20 wait=1.0s (pre max|Δ|=1.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 3 Δ= +0.6 -0.4 -0.4 -0.4 +1.0 +0.4 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 1.00°（関節 j4） [005] 推論 652ms 10ステップ先 Δ= +0.9 -3.6 +5.5 +1.8 -3.8 +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_chunk005_via02: send_angles (single) [ -29.47, +64.68, +13.56, -6.19, -62.76, -27.35] speed=20 wait=1.0s (pre max|Δ|=1.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.35° (tol 3.0°) [VIA ] step 2 Δ= +0.5 -1.2 +1.6 +0.6 -0.3 +0.2 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -29.42, +63.52, +15.47, -5.50, -64.47, -27.23] speed=20 wait=1.0s (pre max|Δ|=3.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.81° (tol 3.0°) [VIA ] step 5 Δ= +0.6 -2.1 +3.3 +1.1 -2.0 +0.4 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -29.13, +62.65, +17.19, -5.09, -65.94, -27.16] speed=20 wait=1.0s (pre max|Δ|=3.28°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.24° (tol 3.0°) [VIA ] step 8 Δ= +0.7 -1.7 +3.1 +1.3 -3.3 +0.3 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -29.07, +62.34, +17.48, -5.01, -66.32, -27.17] speed=20 wait=1.0s (pre max|Δ|=1.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -1.6 +1.4 +0.6 -1.5 -0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.46°（関節 j1） [006] 推論 560ms 10ステップ先 Δ= +1.2 -2.9 +2.8 +1.2 -3.6 -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_chunk006_via02: send_angles (single) [ -29.11, +61.47, +18.86, -4.28, -67.72, -27.13] speed=20 wait=1.0s (pre max|Δ|=2.52°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.63° (tol 3.0°) [VIA ] step 2 Δ= +0.2 -2.3 +2.5 +1.0 -2.3 -0.3 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -29.37, +61.19, +19.53, -4.13, -68.63, -27.06] speed=20 wait=1.0s (pre max|Δ|=1.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.91° (tol 3.0°) [VIA ] step 5 Δ= -0.6 -1.9 +1.2 +0.3 -1.7 -0.5 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -28.89, +61.10, +19.34, -4.22, -69.07, -27.12] 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 8 Δ= -0.1 -2.0 +0.5 +0.1 -1.4 -0.6 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -28.11, +60.88, +19.11, -4.14, -68.95, -27.24] speed=20 wait=1.0s (pre max|Δ|=2.22°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -2.2 +0.3 +0.1 -0.9 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.13°（関節 j1） [007] 推論 580ms 10ステップ先 Δ=+16.6 -5.9 -3.0 +2.5 +1.4 -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_chunk007_via02: send_angles (single) [ -28.08, +60.55, +19.64, -4.18, -69.69, -27.22] speed=20 wait=1.0s (pre max|Δ|=2.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.46° (tol 3.0°) [VIA ] step 2 Δ= +0.2 -2.5 +0.7 -0.7 -1.7 -0.5 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ -23.10, +59.56, +18.31, -3.30, -69.02, -27.76] speed=20 wait=1.0s (pre max|Δ|=5.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.40° (tol 3.0°) [VIA ] step 5 Δ= +5.2 -3.4 -1.4 +0.2 +0.1 -1.1 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ -14.01, +57.49, +16.38, -1.48, -67.23, -28.82] speed=20 wait=1.0s (pre max|Δ|=9.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.53° (tol 3.0°) [VIA ] step 8 Δ= +9.5 -4.5 -3.1 +1.9 +1.9 -1.8 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ -11.72, +57.11, +15.88, -0.97, -66.65, -29.07] speed=20 wait=1.0s (pre max|Δ|=2.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.47° (tol 3.0°) [VIA ] step 9 Δ= +2.4 -2.9 -1.8 +0.6 +1.7 -0.9 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 1493ms 10ステップ先 Δ=+28.8 -9.1 -8.3 +3.8 +8.2 -1.9 [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) [ -3.88, +55.16, +14.27, +0.57, -64.85, -29.99] speed=20 wait=1.0s (pre max|Δ|=7.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.32° (tol 3.0°) [VIA ] step 2 Δ= +8.0 -4.3 -3.3 +1.7 +2.3 -1.2 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +4.94, +53.10, +12.16, +1.88, -63.12, -30.55] speed=20 wait=1.0s (pre max|Δ|=8.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.27° (tol 3.0°) [VIA ] step 5 Δ= +9.0 -4.4 -3.5 +1.9 +2.1 -0.9 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +14.22, +50.96, +9.86, +2.66, -60.21, -30.71] speed=20 wait=1.0s (pre max|Δ|=9.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.47° (tol 3.0°) [VIA ] step 8 Δ= +9.5 -4.4 -3.5 +0.7 +3.1 -0.5 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +16.90, +50.51, +9.28, +2.74, -59.25, -30.67] speed=20 wait=1.0s (pre max|Δ|=2.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.48° (tol 3.0°) [VIA ] step 9 Δ= +2.8 -2.9 -1.9 -0.1 +1.2 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.48°（関節 j1） [009] 推論 584ms 10ステップ先 Δ=+22.2 -4.6 -7.1 +0.5 +4.9 -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 > 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|=59.32°, post-send timeout 10.9s) [SEND] arrival OK: max|Δ|=1.93° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_183027 (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_183241 [CAMERA] 写り方 dy=-5.9 dx=-0.5 response=0.369 → 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 561ms 10ステップ先 Δ=-10.1 +19.3 +3.6 +1.0 -22.1 +1.3 [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 > [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) [ -1.77, +4.35, +2.61, +0.46, -3.99, -30.10] speed=20 wait=1.0s (pre max|Δ|=3.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.62° (tol 3.0°) [VIA ] step 2 Δ= -1.6 +2.9 +0.7 +0.2 -3.7 +0.1 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -5.14, +11.07, +3.91, +0.64, -11.97, -29.59] speed=20 wait=1.0s (pre max|Δ|=9.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.90° (tol 3.0°) [VIA ] step 5 Δ= -3.0 +5.9 +0.4 +0.5 -9.4 +0.6 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -8.98, +18.26, +5.15, +1.08, -19.68, -29.22] speed=20 wait=1.0s (pre max|Δ|=8.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.07° (tol 3.0°) [VIA ] step 8 Δ= -3.7 +6.3 +0.5 +0.8 -8.6 +0.6 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -10.31, +20.75, +5.49, +1.28, -22.40, -29.12] speed=20 wait=1.0s (pre max|Δ|=3.16°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.13° (tol 3.0°) [VIA ] step 9 Δ= -1.3 +1.4 -0.5 +0.6 -3.2 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.13°（関節 j1） [001] 推論 600ms 10ステップ先 Δ=-12.7 +22.6 +5.3 +0.3 -30.3 +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) [ -13.75, +27.44, +7.27, +1.02, -30.77, -28.89] speed=20 wait=1.0s (pre max|Δ|=8.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 2 Δ= -3.2 +5.6 +1.1 +0.2 -8.3 +0.5 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -17.68, +34.52, +9.19, +1.06, -40.13, -28.79] speed=20 wait=1.0s (pre max|Δ|=9.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.89° (tol 3.0°) [VIA ] step 5 Δ= -3.8 +6.0 +1.2 -0.1 -9.7 +0.3 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -21.89, +42.08, +11.03, +1.15, -49.89, -28.70] speed=20 wait=1.0s (pre max|Δ|=10.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 8 Δ= -4.7 +6.7 +1.3 -0.3 -10.3 +0.3 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -23.24, +44.48, +11.46, +1.18, -52.81, -28.64] speed=20 wait=1.0s (pre max|Δ|=2.89°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 9 Δ= -1.7 +1.4 -0.2 -0.3 -2.9 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.95°（関節 j1） [002] 推論 568ms 10ステップ先 Δ= -9.7 +16.3 +4.3 -0.1 -21.5 +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_chunk002_via02: send_angles (single) [ -27.47, +51.17, +13.32, +0.86, -62.23, -28.63] speed=20 wait=1.0s (pre max|Δ|=9.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 2 Δ= -4.1 +5.7 +1.4 -0.5 -9.3 +0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -31.04, +57.71, +15.00, +0.88, -70.24, -28.63] speed=20 wait=1.0s (pre max|Δ|=8.