(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_191603 [CAMERA] 写り方 dy=-4.7 dx=+6.9 response=0.585 → 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 877ms 10ステップ先 Δ= +3.4 +15.2 +10.5 -1.6 -23.8 +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 > [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) [ +0.68, +4.36, +3.54, -0.26, -4.67, -29.52] speed=20 wait=1.0s (pre max|Δ|=4.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 2 Δ= +0.9 +3.1 +1.9 +0.0 -4.8 +0.2 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.59, +9.84, +7.15, -0.99, -13.42, -28.82] speed=20 wait=1.0s (pre max|Δ|=8.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 5 Δ= +1.2 +4.6 +2.6 -0.8 -8.2 +0.9 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +2.72, +15.10, +11.04, -1.73, -21.75, -27.96] speed=20 wait=1.0s (pre max|Δ|=8.66°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 8 Δ= +1.4 +4.3 +3.0 -1.6 -8.7 +1.6 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +3.18, +16.40, +12.14, -1.90, -23.76, -27.78] speed=20 wait=1.0s (pre max|Δ|=2.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.77° (tol 3.0°) [VIA ] step 9 Δ= +0.8 +0.4 +0.2 -0.5 -2.4 +0.8 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.77°（関節 j2） [001] 推論 2554ms 10ステップ先 Δ= +6.0 +18.8 +11.5 -1.3 -29.0 +1.2 [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) [ +4.84, +21.92, +15.81, -2.40, -32.09, -27.24] speed=20 wait=1.0s (pre max|Δ|=8.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 2 Δ= +1.8 +4.8 +2.9 -0.9 -8.0 +0.7 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +6.74, +28.12, +19.71, -2.55, -41.47, -27.05] speed=20 wait=1.0s (pre max|Δ|=9.66°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.88° (tol 3.0°) [VIA ] step 5 Δ= +2.3 +5.3 +3.1 -0.3 -9.7 +0.3 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +8.51, +34.21, +23.60, -2.72, -50.80, -26.99] speed=20 wait=1.0s (pre max|Δ|=9.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 8 Δ= +2.4 +5.2 +3.2 -0.4 -9.9 +0.2 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +9.09, +35.94, +24.43, -2.77, -53.06, -26.95] speed=20 wait=1.0s (pre max|Δ|=2.70°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 9 Δ= +1.0 +0.8 +0.3 -0.5 -2.7 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.97°（関節 j1） [002] 推論 1140ms 10ステップ先 Δ= +2.3 +8.5 +6.4 -0.5 -10.9 +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_chunk002_via02: send_angles (single) [ +10.41, +41.86, +28.46, -3.07, -61.32, -26.91] speed=20 wait=1.0s (pre max|Δ|=7.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 2 Δ= +1.4 +4.9 +4.4 -0.6 -7.7 +0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +11.10, +45.01, +30.69, -3.01, -64.39, -26.86] speed=20 wait=1.0s (pre max|Δ|=3.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 5 Δ= +0.8 +2.2 +2.2 -0.3 -3.8 +0.3 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +11.36, +45.29, +30.80, -2.91, -64.61, -26.84] speed=20 wait=1.0s (pre max|Δ|=0.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.85° (tol 3.0°) [VIA ] step 8 Δ= +0.1 -0.8 -0.4 -0.3 +0.6 +0.2 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +11.38, +45.36, +30.52, -2.91, -64.53, -26.83] speed=20 wait=1.0s (pre max|Δ|=0.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.87° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -0.8 -0.7 -0.3 +0.7 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.87°（関節 j1） [003] 推論 2680ms 10ステップ先 Δ= +0.5 +8.5 -7.7 -0.2 +1.6 +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) [ +11.56, +46.62, +29.94, -2.81, -64.80, -26.79] speed=20 wait=1.0s (pre max|Δ|=1.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.17° (tol 3.0°) [VIA ] step 2 Δ= +0.3 +0.4 -1.3 -0.2 +0.4 +0.3 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ +11.75, +49.77, +27.82, -2.78, -64.52, -26.80] speed=20 wait=1.0s (pre max|Δ|=3.