
######## 位置C
== お手本: 閉じるまでの j4 の最小 / 閉じた瞬間 (j0..j5)
  demo 192343  j4最小  -70.3 (閉じる 1.4 秒前, j0  -27.6 j1  +58.1 j2  +19.7)  閉じた瞬間 [ -27.7  +63.7  +14.1   -7.6  -61.2  -27.9]
  demo 192438  j4最小  -70.6 (閉じる 1.4 秒前, j0  -27.8 j1  +58.1 j2  +19.6)  閉じた瞬間 [ -27.8  +63.7  +14.1   -7.7  -61.4  -27.3]
  demo 192539  j4最小  -70.3 (閉じる 1.4 秒前, j0  -28.4 j1  +58.1 j2  +19.7)  閉じた瞬間 [ -27.2  +63.7  +14.1   -7.7  -61.4  -27.3]
  demo 192633  j4最小  -70.4 (閉じる 1.4 秒前, j0  -28.2 j1  +58.1 j2  +19.7)  閉じた瞬間 [ -27.4  +63.7  +14.1   -7.6  -61.4  -27.2]
== 実機: 閉じるまでの中継点 (チャンク.ステップ  目標 j0 j1 j2 j3 j4 j5 | 実測 j4 | j4 目標−実測 | 着いた)
  -- 115823 入った  閉じる指令 チャンク04
     00.2  [  -1.8   +4.8   +0.7   -0.2   -4.0  -29.7] |   -2.7 |   -1.3 | True
     00.5  [  -4.8  +11.7   +2.2   -1.0  -12.2  -29.2] |  -11.2 |   -0.9 | True
     00.8  [  -8.1  +18.5   +4.3   -2.0  -20.7  -28.7] |  -20.3 |   -0.4 | True
     00.9  [  -9.2  +21.0   +4.9   -2.2  -23.4  -28.5] |  -23.3 |   -0.1 | True
     01.2  [ -12.7  +27.7   +6.5   -2.7  -30.5  -28.2] |  -30.2 |   -0.3 | True
     01.5  [ -16.2  +34.7   +8.6   -2.7  -39.1  -28.1] |  -38.8 |   -0.4 | True
     01.8  [ -19.7  +41.8  +10.8   -2.5  -47.6  -28.1] |  -47.3 |   -0.3 | True
     01.9  [ -20.5  +43.6  +11.2   -2.5  -49.9  -28.1] |  -50.0 |   +0.1 | True
     02.2  [ -23.9  +50.6  +13.2   -2.9  -59.3  -28.0] |  -58.9 |   -0.5 | True
     02.5  [ -26.6  +56.4  +15.3   -2.8  -66.2  -28.0] |  -65.8 |   -0.4 | True
     02.8  [ -27.6  +58.3  +16.4   -2.4  -68.2  -27.9] |  -68.6 |   +0.5 | True
     02.9  [ -27.7  +58.4  +16.4   -2.3  -68.4  -27.9] |  -68.6 |   +0.2 | True
     03.2  [ -27.9  +60.5  +17.1   -2.1  -70.1  -27.9] |  -70.4 |   +0.3 | True
     03.5  [ -27.6  +61.1  +16.6   -2.7  -69.5  -27.8] |  -70.4 |   +0.9 | True
     03.8  [ -27.8  +62.6  +14.3   -4.6  -66.4  -27.7] |  -67.6 |   +1.2 | True
     03.9  [ -27.8  +63.0  +13.7   -4.9  -65.7  -27.7] |  -66.3 |   +0.7 | True
     04.2  [ -27.6  +64.9  +11.8   -6.3  -63.2  -27.7] |  -63.6 |   +0.5 | True
     04.5  [ -27.7  +65.4  +11.4   -6.8  -62.4  -27.7] |  -63.4 |   +1.0 | True
     04.6  [ -27.7  +65.4  +11.4   -6.8  -62.4  -27.7] |  -63.2 |   +0.8 | True
  -- 120644 入った  閉じる指令 チャンク04
     00.2  [  -2.4   +5.8   +2.8   -0.4   -5.3  -29.6] |   -4.3 |   -1.0 | True
     00.5  [  -5.5  +12.7   +4.8   -1.4  -13.6  -28.8] |  -12.5 |   -1.1 | True
     00.8  [  -8.6  +19.3   +6.7   -2.4  -21.5  -27.9] |  -21.2 |   -0.4 | True
     00.9  [  -9.7  +21.5   +7.2   -2.7  -24.1  -27.7] |  -24.0 |   -0.1 | True
     01.2  [ -13.8  +28.4   +9.2   -3.4  -32.3  -27.4] |  -32.0 |   -0.3 | True
     01.5  [ -17.5  +35.5  +11.5   -3.2  -41.7  -27.3] |  -41.3 |   -0.4 | True
     01.8  [ -21.1  +43.0  +13.7   -2.8  -51.4  -27.2] |  -51.1 |   -0.3 | True
     01.9  [ -22.1  +45.1  +14.2   -2.7  -54.0  -27.2] |  -54.2 |   +0.2 | True
     02.2  [ -25.2  +52.2  +16.1   -3.2  -63.1  -27.2] |  -62.7 |   -0.4 | True
     02.5  [ -27.4  +56.7  +17.8   -3.0  -68.1  -27.2] |  -68.0 |   -0.1 | True
     02.8  [ -28.4  +58.5  +18.6   -2.5  -69.3  -27.1] |  -69.2 |   -0.2 | True
     02.9  [ -28.2  +58.5  +18.5   -2.4  -69.1  -27.2] |  -69.2 |   +0.0 | True
     03.2  [ -28.2  +59.5  +18.7   -2.5  -69.8  -27.1] |  -69.5 |   -0.3 | True
     03.5  [ -27.9  +60.3  +17.9   -3.3  -69.1  -27.1] |  -69.6 |   +0.5 | True
     03.8  [ -28.0  +61.5  +16.1   -4.6  -66.6  -27.1] |  -67.9 |   +1.4 | True
     03.9  [ -28.1  +62.0  +15.5   -5.0  -65.8  -27.1] |  -66.6 |   +0.8 | True
     04.2  [ -27.9  +63.5  +13.8   -6.2  -63.5  -27.1] |  -64.0 |   +0.5 | True
     04.5  [ -27.8  +63.9  +13.2   -6.8  -62.6  -27.1] |  -63.4 |   +0.8 | True
     04.6  [ -27.8  +63.9  +13.2   -6.8  -62.6  -27.1] |  -63.3 |   +0.7 | True
  -- 121202 入った  閉じる指令 チャンク03
     00.2  [  -2.6   +5.5   +2.9   -0.5   -4.9  -29.8] |   -4.2 |   -0.7 | True
     00.5  [  -5.5  +11.6   +4.6   -1.3  -12.1  -29.1] |  -11.2 |   -1.0 | True
     00.8  [  -8.8  +17.8   +6.6   -2.1  -19.9  -28.4] |  -19.3 |   -0.5 | True
     00.9  [  -9.8  +19.6   +7.1   -2.3  -21.6  -28.2] |  -22.1 |   +0.5 | True
     01.2  [ -13.3  +26.5   +9.0   -3.0  -29.7  -27.8] |  -29.3 |   -0.4 | True
     01.5  [ -17.1  +33.5  +11.2   -3.1  -38.5  -27.7] |  -38.2 |   -0.3 | True
     01.8  [ -20.4  +40.3  +13.3   -3.0  -47.8  -27.6] |  -47.1 |   -0.6 | True
     01.9  [ -21.6  +42.6  +13.9   -3.0  -50.7  -27.6] |  -50.9 |   +0.2 | True
     02.2  [ -24.9  +49.1  +15.8   -3.4  -59.4  -27.5] |  -58.9 |   -0.5 | True
     02.5  [ -27.4  +54.4  +17.7   -3.2  -64.9  -27.5] |  -65.2 |   +0.3 | True
     02.8  [ -28.4  +56.1  +18.9   -2.6  -66.5  -27.4] |  -66.9 |   +0.4 | True
     02.9  [ -28.4  +56.2  +18.9   -2.6  -66.5  -27.4] |  -66.9 |   +0.4 | True
     03.2  [ -29.0  +57.5  +19.6   -2.4  -67.9  -27.4] |  -67.8 |   -0.1 | True
     03.8  [ -28.7  +59.6  +17.7   -3.9  -66.7  -27.4] |  -67.8 |   +1.1 | True
     03.9  [ -28.7  +59.6  +17.7   -3.9  -66.7  -27.4] |  -67.8 |   +1.1 | True
  -- 121650 入った  閉じる指令 チャンク04
     00.2  [  -2.5   +5.7   +3.0   -0.3   -5.5  -29.7] |   -4.7 |   -0.8 | True
     00.5  [  -5.8  +12.3   +5.0   -1.4  -13.5  -28.9] |  -12.5 |   -1.0 | True
     00.8  [  -9.0  +18.5   +7.1   -2.3  -21.2  -28.2] |  -20.7 |   -0.5 | True
     00.9  [ -10.0  +20.3   +7.7   -2.5  -23.4  -28.0] |  -23.7 |   +0.4 | True
     01.2  [ -13.8  +27.4   +9.6   -3.2  -31.7  -27.6] |  -31.1 |   -0.6 | True
     01.5  [ -17.5  +34.5  +11.8   -3.1  -40.9  -27.6] |  -40.7 |   -0.2 | True
     01.8  [ -21.2  +42.2  +14.1   -2.9  -50.5  -27.5] |  -50.1 |   -0.4 | True
     01.9  [ -22.4  +44.6  +14.6   -2.9  -53.3  -27.4] |  -53.7 |   +0.4 | True
     02.2  [ -25.4  +51.4  +16.4   -3.2  -61.7  -27.4] |  -61.2 |   -0.5 | True
     02.5  [ -27.7  +56.5  +18.3   -3.1  -67.0  -27.4] |  -67.1 |   +0.0 | True
     02.8  [ -28.4  +57.9  +19.2   -2.6  -68.7  -27.3] |  -68.5 |   -0.2 | True
     02.9  [ -28.6  +57.9  +19.4   -2.5  -68.7  -27.3] |  -68.5 |   -0.2 | True
     03.2  [ -28.7  +58.6  +19.7   -2.4  -69.6  -27.3] |  -69.4 |   -0.2 | True
     03.5  [ -28.3  +59.3  +18.9   -3.0  -69.1  -27.3] |  -69.4 |   +0.4 | True
     03.8  [ -28.3  +60.7  +17.3   -4.3  -67.1  -27.3] |  -68.5 |   +1.4 | True
     03.9  [ -28.2  +61.3  +16.6   -4.7  -66.2  -27.3] |  -67.1 |   +0.8 | True
     04.2  [ -27.9  +62.7  +14.9   -6.1  -63.9  -27.3] |  -64.2 |   +0.3 | True
     04.5  [ -27.8  +63.7  +13.6   -7.0  -62.0  -27.3] |  -62.8 |   +0.8 | True
     04.8  [ -27.7  +63.7  +13.5   -7.2  -61.9  -27.3] |  -62.7 |   +0.8 | True
  -- 122156 入った  閉じる指令 チャンク04
     00.2  [  -2.7   +6.3   +2.7   -0.2   -5.9  -29.6] |   -4.6 |   -1.4 | True
     00.5  [  -5.7  +12.8   +4.6   -1.1  -13.5  -28.8] |  -12.6 |   -1.0 | True
     00.8  [  -8.9  +19.5   +6.7   -2.0  -21.7  -27.8] |  -21.3 |   -0.4 | True
     00.9  [ -10.1  +21.6   +7.2   -2.3  -24.1  -27.5] |  -24.0 |   -0.1 | True
     01.2  [ -13.9  +28.4   +9.2   -2.9  -32.1  -27.2] |  -31.9 |   -0.2 | True
     01.5  [ -17.7  +35.6  +11.5   -2.7  -41.6  -27.2] |  -41.1 |   -0.5 | True
     01.8  [ -21.3  +42.7  +13.4   -2.6  -50.7  -27.2] |  -50.2 |   -0.5 | True
     01.9  [ -22.5  +45.0  +14.0   -2.6  -53.2  -27.1] |  -53.6 |   +0.4 | True
     02.2  [ -25.6  +51.9  +15.7   -3.0  -62.0  -27.1] |  -61.4 |   -0.6 | True
     02.5  [ -28.4  +57.3  +17.5   -2.8  -67.8  -27.1] |  -67.5 |   -0.3 | True
     02.8  [ -29.5  +59.0  +18.5   -2.3  -69.7  -27.0] |  -69.8 |   +0.1 | True
     02.9  [ -29.6  +59.1  +18.4   -2.2  -69.7  -27.0] |  -69.8 |   +0.1 | True
     03.2  [ -29.4  +59.6  +18.0   -2.6  -69.3  -27.0] |  -70.3 |   +1.0 | True
     03.5  [ -29.1  +60.6  +16.6   -3.7  -67.4  -27.0] |  -69.5 |   +2.1 | True
     03.8  [ -29.0  +62.3  +14.7   -5.0  -65.0  -27.0] |  -65.0 |   +0.0 | True
     03.9  [ -28.9  +62.7  +14.3   -5.3  -64.4  -27.0] |  -65.0 |   +0.6 | True
     04.2  [ -28.9  +64.0  +12.9   -6.2  -62.6  -27.0] |  -63.0 |   +0.4 | True
     04.5  [ -28.9  +64.0  +12.7   -6.4  -62.5  -27.0] |  -62.9 |   +0.4 | True

######## 位置D
== お手本: 閉じるまでの j4 の最小 / 閉じた瞬間 (j0..j5)
  demo 193404  j4最小  -76.2 (閉じる 1.4 秒前, j0  -59.9 j1  +55.3 j2  +22.6)  閉じた瞬間 [ -61.6  +62.5  +14.8   +1.5  -60.7  -32.4]
  demo 193459  j4最小  -76.6 (閉じる 1.5 秒前, j0  -59.9 j1  +55.3 j2  +22.5)  閉じた瞬間 [ -61.6  +62.4  +14.8   +1.1  -60.8  -31.7]
  demo 193617  j4最小  -76.6 (閉じる 1.5 秒前, j0  -60.1 j1  +55.3 j2  +22.5)  閉じた瞬間 [ -61.7  +62.4  +14.8   +1.1  -60.8  -31.7]
  demo 193825  j4最小  -76.3 (閉じる 2.0 秒前, j0  -59.9 j1  +55.3 j2  +22.5)  閉じた瞬間 [ -61.5  +62.3  +13.9   +1.3  -58.0  -32.4]
  demo 193932  j4最小  -76.2 (閉じる 1.4 秒前, j0  -59.9 j1  +55.3 j2  +22.5)  閉じた瞬間 [ -61.6  +62.5  +14.8   +1.2  -60.7  -31.6]
== 実機: 閉じるまでの中継点 (チャンク.ステップ  目標 j0 j1 j2 j3 j4 j5 | 実測 j4 | j4 目標−実測 | 着いた)
  -- 122909 入らなかった  閉じる指令 チャンク04
     00.2  [  -4.6   +5.4   +3.0   +0.4   -5.7  -30.4] |   -4.7 |   -1.0 | True
     00.5  [ -10.9  +11.4   +4.8   +0.4  -13.5  -30.7] |  -12.4 |   -1.1 | True
     00.8  [ -17.6  +17.5   +6.7   +0.4  -21.4  -31.0] |  -21.2 |   -0.2 | True
     00.9  [ -19.8  +19.6   +7.5   +0.4  -24.0  -31.1] |  -24.0 |   -0.0 | True
     01.2  [ -25.7  +25.5   +9.8   +0.9  -32.5  -31.2] |  -31.8 |   -0.7 | True
     01.5  [ -32.8  +31.6  +12.2   +0.9  -41.3  -31.2] |  -40.8 |   -0.5 | True
     01.8  [ -39.9  +38.2  +14.5   +0.8  -50.7  -31.2] |  -50.4 |   -0.3 | True
     01.9  [ -41.7  +40.3  +15.1   +0.8  -53.5  -31.2] |  -54.2 |   +0.7 | True
     02.2  [ -48.8  +46.1  +16.9   +1.4  -62.6  -31.3] |  -61.4 |   -1.1 | True
     02.5  [ -55.2  +51.9  +19.2   +1.7  -70.5  -31.3] |  -69.6 |   -0.9 | True
     02.8  [ -59.3  +55.5  +21.3   +1.9  -74.8  -31.3] |  -75.1 |   +0.4 | True
     02.9  [ -59.6  +55.6  +21.6   +1.9  -74.7  -31.4] |  -75.1 |   +0.5 | True
     03.2  [ -59.9  +57.1  +20.7   +1.9  -74.2  -31.4] |  -75.1 |   +0.9 | True
     03.5  [ -59.9  +59.3  +18.2   +1.6  -70.1  -31.4] |  -71.5 |   +1.4 | True
     03.8  [ -60.1  +61.3  +16.2   +1.2  -66.0  -31.4] |  -64.7 |   -1.4 | True
     03.9  [ -60.2  +61.7  +15.7   +1.2  -65.2  -31.4] |  -64.5 |   -0.7 | True
     04.2  [ -60.4  +63.0  +14.5   +1.2  -62.0  -31.5] |  -62.8 |   +0.7 | True
     04.5  [ -60.4  +62.7  +14.5   +1.2  -61.1  -31.5] |  -62.4 |   +1.3 | True
  -- 123158 入らなかった  閉じる指令 チャンク04
     00.2  [  -3.3   +4.1   +2.6   +0.3   -4.0  -30.4] |   -2.6 |   -1.4 | True
     00.5  [  -9.4   +9.4   +4.3   +0.4  -11.4  -30.7] |  -10.8 |   -0.6 | True
     00.8  [ -15.6  +15.2   +6.1   +0.4  -19.4  -31.0] |  -18.7 |   -0.7 | True
     00.9  [ -17.6  +17.1   +6.7   +0.4  -21.7  -31.1] |  -22.4 |   +0.7 | True
     01.2  [ -23.5  +22.7   +8.8   +0.9  -29.8  -31.4] |  -27.8 |   -2.0 | True
     01.5  [ -30.2  +28.4  +11.1   +1.0  -38.0  -31.5] |  -36.9 |   -1.1 | True
     01.8  [ -36.6  +34.8  +13.2   +0.9  -46.9  -31.4] |  -46.6 |   -0.4 | True
     01.9  [ -37.8  +36.7  +13.6   +1.0  -49.5  -31.5] |  -49.6 |   +0.1 | True
     02.2  [ -45.5  +42.6  +15.8   +1.1  -58.5  -31.5] |  -58.2 |   -0.3 | True
     02.5  [ -52.8  +49.0  +17.9   +1.6  -67.5  -31.5] |  -66.8 |   -0.7 | True
     02.8  [ -58.2  +53.8  +19.9   +1.8  -73.6  -31.5] |  -73.2 |   -0.4 | True
     02.9  [ -58.9  +54.5  +20.2   +1.8  -74.1  -31.5] |  -74.1 |   -0.0 | True
     03.2  [ -59.5  +55.6  +21.0   +1.9  -74.1  -31.6] |  -74.6 |   +0.5 | True
     03.5  [ -59.8  +57.1  +19.5   +1.8  -71.2  -31.6] |  -72.9 |   +1.6 | True
     03.8  [ -60.1  +59.8  +16.6   +1.4  -66.3  -31.7] |  -67.2 |   +1.0 | True
     03.9  [ -60.1  +60.4  +15.8   +1.4  -65.1  -31.7] |  -65.7 |   +0.5 | True
     04.2  [ -60.6  +62.2  +14.0   +1.3  -61.9  -31.7] |  -62.5 |   +0.6 | True
     04.5  [ -60.5  +62.4  +13.9   +1.3  -60.9  -31.7] |  -61.4 |   +0.5 | True
     04.6  [ -60.5  +62.4  +13.9   +1.3  -60.9  -31.7] |  -61.3 |   +0.5 | True
  -- 124104 入らなかった  閉じる指令 チャンク04
     00.2  [  -3.8   +4.7   +3.0   +0.3   -4.7  -30.4] |   -4.0 |   -0.8 | True
     00.5  [ -10.1  +10.3   +5.0   +0.3  -12.4  -30.7] |  -11.7 |   -0.7 | True
     00.8  [ -16.4  +16.0   +6.8   +0.3  -20.1  -31.0] |  -19.7 |   -0.4 | True
     00.9  [ -18.3  +17.7   +7.5   +0.3  -22.6  -31.1] |  -22.8 |   +0.1 | True
     01.2  [ -24.4  +23.4   +9.7   +0.8  -31.1  -31.2] |  -30.5 |   -0.6 | True
     01.5  [ -31.4  +29.2  +12.1   +0.9  -39.8  -31.3] |  -39.3 |   -0.5 | True
     01.8  [ -38.0  +35.4  +14.3   +0.8  -49.3  -31.3] |  -48.9 |   -0.4 | True
     01.9  [ -40.0  +37.6  +14.9   +0.7  -52.6  -31.3] |  -53.1 |   +0.5 | True
     02.2  [ -47.5  +43.6  +17.1   +1.1  -61.7  -31.4] |  -61.3 |   -0.4 | True
     02.5  [ -54.5  +49.5  +19.5   +1.6  -70.4  -31.4] |  -69.4 |   -0.9 | True
     02.8  [ -59.3  +53.8  +21.9   +1.8  -76.2  -31.4] |  -76.1 |   -0.1 | True
     02.9  [ -60.0  +54.3  +22.4   +1.8  -76.8  -31.4] |  -76.2 |   -0.6 | True
     03.2  [ -60.1  +55.1  +21.7   +1.6  -75.5  -31.5] |  -76.7 |   +1.2 | True
     03.5  [ -60.3  +57.3  +19.2   +1.2  -71.5  -31.6] |  -60.1 |  -11.4 | False  ← 未到達
     03.8  [ -60.8  +59.5  +17.1   +1.1  -67.5  -31.6] |  -68.5 |   +1.0 | True
     03.9  [ -60.9  +60.0  +16.6   +1.1  -66.5  -31.6] |  -67.1 |   +0.6 | True
     04.2  [ -61.4  +61.9  +14.6   +1.1  -62.1  -31.6] |  -62.6 |   +0.5 | True
     04.5  [ -61.5  +62.4  +14.1   +1.2  -59.7  -31.7] |  -61.0 |   +1.3 | True
     04.7  [ -61.5  +62.2  +14.3   +1.2  -59.6  -31.7] |  -60.8 |   +1.2 | True
  -- 124830 入った  閉じる指令 チャンク04
     00.2  [  -2.9   +3.7   +2.7   +0.3   -3.5  -30.3] |   -1.8 |   -1.8 | True
     00.5  [  -9.4   +9.3   +4.3   +0.3  -11.5  -30.6] |  -10.5 |   -1.0 | True
     00.8  [ -16.0  +15.0   +6.0   +0.4  -19.2  -30.8] |  -18.7 |   -0.5 | True
     00.9  [ -18.4  +16.9   +6.6   +0.5  -21.7  -30.9] |  -22.1 |   +0.4 | True
     01.2  [ -24.5  +22.8   +8.8   +0.8  -30.1  -31.0] |  -29.5 |   -0.5 | True
     01.5  [ -31.5  +29.0  +11.2   +0.9  -38.7  -31.1] |  -38.3 |   -0.4 | True
     01.8  [ -38.2  +35.6  +13.4   +0.7  -48.1  -31.1] |  -47.6 |   -0.5 | True
     01.9  [ -40.1  +38.0  +13.9   +0.6  -51.2  -31.1] |  -51.7 |   +0.5 | True
     02.2  [ -47.5  +43.6  +16.0   +1.0  -60.1  -31.1] |  -59.3 |   -0.8 | True
     02.5  [ -54.3  +49.5  +18.0   +1.4  -68.6  -31.2] |  -68.0 |   -0.6 | True
     02.8  [ -59.1  +54.2  +20.1   +1.6  -74.8  -31.2] |  -74.9 |   +0.1 | True
     02.9  [ -60.0  +54.8  +20.5   +1.6  -75.3  -31.2] |  -75.4 |   +0.1 | True
     03.2  [ -60.3  +55.5  +20.9   +1.7  -75.9  -31.3] |  -75.8 |   -0.1 | True
     03.5  [ -60.5  +57.0  +19.5   +1.5  -74.2  -31.3] |  -75.8 |   +1.7 | True
     03.8  [ -60.7  +59.3  +17.0   +1.2  -69.6  -31.4] |  -71.0 |   +1.4 | True
     03.9  [ -60.8  +60.0  +16.3   +1.1  -68.4  -31.4] |  -69.2 |   +0.8 | True
     04.2  [ -61.1  +62.0  +13.7   +0.8  -63.9  -31.4] |  -64.1 |   +0.1 | True
     04.5  [ -61.2  +62.9  +12.6   +0.7  -60.6  -31.5] |  -61.1 |   +0.4 | True
     04.8  [ -61.5  +62.7  +12.6   +0.8  -60.0  -31.5] |  -60.6 |   +0.7 | True
  -- 125314 入らなかった  閉じる指令 チャンク04
     00.2  [  -3.9   +4.9   +2.8   +0.2   -5.1  -30.4] |   -3.9 |   -1.3 | True
     00.5  [ -10.2  +10.7   +4.6   +0.2  -12.6  -30.7] |  -11.5 |   -1.1 | True
     00.8  [ -16.8  +16.7   +6.5   +0.2  -20.4  -30.9] |  -20.0 |   -0.4 | True
     00.9  [ -19.0  +18.7   +7.1   +0.2  -23.0  -31.0] |  -22.9 |   -0.1 | True
     01.2  [ -24.8  +24.6   +9.2   +0.7  -31.3  -31.1] |  -30.7 |   -0.6 | True
     01.5  [ -31.5  +30.8  +11.3   +0.7  -40.0  -31.2] |  -39.5 |   -0.4 | True
     01.8  [ -37.9  +37.4  +13.5   +0.4  -49.3  -31.1] |  -49.0 |   -0.3 | True
     01.9  [ -40.4  +39.8  +14.2   +0.3  -52.4  -31.1] |  -52.7 |   +0.3 | True
     02.2  [ -47.4  +45.5  +16.2   +0.8  -61.5  -31.2] |  -61.2 |   -0.3 | True
     02.5  [ -54.2  +51.5  +18.2   +1.1  -69.6  -31.2] |  -69.1 |   -0.5 | True
     02.8  [ -59.0  +56.0  +20.4   +1.3  -75.0  -31.2] |  -75.1 |   +0.1 | True
     02.9  [ -59.4  +56.5  +20.7   +1.3  -75.5  -31.2] |  -75.1 |   -0.4 | True
     03.2  [ -59.8  +57.8  +20.3   +1.3  -76.4  -31.3] |  -69.0 |   -7.4 | False  ← 未到達
     03.5  [ -59.6  +59.8  +18.3   +0.9  -73.9  -31.4] |  -72.6 |   -1.3 | True
     03.8  [ -60.0  +61.4  +16.3   +0.6  -69.4  -31.5] |  -70.4 |   +1.0 | True
     03.9  [ -60.1  +61.9  +15.9   +0.5  -68.2  -31.5] |  -68.9 |   +0.7 | True
     04.2  [ -60.2  +63.3  +13.8   +0.3  -63.4  -31.5] |  -63.9 |   +0.5 | True
     04.5  [ -60.5  +63.8  +12.9   +0.5  -59.7  -31.7] |  -61.4 |   +1.7 | True
     04.8  [ -60.6  +63.5  +12.6   +1.1  -57.2  -32.0] |  -59.6 |   +2.3 | True
     04.9  [ -60.6  +63.5  +12.6   +1.1  -57.2  -32.0] |  -59.5 |   +2.3 | True
  -- 125528 数に入れない  閉じる指令 チャンク02
     00.2  [  -3.7   +5.0   +3.0   +0.2   -5.1  -30.3] |   -4.0 |   -1.2 | True
     00.5  [  -9.6  +10.8   +4.8   +0.2  -12.8  -30.5] |  -11.9 |   -0.9 | True
     00.8  [ -15.8  +17.0   +6.9   +0.2  -20.7  -30.7] |  -20.1 |   -0.5 | True
     00.9  [ -17.5  +19.0   +7.5   +0.3  -23.1  -30.8] |  -23.0 |   -0.1 | True
     01.2  [ -23.7  +25.1   +9.7   +0.6  -31.5  -30.9] |  -30.8 |   -0.8 | True
     01.5  [ -30.7  +31.2  +11.8   +0.7  -40.4  -30.8] |  -40.1 |   -0.4 | True
     01.8  [ -37.3  +37.6  +14.0   +0.6  -49.8  -30.9] |  -13.1 |  -36.7 | False  ← 未到達
     01.9  [ -39.0  +39.6  +14.6   +0.5  -33.1  -30.8] |  -33.6 |   +0.5 | True
     02.2  [ -45.7  +45.3  +16.4   +1.1  -42.6  -30.9] |  -42.1 |   -0.6 | True
     02.5  [ -52.2  +51.4  +18.5   +1.2  -51.8  -30.9] |  -50.4 |   -1.3 | True
     02.8  [ -57.3  +57.1  +20.4   +1.2  -59.3  -30.9] |  -59.1 |   -0.1 | True
     02.9  [ -58.0  +58.1  +20.8   +1.2  -60.5  -30.9] |  -60.9 |   +0.4 | True

######## 位置E
== お手本: 閉じるまでの j4 の最小 / 閉じた瞬間 (j0..j5)
  demo 194818  j4最小  -65.4 (閉じる 1.3 秒前, j0  +12.4 j1  +46.2 j2  +30.3)  閉じた瞬間 [ +13.2  +60.0  +19.5   -2.5  -61.5  -26.7]
  demo 194913  j4最小  -65.7 (閉じる 1.4 秒前, j0  +12.3 j1  +45.5 j2  +30.9)  閉じた瞬間 [ +12.8  +60.0  +19.4   -3.6  -61.6  -26.7]
  demo 195023  j4最小  -65.4 (閉じる 1.4 秒前, j0  +12.9 j1  +45.3 j2  +31.1)  閉じた瞬間 [ +12.8  +60.0  +19.4   -3.4  -61.5  -26.7]
  demo 195120  j4最小  -65.2 (閉じる 1.4 秒前, j0  +12.9 j1  +45.3 j2  +31.1)  閉じた瞬間 [ +12.9  +60.0  +19.4   -3.1  -61.5  -26.7]
== 実機: 閉じるまでの中継点 (チャンク.ステップ  目標 j0 j1 j2 j3 j4 j5 | 実測 j4 | j4 目標−実測 | 着いた)
  -- 145207 入った  閉じる指令 チャンク04
     00.2  [  +0.7   +5.5   +4.4   -0.6   -6.3  -29.6] |   -4.8 |   -1.5 | True
     00.5  [  +2.0  +10.5   +7.9   -1.5  -13.2  -28.7] |  -12.3 |   -0.9 | True
     00.8  [  +3.6  +15.8  +12.0   -2.6  -20.6  -27.7] |  -20.0 |   -0.6 | True
     00.9  [  +4.4  +17.7  +13.1   -2.9  -23.4  -27.4] |  -23.2 |   -0.2 | True
     01.2  [  +5.9  +23.6  +16.9   -3.4  -32.1  -26.9] |  -31.5 |   -0.6 | True
     01.5  [  +7.7  +29.6  +20.9   -3.5  -41.2  -26.8] |  -41.0 |   -0.3 | True
     01.8  [  +9.0  +35.3  +24.8   -3.7  -49.6  -26.7] |  -49.2 |   -0.4 | True
     01.9  [  +9.3  +36.8  +25.3   -3.6  -51.5  -26.7] |  -51.9 |   +0.4 | True
     02.2  [ +10.4  +42.8  +29.2   -4.0  -60.0  -26.6] |  -58.7 |   -1.3 | True
     02.5  [ +11.0  +46.4  +31.1   -4.0  -63.8  -26.6] |  -63.9 |   +0.1 | True
     02.8  [ +10.9  +46.6  +30.9   -3.9  -64.0  -26.6] |  -63.9 |   -0.1 | True
     02.9  [ +11.0  +46.6  +30.5   -3.8  -63.9  -26.6] |  -63.9 |   +0.0 | True
     03.2  [ +11.1  +48.6  +30.0   -3.7  -64.2  -26.6] |  -64.0 |   -0.3 | True
     03.5  [ +11.3  +51.9  +27.3   -3.8  -63.6  -26.7] |  -64.0 |   +0.3 | True
     03.8  [ +11.4  +55.4  +23.9   -3.8  -62.4  -26.7] |  -63.8 |   +1.4 | True
     03.9  [ +11.6  +56.2  +23.2   -3.7  -62.2  -26.7] |  -63.1 |   +0.9 | True
     04.2  [ +11.8  +59.7  +20.4   -3.7  -61.6  -26.8] |  -62.6 |   +1.0 | True
     04.5  [ +11.9  +59.8  +20.3   -3.7  -61.4  -26.8] |  -62.6 |   +1.1 | True
  -- 145641 入らなかった  閉じる指令 チャンク04
     00.2  [  +0.5   +5.9   +4.8   -0.3   -6.9  -29.4] |   -5.5 |   -1.4 | True
     00.5  [  +1.6  +11.2   +8.3   -0.9  -14.3  -28.6] |  -13.4 |   -0.9 | True
     00.8  [  +2.9  +16.5  +12.2   -1.5  -21.5  -27.6] |  -21.2 |   -0.3 | True
     00.9  [  +3.3  +18.0  +13.1   -1.7  -23.2  -27.4] |  -23.0 |   -0.2 | True
     01.2  [  +4.8  +23.9  +16.6   -2.2  -31.6  -26.9] |  -31.1 |   -0.5 | True
     01.5  [  +6.6  +30.0  +20.5   -2.1  -41.1  -26.8] |  -40.7 |   -0.4 | True
     01.8  [  +8.2  +35.9  +24.2   -2.2  -50.2  -26.8] |  -49.8 |   -0.3 | True
     01.9  [  +8.8  +37.8  +25.2   -2.3  -52.7  -26.8] |  -52.6 |   -0.0 | True
     02.2  [  +9.7  +43.5  +29.0   -2.7  -60.7  -26.7] |  -59.9 |   -0.7 | True
     02.5  [ +10.2  +46.8  +31.1   -2.7  -63.8  -26.7] |  -65.1 |   +1.4 | True
     02.8  [ +10.2  +47.5  +31.3   -2.5  -64.2  -26.7] |  -65.1 |   +0.9 | True
     02.9  [ +10.2  +47.5  +31.1   -2.5  -64.3  -26.7] |  -65.1 |   +0.8 | True
     03.2  [ +10.5  +51.4  +28.5   -2.4  -64.2  -26.7] |  -64.8 |   +0.5 | True
     03.5  [ +10.9  +55.4  +25.3   -2.5  -63.5  -26.7] |  -63.9 |   +0.4 | True
     03.8  [ +10.8  +58.6  +22.4   -2.5  -62.8  -26.8] |  -63.7 |   +0.9 | True
     03.9  [ +10.8  +59.2  +21.6   -2.5  -62.7  -26.8] |  -63.7 |   +1.0 | True
     04.2  [ +10.8  +60.6  +20.5   -2.5  -62.4  -26.8] |  -63.5 |   +1.0 | True
     04.3  [ +10.8  +60.6  +20.5   -2.5  -62.4  -26.8] |  -63.5 |   +1.0 | True
  -- 145851 入った  閉じる指令 チャンク04
     00.2  [  +0.6   +5.2   +4.2   -0.5   -6.2  -29.3] |   -4.7 |   -1.4 | True
     00.5  [  +1.9  +11.0   +8.5   -1.4  -15.2  -28.5] |  -14.1 |   -1.2 | True
     00.8  [  +3.3  +16.6  +12.6   -2.2  -23.7  -27.5] |  -23.0 |   -0.6 | True
     00.9  [  +3.9  +18.6  +14.0   -2.5  -26.5  -27.2] |  -27.1 |   +0.6 | True
     01.2  [  +5.3  +23.9  +17.6   -2.9  -34.8  -26.9] |  -34.2 |   -0.6 | True
     01.5  [  +7.2  +29.7  +21.6   -3.0  -44.1  -26.8] |  -43.5 |   -0.6 | True
     01.8  [  +8.9  +35.8  +25.6   -3.2  -54.1  -26.7] |  -53.8 |   -0.3 | True
     01.9  [  +9.3  +37.7  +26.7   -3.2  -56.9  -26.6] |  -57.2 |   +0.3 | True
     02.2  [ +10.3  +42.9  +29.9   -3.4  -63.8  -26.6] |  -63.5 |   -0.4 | True
     02.5  [ +10.8  +45.1  +30.9   -3.3  -65.5  -26.6] |  -66.2 |   +0.7 | True
     02.8  [ +10.7  +45.1  +30.3   -3.2  -65.1  -26.6] |  -66.2 |   +1.1 | True
     02.9  [ +10.8  +45.2  +29.9   -3.2  -65.1  -26.6] |  -66.2 |   +1.1 | True
     03.2  [ +11.0  +48.6  +27.5   -3.2  -64.3  -26.6] |  -65.0 |   +0.7 | True
     03.5  [ +11.2  +52.4  +24.6   -3.2  -63.2  -26.7] |  -63.6 |   +0.4 | True
     03.8  [ +11.0  +56.0  +21.8   -3.3  -62.4  -26.7] |  -62.8 |   +0.3 | True
     03.9  [ +11.0  +57.0  +20.9   -3.3  -62.2  -26.7] |  -62.5 |   +0.3 | True
     04.2  [ +11.1  +59.8  +18.6   -3.3  -61.7  -26.7] |  -62.3 |   +0.6 | True
     04.4  [ +11.1  +59.9  +18.6   -3.3  -61.6  -26.7] |  -62.1 |   +0.6 | True
  -- 150534 入った  閉じる指令 チャンク04
     00.2  [  +0.4   +6.6   +4.8   -0.2   -8.2  -29.4] |   -7.5 |   -0.8 | True
     00.5  [  +1.4  +12.5   +8.6   -0.8  -16.7  -28.6] |  -15.8 |   -0.9 | True
     00.8  [  +2.6  +17.9  +12.3   -1.3  -24.0  -27.6] |  -23.5 |   -0.6 | True
     00.9  [  +3.3  +19.6  +13.5   -1.4  -26.1  -27.3] |  -26.6 |   +0.6 | True
     01.2  [  +4.7  +25.6  +17.1   -2.1  -34.3  -26.9] |  -33.8 |   -0.6 | True
     01.5  [  +6.7  +32.0  +21.2   -2.1  -44.1  -26.9] |  -43.5 |   -0.6 | True
     01.8  [  +8.5  +38.1  +25.1   -2.1  -52.9  -26.9] |  -52.5 |   -0.4 | True
     01.9  [  +9.0  +39.6  +26.0   -2.1  -55.3  -26.8] |  -55.8 |   +0.5 | True
     02.2  [  +9.5  +44.9  +29.2   -2.5  -62.1  -26.8] |  -61.1 |   -1.0 | True
     02.5  [  +9.8  +46.3  +30.2   -2.5  -63.2  -26.8] |  -62.9 |   -0.3 | True
     02.8  [  +9.8  +46.7  +29.8   -2.5  -63.1  -26.8] |  -62.9 |   -0.2 | True
     02.9  [  +9.9  +47.0  +29.4   -2.5  -63.1  -26.8] |  -62.9 |   -0.2 | True
     03.2  [ +10.1  +51.2  +26.1   -2.5  -63.0  -26.8] |  -62.9 |   -0.1 | True
     03.5  [ +10.6  +54.7  +23.2   -2.5  -62.4  -26.8] |  -62.9 |   +0.6 | True
     03.8  [ +10.7  +57.4  +20.8   -2.6  -61.9  -26.9] |  -62.9 |   +1.0 | True
     03.9  [ +10.7  +58.0  +20.3   -2.5  -61.9  -26.8] |  -62.8 |   +1.0 | True
     04.2  [ +10.7  +59.8  +19.1   -2.6  -61.6  -26.9] |  -62.4 |   +0.8 | True
     04.4  [ +10.7  +59.6  +19.2   -2.6  -61.7  -26.9] |  -62.4 |   +0.7 | True
  -- 150950 入らなかった  閉じる指令 チャンク04
     00.2  [  +0.8   +5.9   +4.6   -0.3   -6.9  -29.5] |   -5.5 |   -1.3 | True
     00.5  [  +1.8  +11.9   +8.3   -1.1  -14.8  -28.4] |  -13.8 |   -1.0 | True
     00.8  [  +3.2  +17.1  +12.1   -1.8  -21.4  -27.4] |  -21.2 |   -0.2 | True
     00.9  [  +3.8  +18.6  +13.0   -1.9  -23.5  -27.2] |  -23.5 |   -0.0 | True
     01.2  [  +5.1  +23.9  +16.6   -2.6  -31.3  -26.6] |  -30.7 |   -0.6 | True
     01.5  [  +6.7  +29.8  +20.6   -2.8  -41.0  -26.5] |  -40.7 |   -0.3 | True
     01.8  [  +7.8  +35.6  +24.6   -2.8  -50.3  -26.5] |  -50.0 |   -0.3 | True
     01.9  [  +8.0  +36.7  +25.4   -2.7  -52.0  -26.4] |  -52.1 |   +0.1 | True
     02.2  [  +8.9  +42.6  +29.1   -2.9  -60.2  -26.5] |  -59.9 |   -0.3 | True
     02.5  [  +9.5  +45.6  +30.9   -2.8  -63.6  -26.5] |  -64.3 |   +0.7 | True
     02.8  [  +9.3  +45.8  +30.6   -2.6  -63.2  -26.4] |  -64.3 |   +1.1 | True
     02.9  [  +9.4  +45.7  +30.3   -2.6  -62.9  -26.4] |  -63.9 |   +1.0 | True
     03.2  [  +9.5  +47.8  +28.9   -2.5  -63.5  -26.4] |  -63.5 |   +0.1 | True
     03.5  [  +9.8  +51.6  +25.5   -2.5  -62.9  -26.5] |  -63.5 |   +0.6 | True
     03.8  [  +9.8  +55.3  +22.3   -2.5  -62.1  -26.6] |  -62.3 |   +0.2 | True
     03.9  [  +9.8  +56.0  +21.5   -2.5  -61.9  -26.6] |  -62.3 |   +0.4 | True
     04.2  [  +9.9  +59.0  +19.4   -2.6  -61.6  -26.6] |  -62.0 |   +0.5 | True
     04.4  [  +9.8  +59.0  +19.4   -2.6  -61.6  -26.6] |  -62.0 |   +0.3 | True