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 5 Δ= -4.1 +5.6 +1.1 -0.5 -8.6 +0.2 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -33.00, +61.34, +16.14, +1.22, -74.09, -28.60] speed=20 wait=1.0s (pre max|Δ|=4.22°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 8 Δ= -2.2 +2.6 +0.8 -0.1 -4.2 +0.2 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -33.06, +61.74, +16.27, +1.30, -74.43, -28.59] speed=20 wait=1.0s (pre max|Δ|=0.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -0.6 -0.1 -0.2 -0.3 +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） [003] 推論 1551ms 10ステップ先 Δ= -0.6 +2.7 -0.2 -1.1 -0.9 +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_chunk003_via02: send_angles (single) [ -33.55, +63.68, +17.21, +1.33, -76.20, -28.58] speed=20 wait=1.0s (pre max|Δ|=2.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 2 Δ= -0.4 +0.9 +0.9 -0.2 -2.0 +0.2 着いた [VIA ] step 5 Δ= -0.5 -0.5 +0.2 -0.2 +0.4 -0.1 送らず (0.5° 以下) [SEND] pi05_chunk003_via08: send_angles (single) [ -33.66, +65.04, +16.60, +0.72, -75.70, -28.57] speed=20 wait=1.0s (pre max|Δ|=1.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.73° (tol 3.0°) [VIA ] step 8 Δ= -0.5 +0.4 -0.7 -0.8 +1.1 -0.1 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -33.70, +65.50, +16.11, +0.42, -75.03, -28.57] speed=20 wait=1.0s (pre max|Δ|=2.40°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 9 Δ= -0.5 -0.5 -1.2 -0.7 +2.4 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.11°（関節 j2） [004] 推論 706ms 9ステップ先 Δ= -0.3 +1.3 -2.9 -1.2 +3.0 -0.6 グリッパー→閉 [VIA ] 中継点 3 点: step 2, 5, 8 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) [ -33.57, +66.08, +15.98, +0.26, -74.66, -28.58] speed=20 wait=1.0s (pre max|Δ|=1.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.24° (tol 3.0°) [VIA ] step 2 Δ= -0.3 -0.4 -1.2 -0.4 +1.0 -0.5 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -33.69, +66.99, +15.05, -0.31, -73.65, -28.60] speed=20 wait=1.0s (pre max|Δ|=2.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.12° (tol 3.0°) [VIA ] step 5 Δ= -0.4 +0.0 -2.2 -0.9 +1.6 -0.6 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ -33.60, +67.72, +14.35, -0.54, -73.03, -28.59] speed=20 wait=1.0s (pre max|Δ|=1.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.29° (tol 3.0°) [VIA ] step 8 Δ= -0.2 -0.3 -1.8 -0.5 +0.5 -0.5 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 1.20°（関節 j2） [005] 推論 564ms 10ステップ先 Δ=+20.9 -7.3 -3.2 +3.4 +4.0 -2.6 [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) [ -29.43, +66.53, +14.00, +0.19, -72.25, -29.25] speed=20 wait=1.0s (pre max|Δ|=3.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.02° (tol 3.0°) [VIA ] step 2 Δ= +4.0 -2.1 -1.5 +0.5 +1.1 -0.7 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -22.51, +64.49, +13.44, +1.52, -70.89, -30.19] speed=20 wait=1.0s (pre max|Δ|=6.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.39° (tol 3.0°) [VIA ] step 5 Δ= +6.6 -4.1 -1.6 +1.9 +1.8 -1.2 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -14.96, +62.26, +12.73, +2.82, -69.80, -30.98] speed=20 wait=1.0s (pre max|Δ|=7.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.33° (tol 3.0°) [VIA ] step 8 Δ= +7.1 -4.6 -2.2 +1.9 +0.7 -1.2 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -12.51, +61.30, +12.34, +3.09, -69.42, -31.13] speed=20 wait=1.0s (pre max|Δ|=3.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.42° (tol 3.0°) [VIA ] step 9 Δ= +2.8 -3.3 -1.5 +0.5 +0.0 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.42°（関節 j1） [006] 推論 564ms 10ステップ先 Δ=+25.5 -9.4 -6.3 +2.4 +6.6 -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 > 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|=69.25°, post-send timeout 12.4s) [SEND] arrival OK: max|Δ|=1.93° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_183241