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 5 Δ= +0.5 +2.1 -3.3 -0.2 +0.7 +0.2 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ +11.67, +53.64, +24.57, -2.83, -63.76, -26.83] speed=20 wait=1.0s (pre max|Δ|=4.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.54° (tol 3.0°) [VIA ] step 8 Δ= +0.4 +3.0 -4.2 -0.2 +1.5 -0.5 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ +11.71, +54.74, +23.51, -2.82, -63.59, -26.85] speed=20 wait=1.0s (pre max|Δ|=1.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.88° (tol 3.0°) [VIA ] step 9 Δ= +0.4 +0.6 -1.5 -0.1 +1.7 -1.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.88°（関節 j4） [004] 推論 1110ms 7ステップ先 Δ= +0.8 +5.2 -5.1 -0.2 +3.4 -0.8 グリッパー→閉 [VIA ] 中継点 3 点: step 2, 5, 6 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) [ +11.90, +58.89, +19.99, -2.88, -62.36, -26.86] speed=20 wait=1.0s (pre max|Δ|=4.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.85° (tol 3.0°) [VIA ] step 2 Δ= +0.6 +3.7 -4.0 +0.0 +3.0 -0.6 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ +12.12, +60.35, +18.87, -2.96, -62.10, -26.82] speed=20 wait=1.0s (pre max|Δ|=3.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.43° (tol 3.0°) [VIA ] step 5 Δ= +0.8 +1.8 -1.1 +0.0 +3.1 -0.6 着いた [SEND] pi05_chunk004_via06: send_angles (single) [ +12.12, +60.35, +18.87, -2.96, -62.10, -26.82] speed=20 wait=1.0s (pre max|Δ|=2.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.99° (tol 3.0°) [VIA ] step 6 Δ= -0.3 -0.6 +0.2 +0.8 -2.4 +1.6 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 1.03°（関節 j3） [005] 推論 869ms 10ステップ先 Δ= +0.2 -9.4 +8.7 -0.9 -1.9 +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) [ +12.01, +59.31, +19.54, -2.64, -62.42, -27.15] speed=20 wait=1.0s (pre max|Δ|=1.68°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.51° (tol 3.0°) [VIA ] step 2 Δ= +0.2 -1.7 +0.9 -0.4 -0.1 +0.2 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ +12.05, +56.05, +22.75, -2.79, -63.26, -27.00] speed=20 wait=1.0s (pre max|Δ|=4.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.60° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -4.8 +4.0 -0.7 -0.9 +0.2 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ +12.02, +52.45, +26.45, -2.87, -63.96, -26.93] speed=20 wait=1.0s (pre max|Δ|=5.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.04° (tol 3.0°) [VIA ] step 8 Δ= +0.2 -5.2 +4.2 +0.2 -2.1 -0.7 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ +12.06, +51.55, +27.34, -2.86, -64.23, -26.93] speed=20 wait=1.0s (pre max|Δ|=2.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.06° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -2.9 +1.2 +0.4 -2.1 -0.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.06°（関節 j1） [006] 推論 1010ms 10ステップ先 Δ=+13.2 -4.1 -10.5 +3.4 +4.0 -3.5 [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_chunk006_via02: send_angles (single) [ +11.78, +48.34, +30.46, -2.99, -64.88, -26.72] speed=20 wait=1.0s (pre max|Δ|=5.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 3.0°) [VIA ] step 2 Δ= -0.1 -5.3 +3.0 +0.1 -1.5 -0.4 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +16.70, +48.67, +26.25, -1.81, -63.09, -27.82] speed=20 wait=1.0s (pre max|Δ|=4.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.60° (tol 3.0°) [VIA ] step 5 Δ= +4.7 -1.6 -4.3 +1.3 +2.7 -1.5 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +23.32, +49.26, +18.80, -0.22, -59.85, -29.39] speed=20 wait=1.0s (pre max|Δ|=8.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.15° (tol 3.0°) [VIA ] step 8 Δ= +6.7 -1.0 -8.4 +1.9 +4.6 -2.3 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +25.01, +49.49, +16.97, +0.27, -59.06, -29.89] speed=20 wait=1.0s (pre max|Δ|=2.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.22° (tol 3.0°) [VIA ] step 9 Δ= +1.7 -0.8 -3.0 +1.1 +1.6 -1.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.22°（関節 j2） [007] 推論 2381ms 10ステップ先 Δ=+17.6 +5.9 -20.0 +4.4 +7.1 -4.0 [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_chunk007_via02: send_angles (single) [ +31.48, +50.65, +10.08, +1.76, -56.48, -31.25] speed=20 wait=1.0s (pre max|Δ|=8.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.17° (tol 3.0°) [VIA ] step 2 Δ= +6.4 +0.1 -8.1 +1.7 +2.8 -1.6 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +38.40, +52.58, +2.18, +3.43, -52.62, -32.82] speed=20 wait=1.0s (pre max|Δ|=9.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.24° (tol 3.0°) [VIA ] step 5 Δ= +6.8 +0.9 -9.1 +1.9 +4.4 -1.9 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +42.44, +55.03, -1.83, +4.40, -51.42, -33.61] speed=20 wait=1.0s (pre max|Δ|=5.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.31° (tol 3.0°) [VIA ] step 8 Δ= +4.1 +1.4 -5.2 +1.0 +1.5 -1.2 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +42.69, +56.39, -1.77, +4.51, -52.26, -33.57] speed=20 wait=1.0s (pre max|Δ|=1.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.17° (tol 3.0°) [VIA ] step 9 Δ= +0.4 +0.2 -1.3 -0.1 -0.8 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.17°（関節 j1） [008] 推論 1100ms 10ステップ先 Δ= +0.5 +8.2 -2.3 +1.2 -8.1 -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_chunk008_via02: send_angles (single) [ +42.82, +60.91, -2.20, +5.03, -55.46, -33.67] speed=20 wait=1.0s (pre max|Δ|=3.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.24° (tol 3.0°) [VIA ] step 2 Δ= +0.5 +3.4 -1.6 +0.4 -4.0 -0.4 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +42.89, +64.55, -2.65, +5.48, -57.92, -33.79] speed=20 wait=1.0s (pre max|Δ|=2.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.84° (tol 3.0°) [VIA ] step 5 Δ= -0.1 +2.8 -1.7 +1.2 -1.8 +0.5 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +42.89, +65.76, -2.86, +5.83, -59.59, -33.94] speed=20 wait=1.0s (pre max|Δ|=1.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.31° (tol 3.0°) [VIA ] step 8 Δ= -0.1 +0.6 -0.8 +1.0 +0.2 +0.7 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +42.89, +65.76, -2.86, +5.83, -59.59, -33.94] speed=20 wait=1.0s (pre max|Δ|=1.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.14° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -0.6 -0.6 +0.5 +1.3 +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 0.70°（関節 j4） [009] 推論 2242ms 10ステップ先 Δ= -0.2 -13.2 +0.1 -0.9 +11.3 -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_chunk009_via02: send_angles (single) [ +43.04, +63.14, -2.78, +6.02, -57.74, -34.31] speed=20 wait=1.0s (pre max|Δ|=3.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.45° (tol 3.0°) [VIA ] step 2 Δ= +0.7 -3.2 -0.5 -0.5 +2.5 -0.1 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +43.21, +59.72, -2.79, +6.01, -54.85, -34.46] speed=20 wait=1.0s (pre max|Δ|=4.87°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.30° (tol 3.0°) [VIA ] step 5 Δ= +0.8 -4.9 -0.4 -0.8 +1.9 -0.3 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +42.86, +54.89, -2.44, +5.81, -50.59, -34.51] speed=20 wait=1.0s (pre max|Δ|=6.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.23° (tol 3.0°) [VIA ] step 8 Δ= +0.2 -6.8 -0.1 -0.8 +2.0 -0.5 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +42.18, +53.10, -2.23, +5.61, -48.99, -34.43] speed=20 wait=1.0s (pre max|Δ|=4.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.35° (tol 3.0°) [VIA ] step 9 Δ= -0.8 -4.0 -0.3 +0.1 +0.0 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.35°（関節 j1） [010] 推論 1247ms 10ステップ先 Δ=-18.3 -28.0 +2.6 -4.0 +23.6 +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 > [SEND] pi05_chunk010_via02: send_angles (single) [ +38.03, +46.00, -1.33, +4.58, -42.58, -33.87] speed=20 wait=1.0s (pre max|Δ|=9.37°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.25° (tol 3.0°) [VIA ] step 2 Δ= -4.2 -9.4 +0.4 -0.8 +5.8 +0.1 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +31.83, +37.94, -0.20, +3.17, -34.96, -33.07] speed=20 wait=1.0s (pre max|Δ|=10.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 5 Δ= -6.6 -10.3 +0.7 -1.1 +8.2 +0.8 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +25.67, +29.57, +0.71, +1.71, -26.92, -32.38] speed=20 wait=1.0s (pre max|Δ|=10.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.89° (tol 3.0°) [VIA ] step 8 Δ= -6.3 -10.5 +0.5 -1.2 +8.4 +1.1 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +24.00, +27.42, +0.85, +1.32, -24.73, -32.23] speed=20 wait=1.0s (pre max|Δ|=4.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.02° (tol 3.0°) [VIA ] step 9 Δ= -2.2 -4.0 -0.3 -0.6 +2.4 +0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.02°（関節 j1） [011] 推論 895ms 10ステップ先 Δ=-21.8 -27.0 +0.4 -1.0 +24.3 +1.2 [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_chunk011_via02: send_angles (single) [ +16.86, +19.22, +1.35, +0.19, -16.22, -31.41] speed=20 wait=1.0s (pre max|Δ|=10.22°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.61° (tol 3.0°) [VIA ] step 2 Δ= -7.2 -10.2 -0.1 -0.8 +8.7 +0.8 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +9.41, +9.95, +1.77, -0.15, -7.32, -31.09] speed=20 wait=1.0s (pre max|Δ|=10.88°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 5 Δ= -7.8 -10.9 -0.3 -0.8 +8.9 +0.5 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +3.25, +3.25, +1.88, -0.08, -1.31, -31.03] speed=20 wait=1.0s (pre max|Δ|=8.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.23° (tol 3.0°) [VIA ] step 8 Δ= -6.4 -8.2 -0.7 -0.3 +6.1 +0.3 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +2.27, +2.41, +1.88, -0.07, -0.63, -31.00] speed=20 wait=1.0s (pre max|Δ|=2.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.54° (tol 3.0°) [VIA ] step 9 Δ= -1.2 -2.1 -0.7 -0.2 +0.8 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.54°（関節 j1） [012] 推論 814ms 10ステップ先 Δ= -1.3 -2.1 -0.6 -0.2 +0.2 +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_chunk012_via02: send_angles (single) [ +0.79, +2.07, +1.90, -0.08, -0.62, -30.97] speed=20 wait=1.0s (pre max|Δ|=1.88°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.53° (tol 3.0°) [VIA ] step 2 Δ= -1.2 -1.9 -0.6 -0.2 +0.2 +0.2 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +0.65, +1.96, +1.95, -0.09, -0.61, -30.97] speed=20 wait=1.0s (pre max|Δ|=1.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.64° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -1.6 -0.6 -0.2 +0.2 +0.2 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +0.73, +1.94, +1.96, -0.14, -0.62, -30.96] speed=20 wait=1.0s (pre max|Δ|=1.66°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 3.0°) [VIA ] step 8 Δ= +0.3 -1.7 -0.6 -0.2 +0.2 +0.2 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +0.77, +1.83, +1.95, -0.15, -0.62, -30.96] speed=20 wait=1.0s (pre max|Δ|=1.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.77° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -1.8 -0.6 -0.2 +0.2 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.77°（関節 j1） [013] 推論 999ms 10ステップ先 Δ= -0.6 -2.1 -0.5 -0.2 +0.3 +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 > q [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261024_191603 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts %