(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_20261024_190239 [CAMERA] 写り方 dy=+0.3 dx=+1.4 response=0.574 → 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 56893ms 10ステップ先 Δ=-19.9 +18.6 +5.6 +0.7 -25.9 -1.7 [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 > [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) [ -4.68, +5.89, +2.70, +0.47, -6.73, -30.20] speed=20 wait=1.0s (pre max|Δ|=6.47°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 2 Δ= -4.6 +4.7 +1.2 +0.2 -6.5 -0.5 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -10.97, +11.70, +4.53, +0.72, -14.73, -30.69] speed=20 wait=1.0s (pre max|Δ|=9.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 5 Δ= -6.4 +5.0 +0.8 +0.5 -9.0 -0.8 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -17.42, +17.76, +6.51, +0.89, -23.20, -31.24] speed=20 wait=1.0s (pre max|Δ|=9.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 8 Δ= -6.3 +5.0 +1.2 +0.5 -9.5 -0.8 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -19.96, +19.80, +7.08, +0.95, -26.17, -31.43] speed=20 wait=1.0s (pre max|Δ|=3.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 9 Δ= -2.8 +1.1 -0.1 +0.1 -3.5 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.03°（関節 j1） [001] 推論 815ms 10ステップ先 Δ=-21.2 +19.5 +6.5 +0.7 -28.3 -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) [ -25.92, +25.54, +9.14, +1.55, -34.46, -31.58] speed=20 wait=1.0s (pre max|Δ|=8.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 2 Δ= -5.7 +4.7 +1.2 +0.9 -8.3 -0.5 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -33.23, +31.85, +11.69, +1.57, -43.34, -31.62] speed=20 wait=1.0s (pre max|Δ|=9.33°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 5 Δ= -7.9 +5.3 +1.8 -0.4 -9.3 -0.3 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -39.97, +38.25, +13.94, +1.36, -51.99, -31.69] speed=20 wait=1.0s (pre max|Δ|=9.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 8 Δ= -6.9 +5.5 +1.6 -0.5 -9.0 -0.4 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -41.44, +40.36, +14.40, +1.40, -54.51, -31.67] speed=20 wait=1.0s (pre max|Δ|=2.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 9 Δ= -1.8 +1.1 -0.2 -0.4 -2.9 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.03°（関節 j1） [002] 推論 2178ms 10ステップ先 Δ=-15.8 +12.8 +5.9 +0.1 -19.1 -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) [ -48.80, +46.55, +16.45, +1.82, -63.56, -31.71] speed=20 wait=1.0s (pre max|Δ|=8.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 2 Δ= -7.1 +5.2 +1.5 -0.0 -8.5 -0.3 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -54.69, +52.15, +18.65, +1.99, -71.34, -31.74] speed=20 wait=1.0s (pre max|Δ|=8.59°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 5 Δ= -6.4 +4.6 +1.7 -0.0 -8.6 -0.4 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -57.48, +54.60, +20.59, +1.97, -74.34, -31.79] speed=20 wait=1.0s (pre max|Δ|=3.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 8 Δ= -3.0 +1.4 +1.5 -0.1 -3.5 -0.3 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -57.51, +54.15, +20.83, +1.96, -74.19, -31.81] speed=20 wait=1.0s (pre max|Δ|=1.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.48° (tol 3.0°) [VIA ] step 9 Δ= -0.0 -1.5 -0.1 -0.1 +0.9 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.48°（関節 j1） [003] 推論 1036ms 10ステップ先 Δ= -1.5 +2.5 -2.6 -0.4 +8.1 -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_chunk003_via02: send_angles (single) [ -58.41, +55.08, +21.92, +2.04, -74.61, -31.87] speed=20 wait=1.0s (pre max|Δ|=1.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.90° (tol 3.0°) [VIA ] step 2 Δ= -0.9 -0.5 +1.0 -0.1 +0.5 -0.4 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -58.60, +55.60, +21.33, +2.01, -72.41, -31.90] speed=20 wait=1.0s (pre max|Δ|=2.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 5 Δ= +0.0 -0.4 -0.7 -0.2 +2.7 -0.4 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -58.97, +57.56, +19.07, +1.78, -68.14, -31.92] speed=20 wait=1.0s (pre max|Δ|=5.16°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.05° (tol 3.0°) [VIA ] step 8 Δ= -0.3 +1.1 -3.0 -0.4 +5.2 -0.4 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -59.02, +58.18, +18.28, +1.74, -67.06, -31.93] speed=20 wait=1.0s (pre max|Δ|=1.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.23° (tol 3.0°) [VIA ] step 9 Δ= -0.4 -0.2 -1.8 -0.4 +1.7 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.23°（関節 j2） [004] 推論 809ms 8ステップ先 Δ= -1.0 +2.7 -4.5 -0.5 +5.7 -0.3 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) [ -59.35, +60.97, +15.92, +1.65, -63.52, -31.92] speed=20 wait=1.0s (pre max|Δ|=3.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 2 Δ= -0.7 +1.9 -3.6 -0.4 +3.8 -0.3 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -59.55, +62.08, +14.85, +1.60, -61.81, -31.93] speed=20 wait=1.0s (pre max|Δ|=2.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 5 Δ= +0.0 +0.2 -2.1 +0.0 +2.0 -0.3 着いた [SEND] pi05_chunk004_via07: send_angles (single) [ -59.59, +61.79, +15.01, +1.60, -61.58, -31.92] speed=20 wait=1.0s (pre max|Δ|=1.22°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.22° (tol 3.0°) [VIA ] step 7 Δ= -0.0 -1.2 -0.7 +0.1 +0.8 -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 1.70°（関節 j4） [005] 推論 2388ms 10ステップ先 Δ= -0.5 -4.6 +4.3 +1.4 -8.6 -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_chunk005_via02: send_angles (single) [ -59.43, +61.05, +16.01, +1.67, -63.41, -31.96] speed=20 wait=1.0s (pre max|Δ|=1.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.52° (tol 3.0°) [VIA ] step 2 Δ= -0.5 -2.0 +0.5 +0.4 -0.2 -0.4 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -59.13, +60.06, +17.74, +1.87, -67.13, -32.03] speed=20 wait=1.0s (pre max|Δ|=4.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.54° (tol 3.0°) [VIA ] step 5 Δ= -0.2 -2.5 +2.1 +0.4 -4.4 -0.4 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -59.39, +58.59, +19.59, +2.03, -71.04, -32.10] speed=20 wait=1.0s (pre max|Δ|=6.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.23° (tol 3.0°) [VIA ] step 8 Δ= -0.4 -3.5 +2.2 -0.3 -6.4 +0.2 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -59.52, +58.36, +19.86, +2.02, -71.88, -32.13] 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 9 Δ= -0.5 -2.5 +0.3 -0.7 -2.3 +0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.46°（関節 j1） [006] 推論 815ms 10ステップ先 Δ= +1.3 -4.5 +2.3 +0.2 -6.4 -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_chunk006_via02: send_angles (single) [ -59.57, +57.44, +21.34, +2.19, -74.13, -32.24] speed=20 wait=1.0s (pre max|Δ|=3.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.06° (tol 3.0°) [VIA ] step 2 Δ= -0.5 -3.4 +1.7 -0.4 -2.6 +0.4 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -59.61, +56.74, +22.16, +2.31, -75.84, -32.32] speed=20 wait=1.0s (pre max|Δ|=2.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.49° (tol 3.0°) [VIA ] step 5 Δ= -0.5 -2.8 +0.8 -0.3 -0.9 +0.4 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -59.15, +56.61, +22.21, +2.69, -76.87, -32.57] speed=20 wait=1.0s (pre max|Δ|=2.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.62° (tol 3.0°) [VIA ] step 8 Δ= -0.1 -2.6 -0.2 +0.1 -1.6 +0.0 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -57.72, +56.36, +21.99, +2.89, -76.90, -32.75] speed=20 wait=1.0s (pre max|Δ|=2.87°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.52° (tol 3.0°) [VIA ] step 9 Δ= +1.3 -2.9 -0.4 +0.3 -0.4 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.52°（関節 j1） [007] 推論 873ms 10ステップ先 Δ=+27.9 -5.7 -4.4 +4.0 +2.3 -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) [ -49.71, +55.57, +20.79, +4.02, -75.95, -33.46] speed=20 wait=1.0s (pre max|Δ|=8.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.17° (tol 3.0°) [VIA ] step 2 Δ= +8.0 -3.3 -1.6 +1.1 +0.5 -0.9 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ -41.08, +54.50, +19.64, +5.37, -75.23, -34.28] speed=20 wait=1.0s (pre max|Δ|=9.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.36° (tol 3.0°) [VIA ] step 5 Δ= +9.0 -3.2 -2.6 +1.5 +1.2 -1.6 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ -32.61, +53.45, +18.49, +6.59, -74.67, -34.89] speed=20 wait=1.0s (pre max|Δ|=8.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.09° (tol 3.0°) [VIA ] step 8 Δ= +8.7 -3.4 -2.4 +1.3 +1.8 -1.1 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ -29.81, +53.18, +18.01, +6.88, -74.15, -34.97] speed=20 wait=1.0s (pre max|Δ|=3.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.36° (tol 3.0°) [VIA ] step 9 Δ= +3.1 -2.4 -1.8 +0.4 +1.8 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.36°（関節 j1） [008] 推論 2133ms 10ステップ先 Δ=+29.0 -6.3 -6.5 +1.2 +6.3 -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) [ -20.60, +51.73, +16.75, +7.53, -72.69, -35.08] speed=20 wait=1.0s (pre max|Δ|=9.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.41° (tol 3.0°) [VIA ] step 2 Δ= +9.6 -3.8 -2.9 +0.9 +1.9 -0.5 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ -12.11, +50.38, +15.35, +7.64, -71.00, -35.04] speed=20 wait=1.0s (pre max|Δ|=8.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.26° (tol 3.0°) [VIA ] step 5 Δ= +8.7 -3.8 -2.8 +0.4 +2.0 -0.2 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ -3.30, +49.24, +13.71, +7.78, -69.14, -35.07] speed=20 wait=1.0s (pre max|Δ|=9.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.43° (tol 3.0°) [VIA ] step 8 Δ= +9.0 -3.4 -2.8 +0.5 +2.1 -0.3 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ -1.22, +49.26, +13.15, +7.84, -68.63, -35.09] speed=20 wait=1.0s (pre max|Δ|=2.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.41° (tol 3.0°) [VIA ] step 9 Δ= +2.3 -2.4 -1.8 +0.3 +0.8 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.41°（関節 j1） [009] 推論 810ms 10ステップ先 Δ=+29.9 -5.1 -7.0 -0.1 +5.7 -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) [ +7.54, +47.99, +11.65, +8.13, -66.99, -35.16] speed=20 wait=1.0s (pre max|Δ|=8.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.54° (tol 3.0°) [VIA ] step 2 Δ= +8.8 -3.7 -3.3 +0.1 +1.7 -0.4 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +16.89, +46.96, +10.12, +8.11, -65.16, -35.19] speed=20 wait=1.0s (pre max|Δ|=9.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.78° (tol 3.0°) [VIA ] step 5 Δ= +9.6 -3.6 -3.0 +0.1 +2.2 -0.3 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +26.69, +46.45, +8.38, +7.94, -63.26, -35.26] speed=20 wait=1.0s (pre max|Δ|=10.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.32° (tol 3.0°) [VIA ] step 8 Δ=+10.0 -3.3 -3.2 -0.2 +1.8 -0.4 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +28.64, +46.56, +7.97, +7.87, -62.89, -35.28] speed=20 wait=1.0s (pre max|Δ|=2.28°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.21° (tol 3.0°) [VIA ] step 9 Δ= +2.3 -2.2 -2.0 -0.3 +0.4 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.21°（関節 j1） [010] 推論 940ms 10ステップ先 Δ=+13.9 +3.8 -8.2 -0.8 +3.4 -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_chunk010_via02: send_angles (single) [ +37.08, +46.15, +6.68, +7.68, -61.15, -35.32] speed=20 wait=1.0s (pre max|Δ|=8.52°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.62° (tol 3.0°) [VIA ] step 2 Δ= +8.5 -2.6 -3.2 -0.5 +2.0 -0.3 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +42.04, +46.60, +5.36, +7.15, -59.76, -35.36] speed=20 wait=1.0s (pre max|Δ|=5.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.17° (tol 3.0°) [VIA ] step 5 Δ= +5.0 -2.2 -2.9 -0.7 +1.0 -0.4 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +42.65, +51.02, +2.62, +7.20, -59.71, -35.53] speed=20 wait=1.0s (pre max|Δ|=4.23°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.51° (tol 3.0°) [VIA ] step 8 Δ= +0.6 +2.3 -4.2 +0.0 +0.3 -0.5 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +42.44, +52.59, +1.74, +7.33, -59.87, -35.58] speed=20 wait=1.0s (pre max|Δ|=2.39°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.51° (tol 3.0°) [VIA ] step 9 Δ= -0.1 +0.4 -2.4 +0.0 +0.2 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.51°（関節 j2） [011] 推論 812ms 10ステップ先 Δ= +0.6 +9.2 -6.8 +0.4 -2.5 -0.6 グリッパー→開 [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) [ +42.65, +57.78, -0.96, +7.56, -60.80, -35.73] speed=20 wait=1.0s (pre max|Δ|=4.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 2 Δ= +0.1 +4.0 -4.2 +0.2 -0.8 -0.5 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +42.62, +61.92, -3.24, +7.68, -61.44, -35.83] speed=20 wait=1.0s (pre max|Δ|=3.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.42° (tol 3.0°) [VIA ] step 5 Δ= +0.1 +3.0 -3.7 +0.3 -1.4 -0.4 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +43.08, +62.99, -3.57, +7.77, -62.54, -35.88] speed=20 wait=1.0s (pre max|Δ|=2.52°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.55° (tol 3.0°) [VIA ] step 8 Δ= +0.6 -0.1 -1.7 +0.4 -2.5 -0.4 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +43.08, +62.99, -3.57, +7.77, -62.54, -35.88] speed=20 wait=1.0s (pre max|Δ|=1.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.55° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -1.1 -1.6 +0.4 -0.6 -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 1.55°（関節 j2） [012] 推論 2284ms 10ステップ先 Δ= -0.5 -17.6 +5.9 +0.3 +5.8 -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_chunk012_via02: send_angles (single) [ +42.95, +58.61, -1.54, +7.78, -61.51, -35.89] speed=20 wait=1.0s (pre max|Δ|=5.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.21° (tol 3.0°) [VIA ] step 2 Δ= +0.4 -5.5 +0.5 +0.2 +1.9 -0.3 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +42.89, +53.74, +0.69, +7.81, -60.25, -35.92] speed=20 wait=1.0s (pre max|Δ|=7.08°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.07° (tol 3.0°) [VIA ] step 5 Δ= +0.4 -7.1 +1.6 +0.2 +2.2 -0.3 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +42.35, +48.35, +3.25, +7.91, -58.72, -35.90] speed=20 wait=1.0s (pre max|Δ|=7.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.27° (tol 3.0°) [VIA ] step 8 Δ= -0.2 -7.5 +1.9 +0.3 +2.0 -0.3 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +42.00, +46.45, +3.87, +7.87, -57.62, -35.86] speed=20 wait=1.0s (pre max|Δ|=4.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.24° (tol 3.0°) [VIA ] step 9 Δ= -0.5 -4.2 +0.0 +0.1 +1.4 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.24°（関節 j1） [013] 推論 834ms 10ステップ先 Δ=-19.0 -24.3 -2.0 -3.8 +26.7 +3.0 [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_chunk013_via02: send_angles (single) [ +38.21, +40.75, +4.16, +7.09, -51.77, -35.25] speed=20 wait=1.0s (pre max|Δ|=7.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.14° (tol 3.0°) [VIA ] step 2 Δ= -4.2 -7.9 -0.2 -0.8 +5.9 +0.4 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +32.11, +33.98, +3.30, +5.80, -42.98, -34.13] speed=20 wait=1.0s (pre max|Δ|=9.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.14° (tol 3.0°) [VIA ] step 5 Δ= -6.5 -8.9 -1.1 -2.1 +9.1 +1.6 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +25.73, +26.52, +2.48, +4.45, -33.46, -32.98] speed=20 wait=1.0s (pre max|Δ|=9.87°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.95° (tol 3.0°) [VIA ] step 8 Δ= -6.6 -9.6 -1.9 -1.9 +9.9 +1.9 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +23.45, +24.38, +2.38, +4.07, -30.96, -32.67] speed=20 wait=1.0s (pre max|Δ|=4.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.92° (tol 3.0°) [VIA ] step 9 Δ= -2.8 -4.1 -1.9 -0.8 +2.8 +0.8 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.92°（関節 j2） [014] 推論 834ms 10ステップ先 Δ=-21.7 -24.2 -2.2 -3.0 +27.7 +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_chunk014_via02: send_angles (single) [ +17.43, +17.52, +2.02, +2.94, -22.68, -31.77] speed=20 wait=1.0s (pre max|Δ|=8.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.28° (tol 3.0°) [VIA ] step 2 Δ= -5.9 -8.8 -2.3 -0.8 +8.5 +1.1 着いた [SEND] pi05_chunk014_via05: send_angles (single) [ +10.18, +9.80, +2.05, +1.71, -13.02, -31.17] speed=20 wait=1.0s (pre max|Δ|=9.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.25° (tol 3.0°) [VIA ] step 5 Δ= -7.7 -9.4 -2.3 -1.6 +9.9 +0.8 着いた [SEND] pi05_chunk014_via08: send_angles (single) [ +3.13, +3.43, +2.09, +0.94, -5.23, -31.09] speed=20 wait=1.0s (pre max|Δ|=8.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.21° (tol 3.0°) [VIA ] step 8 Δ= -7.3 -7.9 -2.2 -1.1 +8.1 +0.3 着いた [SEND] pi05_chunk014_via09: send_angles (single) [ +1.57, +2.04, +2.07, +0.76, -3.49, -31.06] speed=20 wait=1.0s (pre max|Δ|=2.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.23° (tol 3.0°) [VIA ] step 9 Δ= -1.3 -2.8 -2.2 -0.5 +2.0 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.23°（関節 j2） [015] 推論 986ms 10ステップ先 Δ= -0.6 -1.8 -2.4 -0.4 +0.3 +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_chunk015_via02: send_angles (single) [ +0.65, +1.99, +2.03, +0.70, -3.55, -30.88] speed=20 wait=1.0s (pre max|Δ|=2.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.27° (tol 3.0°) [VIA ] step 2 Δ= -0.8 -1.5 -2.3 -0.3 +0.1 +0.4 着いた [SEND] pi05_chunk015_via05: send_angles (single) [ +0.65, +1.90, +1.99, +0.69, -3.41, -30.89] speed=20 wait=1.0s (pre max|Δ|=2.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.31° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -1.6 -2.3 -0.3 +0.3 +0.2 着いた [SEND] pi05_chunk015_via08: send_angles (single) [ +0.78, +1.73, +1.94, +0.67, -3.38, -30.88] speed=20 wait=1.0s (pre max|Δ|=2.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.36° (tol 3.0°) [VIA ] step 8 Δ= +0.3 -1.8 -2.4 -0.3 +0.3 +0.2 着いた [SEND] pi05_chunk015_via09: send_angles (single) [ +0.84, +1.71, +1.92, +0.65, -3.34, -30.87] speed=20 wait=1.0s (pre max|Δ|=2.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.38° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -1.5 -2.4 -0.3 +0.3 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.38°（関節 j2） [016] 推論 2502ms 10ステップ先 Δ= -8.6 +19.6 +2.4 +0.2 -22.3 +1.4 [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 > 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|=4.30°, 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_20261024_190239 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts %