Last login: Fri Oct 30 18:36:48 on ttys007
(base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % cd ~/r2r2r-scripts
ssh -i ~/.ssh/id_rsa_pi ubuntu@192.168.2.1 'pgrep -f mecharm_daemon.py >/dev/null && echo デーモン動いてる || (setsid nohup python3 /home/ubuntu/mecharm_daemon.py </dev/null >>/home/ubuntu/daemon.log 2>&1 &); sleep 8; tail -3 ~/daemon.log; ss -ltn | grep 5555'
python3 dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py
RAW=/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes
python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_194818 --scale 5 --alpha 0.7
デーモン動いてる
[DAEMON 18:13:44] send_angles 後の現在角度: [-0.26, 1.49, 1.75, -0.7, -2.28, -29.09]
[DAEMON 18:13:44] cmd received: get_angles
[DAEMON 18:13:44] 切断: ('192.168.2.2', 62315)
[INIT] daemon 接続中...
Traceback (most recent call last):
  File "/Users/shimazueiichi/r2r2r-scripts/dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py", line 97, in <module>
    main()
  File "/Users/shimazueiichi/r2r2r-scripts/dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py", line 37, in main
    get_daemon_socket()
  File "/Users/shimazueiichi/r2r2r-scripts/visual_servo_pick.py", line 528, in get_daemon_socket
    s.connect((DAEMON_HOST, DAEMON_PORT))
ConnectionRefusedError: [Errno 61] Connection refused
Traceback (most recent call last):
  File "<string>", line 1, in <module>
  File "/Users/shimazueiichi/r2r2r-scripts/visual_servo_pick.py", line 528, in get_daemon_socket
    s.connect((DAEMON_HOST, DAEMON_PORT))
ConnectionRefusedError: [Errno 61] Connection refused
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy= +13.1  dx= -12.9  response=0.009  → 測れない (相関が弱く dx/dy が当てにならない (response=0.009 < 0.20))
[ALIGN ] dy= +16.4  dx= -13.7  response=0.008  → 測れない (相関が弱く dx/dy が当てにならない (response=0.008 < 0.20))
[ALIGN ] dy= +11.4  dx= -12.5  response=0.010  → 測れない (相関が弱く dx/dy が当てにならない (response=0.010 < 0.20))
[ALIGN ] dy=  +9.3  dx= -11.6  response=0.011  → 測れない (相関が弱く dx/dy が当てにならない (response=0.011 < 0.20))
[ALIGN ] dy=  +8.3  dx= -11.1  response=0.012  → 測れない (相関が弱く dx/dy が当てにならない (response=0.012 < 0.20))
[ALIGN ] dy=  +9.4  dx= -11.7  response=0.011  → 測れない (相関が弱く dx/dy が当てにならない (response=0.011 < 0.20))
[ALIGN ] dy=  +6.1  dx= -10.7  response=0.013  → 測れない (相関が弱く dx/dy が当てにならない (response=0.013 < 0.20))
[ALIGN ] dy=  +3.8  dx= -10.6  response=0.014  → 測れない (相関が弱く dx/dy が当てにならない (response=0.014 < 0.20))
[ALIGN ] dy=  +7.2  dx= -11.4  response=0.011  → 測れない (相関が弱く dx/dy が当てにならない (response=0.011 < 0.20))
[ALIGN ] dy=  +4.4  dx= -10.7  response=0.013  → 測れない (相関が弱く dx/dy が当てにならない (response=0.013 < 0.20))
[ALIGN ] dy=  +2.6  dx=  -9.9  response=0.015  → 測れない (相関が弱く dx/dy が当てにならない (response=0.015 < 0.20))
[ALIGN ] dy=  +4.6  dx= -10.2  response=0.014  → 測れない (相関が弱く dx/dy が当てにならない (response=0.014 < 0.20))
[ALIGN ] dy=  -3.1  dx=  -8.3  response=0.024  → 測れない (相関が弱く dx/dy が当てにならない (response=0.024 < 0.20))
[ALIGN ] dy=  +2.5  dx=  -9.8  response=0.016  → 測れない (相関が弱く dx/dy が当てにならない (response=0.016 < 0.20))
[ALIGN ] dy=  +0.0  dx=  -9.0  response=0.017  → 測れない (相関が弱く dx/dy が当てにならない (response=0.017 < 0.20))
[ALIGN ] dy=  +1.2  dx=  -9.5  response=0.017  → 測れない (相関が弱く dx/dy が当てにならない (response=0.017 < 0.20))
[ALIGN ] dy=  -0.5  dx=  -8.7  response=0.019  → 測れない (相関が弱く dx/dy が当てにならない (response=0.019 < 0.20))
[ALIGN ] dy=  +1.1  dx=  -9.4  response=0.018  → 測れない (相関が弱く dx/dy が当てにならない (response=0.018 < 0.20))
[ALIGN ] dy=  +0.1  dx=  -9.0  response=0.018  → 測れない (相関が弱く dx/dy が当てにならない (response=0.018 < 0.20))
[ALIGN ] dy=  +1.3  dx=  -9.1  response=0.016  → 測れない (相関が弱く dx/dy が当てにならない (response=0.016 < 0.20))
[ALIGN ] dy=  -3.4  dx=  -8.4  response=0.025  → 測れない (相関が弱く dx/dy が当てにならない (response=0.025 < 0.20))
[ALIGN ] dy=  -5.6  dx=  -7.7  response=0.041  → 測れない (相関が弱く dx/dy が当てにならない (response=0.041 < 0.20))
[ALIGN ] dy=  +2.3  dx= -10.4  response=0.014  → 測れない (相関が弱く dx/dy が当てにならない (response=0.014 < 0.20))
[ALIGN ] dy= +15.5  dx= -14.2  response=0.008  → 測れない (相関が弱く dx/dy が当てにならない (response=0.008 < 0.20))
[ALIGN ] dy= +13.6  dx= -13.5  response=0.008  → 測れない (相関が弱く dx/dy が当てにならない (response=0.008 < 0.20))
[ALIGN ] dy= +10.7  dx= -12.1  response=0.010  → 測れない (相関が弱く dx/dy が当てにならない (response=0.010 < 0.20))
[ALIGN ] dy=  +2.2  dx=  -9.2  response=0.017  → 測れない (相関が弱く dx/dy が当てにならない (response=0.017 < 0.20))
[ALIGN ] dy=  -0.5  dx=  -9.0  response=0.020  → 測れない (相関が弱く dx/dy が当てにならない (response=0.020 < 0.20))
[ALIGN ] dy=  +1.4  dx=  -9.9  response=0.015  → 測れない (相関が弱く dx/dy が当てにならない (response=0.015 < 0.20))
[ALIGN ] dy=  +3.9  dx= -10.3  response=0.015  → 測れない (相関が弱く dx/dy が当てにならない (response=0.015 < 0.20))
[ALIGN ] dy=  +2.1  dx= -10.0  response=0.017  → 測れない (相関が弱く dx/dy が当てにならない (response=0.017 < 0.20))
[ALIGN ] dy=  -2.4  dx=  -8.6  response=0.022  → 測れない (相関が弱く dx/dy が当てにならない (response=0.022 < 0.20))
[ALIGN ] dy=  +0.1  dx= -12.9  response=0.016  → 測れない (相関が弱く dx/dy が当てにならない (response=0.016 < 0.20))
[ALIGN ] dy=  -3.1  dx= -11.2  response=0.019  → 測れない (相関が弱く dx/dy が当てにならない (response=0.019 < 0.20))
[ALIGN ] dy= -65.4  dx= +16.9  response=-0.004  → 測れない (相関が弱く dx/dy が当てにならない (response=-0.004 < 0.20))
[ALIGN ] dy=  -5.7  dx= -12.1  response=0.039  → 測れない (相関が弱く dx/dy が当てにならない (response=0.039 < 0.20))
[ALIGN ] dy= -71.7  dx=  +8.8  response=-0.004  → 測れない (相関が弱く dx/dy が当てにならない (response=-0.004 < 0.20))
[ALIGN ] dy= +25.7  dx= -21.8  response=0.006  → 測れない (相関が弱く dx/dy が当てにならない (response=0.006 < 0.20))
[ALIGN ] dy=  +1.1  dx= -13.7  response=0.020  → 測れない (相関が弱く dx/dy が当てにならない (response=0.020 < 0.20))
[ALIGN ] dy=  -4.4  dx= -14.5  response=0.032  → 測れない (相関が弱く dx/dy が当てにならない (response=0.032 < 0.20))
[ALIGN ] dy=  +0.1  dx= -14.1  response=0.022  → 測れない (相関が弱く dx/dy が当てにならない (response=0.022 < 0.20))
[ALIGN ] dy=  -5.3  dx= -14.9  response=0.042  → 測れない (相関が弱く dx/dy が当てにならない (response=0.042 < 0.20))
[ALIGN ] dy=  -6.9  dx= -19.4  response=0.055  → 測れない (相関が弱く dx/dy が当てにならない (response=0.055 < 0.20))
[ALIGN ] dy=  -2.1  dx= -20.5  response=0.050  → 測れない (相関が弱く dx/dy が当てにならない (response=0.050 < 0.20))
[ALIGN ] dy=  -5.2  dx= -20.9  response=0.093  → 測れない (相関が弱く dx/dy が当てにならない (response=0.093 < 0.20))
[ALIGN ] dy=  -2.7  dx= -21.5  response=0.100  → 測れない (相関が弱く dx/dy が当てにならない (response=0.100 < 0.20))
[ALIGN ] dy=  +0.9  dx= -20.4  response=0.092  → 測れない (相関が弱く dx/dy が当てにならない (response=0.092 < 0.20))
[ALIGN ] dy=  +4.6  dx= -18.4  response=0.072  → 測れない (相関が弱く dx/dy が当てにならない (response=0.072 < 0.20))
[ALIGN ] dy=  +2.7  dx= -18.2  response=0.078  → 測れない (相関が弱く dx/dy が当てにならない (response=0.078 < 0.20))
[ALIGN ] dy=  +5.0  dx= -13.4  response=0.048  → 測れない (相関が弱く dx/dy が当てにならない (response=0.048 < 0.20))
[ALIGN ] dy=  +3.9  dx= -15.4  response=0.058  → 測れない (相関が弱く dx/dy が当てにならない (response=0.058 < 0.20))
[ALIGN ] dy=  +2.6  dx= -14.8  response=0.101  → 測れない (相関が弱く dx/dy が当てにならない (response=0.101 < 0.20))
[ALIGN ] dy=  +4.0  dx= -12.4  response=0.087  → 測れない (相関が弱く dx/dy が当てにならない (response=0.087 < 0.20))
[ALIGN ] dy=  +2.9  dx= -13.8  response=0.081  → 測れない (相関が弱く dx/dy が当てにならない (response=0.081 < 0.20))
[ALIGN ] dy=  +1.8  dx= -13.9  response=0.096  → 測れない (相関が弱く dx/dy が当てにならない (response=0.096 < 0.20))
[ALIGN ] dy=  -0.7  dx= -14.8  response=0.102  → 測れない (相関が弱く dx/dy が当てにならない (response=0.102 < 0.20))
[ALIGN ] dy=  +3.3  dx= -12.6  response=0.060  → 測れない (相関が弱く dx/dy が当てにならない (response=0.060 < 0.20))
[ALIGN ] dy=  +0.3  dx= -13.8  response=0.090  → 測れない (相関が弱く dx/dy が当てにならない (response=0.090 < 0.20))
[ALIGN ] dy=  +3.3  dx= -12.5  response=0.062  → 測れない (相関が弱く dx/dy が当てにならない (response=0.062 < 0.20))
[ALIGN ] dy=  -0.3  dx= -13.9  response=0.104  → 測れない (相関が弱く dx/dy が当てにならない (response=0.104 < 0.20))
[ALIGN ] dy=  +3.4  dx= -12.7  response=0.061  → 測れない (相関が弱く dx/dy が当てにならない (response=0.061 < 0.20))
[ALIGN ] dy=  -0.0  dx= -13.9  response=0.097  → 測れない (相関が弱く dx/dy が当てにならない (response=0.097 < 0.20))
[ALIGN ] dy=  +5.3  dx= -13.0  response=0.042  → 測れない (相関が弱く dx/dy が当てにならない (response=0.042 < 0.20))
[ALIGN ] dy=  +0.3  dx= -14.1  response=0.086  → 測れない (相関が弱く dx/dy が当てにならない (response=0.086 < 0.20))
[ALIGN ] dy=  +3.0  dx= -12.6  response=0.067  → 測れない (相関が弱く dx/dy が当てにならない (response=0.067 < 0.20))
[ALIGN ] dy=  -0.1  dx= -13.9  response=0.112  → 測れない (相関が弱く dx/dy が当てにならない (response=0.112 < 0.20))
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
(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 --ignore-framing
[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_20261030_183910
[CAMERA] 写り方 dy=-18.8 dx=+0.3 response=0.075 → 測れない (相関が弱く dx/dy が当てにならない (response=0.075 < 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
[WARN  ] 写り方が『測れない』だが --ignore-framing が指定されたので続けます
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_183910
Traceback (most recent call last):
  File "/Users/shimazueiichi/r2r2r-scripts/pi05/run_policy_client.py", line 1359, in <module>
    sys.exit(main())
             ^^^^^^
  File "/Users/shimazueiichi/r2r2r-scripts/pi05/run_policy_client.py", line 927, in main
    get_daemon_socket()
  File "/Users/shimazueiichi/r2r2r-scripts/visual_servo_pick.py", line 528, in get_daemon_socket
    s.connect((DAEMON_HOST, DAEMON_PORT))
ConnectionRefusedError: [Errno 61] Connection refused
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts
python3 dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py
[INIT] daemon 接続中...
Traceback (most recent call last):
  File "/Users/shimazueiichi/r2r2r-scripts/dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py", line 97, in <module>
    main()
  File "/Users/shimazueiichi/r2r2r-scripts/dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py", line 37, in main
    get_daemon_socket()
  File "/Users/shimazueiichi/r2r2r-scripts/visual_servo_pick.py", line 528, in get_daemon_socket
    s.connect((DAEMON_HOST, DAEMON_PORT))
ConnectionRefusedError: [Errno 61] Connection refused
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts
ssh -i ~/.ssh/id_rsa_pi ubuntu@192.168.2.1 'pkill -f mecharm_daemon.py; sleep 2; (setsid nohup python3 /home/ubuntu/mecharm_daemon.py </dev/null >>/home/ubuntu/daemon.log 2>&1 &); sleep 8; tail -5 ~/daemon.log; ss -ltn | grep 5555'
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % ssh -i ~/.ssh/id_rsa_pi ubuntu@192.168.2.1 'pkill -f "[m]echarm_daemon.py"; sleep 2; (setsid nohup python3 /home/ubuntu/mecharm_daemon.py </dev/null >>/home/ubuntu/daemon.log 2>&1 &); sleep 8; tail -5 ~/daemon.log; ss -ltn | grep 5555'
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % ssh -i ~/.ssh/id_rsa_pi ubuntu@192.168.2.1 'pkill -f "[m]echarm_daemon.py"; echo 止めた'
止めた
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % ssh -i ~/.ssh/id_rsa_pi ubuntu@192.168.2.1 '(setsid nohup python3 /home/ubuntu/mecharm_daemon.py </dev/null >>/home/ubuntu/daemon.log 2>&1 &); sleep 8; tail -5 ~/daemon.log; ss -ltn | grep 5555'
[DAEMON 15:10:43] MyCobot 初期化中 (/dev/ttyAMA0, baud=1000000)...
Note: This class is no longer maintained since v3.6.0, please refer to the project documentation: https://github.com/elephantrobotics/pymycobot/blob/main/README.md
[DAEMON 15:10:45] ✓ MyCobot 初期化完了
[DAEMON 15:10:45] startup_warmup angles=[0.17, 93.42, -11.07, 2.02, -84.19, -30.05]
[DAEMON 15:10:45] ポート 5555 で待ち受け中...
LISTEN0      1                                 0.0.0.0:5555        0.0.0.0:*    
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts
python3 dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py
[INIT] daemon 接続中...
  [WARN] fresh_mode切替不可: daemon error: set_fresh_mode is not available in this pymycobot environment
[INIT] fresh_mode=1
[PRE]  現在姿勢: [0.17, 93.42, -11.07, 2.02, -84.19, -30.05]
[SEND] HOME へ移動指令
[WAIT] t=2.6s  max_err=1.31°
[DONE] HOME 到達 max_err=1.31°
[POST] 最終姿勢: [0.17, 1.14, 0.61, 0.52, 1.31, -30.05]
  [WARN] fresh_mode切替不可: daemon error: set_fresh_mode is not available in this pymycobot environment
[EXIT] fresh_mode=0, socket close
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
  [Pi] GRIPPER: OPEN result= -1
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py
RAW=/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes
python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_194818 --scale 5 --alpha 0.7
[INIT] daemon 接続中...
  [WARN] fresh_mode切替不可: daemon error: set_fresh_mode is not available in this pymycobot environment
[INIT] fresh_mode=1
[PRE]  現在姿勢: [0.17, 1.14, 0.70, 0.26, 0.08, -30.05]
[SEND] HOME へ移動指令
[WAIT] t=2.0s  max_err=1.14°
[DONE] HOME 到達 max_err=1.14°
[POST] 最終姿勢: [0.17, 1.14, 0.70, 0.26, 0.08, -30.05]
  [WARN] fresh_mode切替不可: daemon error: set_fresh_mode is not available in this pymycobot environment
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= -1
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  -0.5  dx=  -1.9  response=0.967  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
(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 --ignore-framing
[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_20261030_184245
[CAMERA] 写り方 dy=-6.6 dx=+4.9 response=0.575 → 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={}
[RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_184245/recording
[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 48251ms  10ステップ先  Δ= +4.4 +16.6 +11.0  -2.4 -24.6  +3.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / 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) [  +0.86,   +5.69,   +2.97,   -0.28,   -6.38,  -29.42]  speed=20 wait=1.0s  (pre max|Δ|=6.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +4.5  +2.3  -0.5  -6.5  +0.6  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +2.46,  +10.87,   +6.60,   -1.04,  -14.43,  -28.45]  speed=20 wait=1.0s  (pre max|Δ|=8.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.7  +4.4  +2.7  -1.0  -8.5  +1.4  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +4.16,  +16.15,  +10.60,   -1.97,  -22.35,  -27.35]  speed=20 wait=1.0s  (pre max|Δ|=8.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.1  +4.4  +3.2  -0.7  -8.1  +1.6  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +4.59,  +17.74,  +11.68,   -2.17,  -24.53,  -27.08]  speed=20 wait=1.0s  (pre max|Δ|=2.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.80° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  +0.7  +0.3  +0.2  -2.5  +0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.80°（関節 j1）
[001] 推論 939ms  10ステップ先  Δ= +6.5 +18.2 +11.8  +0.2 -27.5  +0.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +6.09,  +22.96,  +15.18,   -2.38,  -32.76,  -26.72]  speed=20 wait=1.0s  (pre max|Δ|=7.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.85° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.8  +4.4  +2.9  -0.0  -7.5  +0.5  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +8.08,  +28.79,  +19.14,   -2.22,  -41.76,  -26.64]  speed=20 wait=1.0s  (pre max|Δ|=9.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.3  +5.0  +3.2  +0.6  -9.8  +0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ +10.01,  +34.78,  +23.19,   -2.28,  -50.25,  -26.62]  speed=20 wait=1.0s  (pre max|Δ|=8.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.5  +5.1  +3.4  +0.5  -8.9  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ +10.78,  +36.76,  +24.11,   -2.21,  -52.79,  -26.57]  speed=20 wait=1.0s  (pre max|Δ|=2.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.9  +1.0  +0.4  +0.4  -2.9  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.94°（関節 j1）
[002] 推論 2624ms  10ステップ先  Δ= +2.2  +7.7  +5.6  -0.3 -10.1  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ +12.22,  +42.80,  +28.11,   -2.63,  -60.76,  -26.56]  speed=20 wait=1.0s  (pre max|Δ|=8.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.3  +5.1  +4.4  -0.2  -8.0  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +12.88,  +45.66,  +30.00,   -2.74,  -63.64,  -26.57]  speed=20 wait=1.0s  (pre max|Δ|=3.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +1.9  +1.7  -0.5  -3.1  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +13.06,  +45.63,  +29.77,   -2.76,  -63.06,  -26.58]  speed=20 wait=1.0s  (pre max|Δ|=1.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.27° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -1.1  -0.6  -0.7  +1.3  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +13.06,  +45.36,  +29.37,   -2.78,  -62.82,  -26.57]  speed=20 wait=1.0s  (pre max|Δ|=1.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -1.4  -1.0  -0.6  +1.5  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.39°（関節 j1）
[003] 推論 1079ms  10ステップ先  Δ= +0.8  +9.5  -9.6  -0.5  +2.5  +0.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ +13.28,  +49.09,  +26.88,   -2.75,  -62.60,  -26.61]  speed=20 wait=1.0s  (pre max|Δ|=3.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  +2.3  -3.5  -0.4  +0.8  +0.1  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +13.70,  +52.50,  +23.94,   -2.78,  -61.75,  -26.65]  speed=20 wait=1.0s  (pre max|Δ|=4.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  +2.6  -4.0  -0.3  +1.2  +0.1  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +13.81,  +55.57,  +21.44,   -2.87,  -61.24,  -26.69]  speed=20 wait=1.0s  (pre max|Δ|=3.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +2.1  -3.4  -0.2  +0.8  +0.0  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +13.79,  +56.22,  +20.77,   -2.87,  -61.05,  -26.70]  speed=20 wait=1.0s  (pre max|Δ|=1.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.37° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.3  -1.6  -0.2  +0.5  +0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.37°（関節 j2）
[004] 推論 2240ms  5ステップ先  Δ= +0.1  +1.6  -2.8  -0.4  +0.4  -0.0  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 4
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ +13.85,  +58.97,  +19.22,   -2.95,  -60.78,  -26.72]  speed=20 wait=1.0s  (pre max|Δ|=2.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.73° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  +1.9  -2.9  -0.3  +0.6  -0.0  着いた
[SEND] pi05_chunk004_via04: send_angles (single) [ +13.78,  +58.73,  +19.34,   -2.98,  -60.98,  -26.72]  speed=20 wait=1.0s  (pre max|Δ|=0.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  4  Δ= +0.1  -0.9  -0.6  -0.4  +0.3  +0.1  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 1.59°（関節 j4）
[005] 推論 1230ms  10ステップ先  Δ= -0.1  -9.3  +6.7  -0.3  -1.0  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ +13.74,  +58.17,  +19.54,   -2.76,  -61.64,  -27.06]  speed=20 wait=1.0s  (pre max|Δ|=1.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.33° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -1.5  -0.3  -0.1  +0.6  +0.0  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +13.70,  +55.40,  +22.28,   -2.80,  -62.40,  -26.92]  speed=20 wait=1.0s  (pre max|Δ|=4.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -4.1  +2.4  -0.2  -0.4  +0.2  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +13.33,  +51.27,  +25.75,   -2.85,  -63.31,  -26.75]  speed=20 wait=1.0s  (pre max|Δ|=5.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -5.6  +3.9  +0.1  -2.9  +0.3  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +13.21,  +50.32,  +26.58,   -2.83,  -63.54,  -26.74]  speed=20 wait=1.0s  (pre max|Δ|=2.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.97° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -2.8  +0.7  +0.3  -1.8  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.97°（関節 j1）
[006] 推論 820ms  10ステップ先  Δ=+10.8  -4.3  -8.3  +2.9  +2.6  -2.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ +13.00,  +47.21,  +29.60,   -2.89,  -64.16,  -26.60]  speed=20 wait=1.0s  (pre max|Δ|=5.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.74° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  -5.1  +3.0  +0.2  -1.7  +0.2  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +15.88,  +46.95,  +27.63,   -2.24,  -63.29,  -27.20]  speed=20 wait=1.0s  (pre max|Δ|=2.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.6  -2.0  -2.0  +0.8  +1.3  -0.4  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +22.13,  +47.71,  +20.35,   -0.72,  -60.45,  -28.76]  speed=20 wait=1.0s  (pre max|Δ|=8.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.24° (tol 3.0°)
       [VIA   ] step  8  Δ= +6.4  -1.2  -8.6  +1.8  +4.1  -2.0  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +24.11,  +47.97,  +18.35,   -0.26,  -59.79,  -29.28]  speed=20 wait=1.0s  (pre max|Δ|=3.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.1  -1.0  -3.1  +1.1  +1.6  -1.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.07°（関節 j2）
[007] 推論 804ms  10ステップ先  Δ=+19.9  +6.2 -23.9  +4.8 +10.4  -5.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ +30.90,  +49.12,  +10.21,   +1.41,  -56.57,  -30.86]  speed=20 wait=1.0s  (pre max|Δ|=9.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.21° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.8  +0.2  -9.2  +1.8  +3.6  -2.0  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +37.72,  +50.88,   +1.75,   +3.06,  -52.25,  -32.52]  speed=20 wait=1.0s  (pre max|Δ|=9.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  5  Δ= +7.0  +1.0  -9.7  +2.2  +4.8  -1.9  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +43.30,  +53.70,   -3.93,   +4.26,  -49.66,  -33.87]  speed=20 wait=1.0s  (pre max|Δ|=6.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.21° (tol 3.0°)
       [VIA   ] step  8  Δ= +5.6  +1.9  -6.8  +1.5  +3.0  -1.7  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +44.01,  +55.15,   -4.51,   +4.44,  -49.84,  -34.01]  speed=20 wait=1.0s  (pre max|Δ|=1.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.9  +0.4  -1.8  -0.0  +0.1  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.44°（関節 j2）
[008] 推論 2302ms  10ステップ先  Δ= -0.6 +11.2  -2.0  +1.5 -11.0  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ +43.84,  +59.72,   -4.49,   +4.91,  -53.91,  -34.00]  speed=20 wait=1.0s  (pre max|Δ|=3.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.53° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  +3.4  -1.4  +0.5  -4.0  -0.3  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +43.66,  +64.05,   -4.72,   +5.38,  -57.52,  -34.02]  speed=20 wait=1.0s  (pre max|Δ|=5.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.19° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  +3.2  -1.6  +0.7  -5.1  -0.4  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +43.52,  +67.16,   -5.01,   +5.77,  -60.46,  -34.07]  speed=20 wait=1.0s  (pre max|Δ|=2.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.6  +2.2  -1.2  +0.8  -1.8  -0.5  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +43.47,  +67.53,   -5.10,   +5.86,  -60.97,  -34.09]  speed=20 wait=1.0s  (pre max|Δ|=1.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.25° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.7  -0.3  -0.6  +0.4  +1.3  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.25°（関節 j4）
[009] 推論 922ms  2ステップ先  Δ= -0.9  -0.7  -0.6  +0.4  +1.3  -0.6  グリッパー→開
       [VIA   ] 中継点 1 点: step 1
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via01: send_angles (single) [ +43.24,  +67.31,   -5.12,   +5.98,  -60.89,  -34.17]  speed=20 wait=1.0s  (pre max|Δ|=1.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  1  Δ= -0.9  -0.7  -0.6  +0.4  +1.2  -0.6  着いた
  [Pi] GRIPPER: OPEN result= -1
[STATE ] 目標を渡す  目標と実測の最大差 0.87°（関節 j4）
[010] 推論 881ms  10ステップ先  Δ= +0.7 -13.1  +0.1  -0.5  +9.6  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +43.31,  +64.10,   -5.10,   +6.09,  -58.31,  -34.52]  speed=20 wait=1.0s  (pre max|Δ|=3.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -3.9  -0.2  -0.4  +1.8  +0.3  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +43.81,  +60.78,   -5.37,   +6.07,  -55.11,  -34.66]  speed=20 wait=1.0s  (pre max|Δ|=5.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.32° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  -5.1  -0.9  +0.5  +2.2  +0.1  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +44.08,  +56.72,   -5.15,   +6.26,  -51.62,  -34.82]  speed=20 wait=1.0s  (pre max|Δ|=6.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  -6.4  -0.8  +0.6  +2.0  -0.0  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +43.65,  +54.89,   -4.83,   +6.28,  -50.37,  -34.79]  speed=20 wait=1.0s  (pre max|Δ|=3.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.15° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -4.0  -0.5  +0.6  +0.7  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.15°（関節 j1）
[011] 推論 2036ms  10ステップ先  Δ=-16.6 -27.3  +2.9  -3.3 +23.2  +2.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +41.97,  +49.52,   -4.25,   +5.69,  -45.64,  -34.58]  speed=20 wait=1.0s  (pre max|Δ|=7.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.7  -7.5  -0.0  -0.2  +4.7  +0.3  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +36.34,  +41.96,   -3.16,   +4.45,  -38.72,  -33.89]  speed=20 wait=1.0s  (pre max|Δ|=9.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.98° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.8  -9.6  +0.5  -2.0  +7.2  +1.0  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +29.57,  +33.03,   -1.85,   +2.87,  -30.27,  -33.07]  speed=20 wait=1.0s  (pre max|Δ|=10.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.95° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.1 -10.9  +0.8  -2.1  +8.4  +1.3  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +27.08,  +29.70,   -1.29,   +2.38,  -27.21,  -32.81]  speed=20 wait=1.0s  (pre max|Δ|=5.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.6  -5.3  -0.1  -0.9  +3.3  +0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.76°（関節 j1）
[012] 推論 990ms  10ステップ先  Δ=-22.8 -29.5  +1.2  -2.0 +25.6  +2.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk012_via02: send_angles (single) [ +20.24,  +21.42,   -0.21,   +1.05,  -19.17,  -31.94]  speed=20 wait=1.0s  (pre max|Δ|=10.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.69° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.6 -10.0  +0.3  -1.0  +8.3  +1.1  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +13.02,  +12.19,   +0.60,   +0.26,  -10.84,  -31.32]  speed=20 wait=1.0s  (pre max|Δ|=10.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.52° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.3 -10.9  +0.2  -1.1  +8.4  +0.8  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [  +5.71,   +3.91,   +0.75,   +0.13,   -3.44,  -31.12]  speed=20 wait=1.0s  (pre max|Δ|=9.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.36° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.5  -9.8  -0.5  -0.4  +7.7  +0.4  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [  +4.01,   +1.96,   +0.70,   +0.11,   -1.89,  -31.06]  speed=20 wait=1.0s  (pre max|Δ|=3.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.1  -3.3  -0.5  -0.1  +1.9  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.29°（関節 j1）
[013] 推論 1193ms  10ステップ先  Δ= -2.0  -2.1  -0.4  -0.1  +0.4  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / 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|=3.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.40° (tol 2.5°)
[RECORD] 記録終了 コマ 2174 (9.034 fps) 実測角 1110 回 (4.61 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_184245/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > y
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_184245
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py
python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_194818 --scale 5 --alpha 0.7
python3 pi05/run_policy_client.py --raw-dir $RAW --steps-per-chunk 10 --via-stride 3 --settle-retries 0 --state-from-target --execute --ignore-framing
[INIT] daemon 接続中...
  [WARN] fresh_mode切替不可: daemon error: set_fresh_mode is not available in this pymycobot environment
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.43, 1.05, 1.23, 0.08, 0.17, -30.14]
[SEND] HOME へ移動指令
[WAIT] t=2.0s  max_err=1.23°
[DONE] HOME 到達 max_err=1.23°
[POST] 最終姿勢: [-0.43, 1.05, 1.23, 0.08, 0.17, -30.14]
  [WARN] fresh_mode切替不可: daemon error: set_fresh_mode is not available in this pymycobot environment
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= -1
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  +1.0  dx=  -3.6  response=0.897  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +2.6  dx=  +2.7  response=0.816  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +4.5  dx=  +4.3  response=0.817  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +2.9  dx=  +1.8  response=0.873  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +1.7  dx=  +3.4  response=0.902  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +3.2  dx=  +6.9  response=0.617  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +6.2  dx=  +9.3  response=0.503  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +9.4  dx=  +9.5  response=0.531  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +10.6  dx= +11.3  response=0.433  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +8.4  dx= +10.3  response=0.658  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +6.5  dx= +10.2  response=0.726  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +3.3  dx= +10.4  response=0.648  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +2.2  dx=  +7.9  response=0.564  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +0.8  dx=  +4.4  response=0.921  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
[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_20261030_185133
[CAMERA] 写り方 dy=-5.2 dx=+10.9 response=0.552 → 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={}
[RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_185133/recording
[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 1778ms  10ステップ先  Δ= +4.2 +16.1 +11.8  -3.0 -23.2  +2.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / 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) [  +0.40,   +5.31,   +3.90,   -0.54,   -6.04,  -29.51]  speed=20 wait=1.0s  (pre max|Δ|=6.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +4.3  +2.7  -0.6  -6.2  +0.6  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.86,  +10.62,   +7.89,   -1.57,  -13.51,  -28.53]  speed=20 wait=1.0s  (pre max|Δ|=8.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.8  +4.5  +3.0  -1.3  -8.4  +1.2  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +3.47,  +15.80,  +12.00,   -2.61,  -20.91,  -27.50]  speed=20 wait=1.0s  (pre max|Δ|=8.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.1  +4.4  +3.1  -1.2  -8.3  +1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.81,  +17.17,  +13.01,   -2.92,  -23.08,  -27.20]  speed=20 wait=1.0s  (pre max|Δ|=2.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.84° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  +0.5  +0.2  +0.1  -2.7  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.84°（関節 j1）
[001] 推論 873ms  10ステップ先  Δ= +6.2 +17.9 +11.4  -0.7 -29.9  +1.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > b
[REWIND] 推論 0 を巻き戻す: 中継点 4 点 → 始めの姿勢 -0.4 +1.1 +1.2 +0.1 +0.2 -30.1
[SEND] pi05_rewind_00: send_angles (single) [  +3.47,  +15.80,  +12.00,   -2.61,  -20.91,  -27.50]  speed=20 wait=1.0s  (pre max|Δ|=2.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [BACK  ] 1/4  → +3.5 +15.8 +12.0 -2.6 -20.9 -27.5  着いた
[SEND] pi05_rewind_01: send_angles (single) [  +1.86,  +10.62,   +7.89,   -1.57,  -13.51,  -28.53]  speed=20 wait=1.0s  (pre max|Δ|=8.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [BACK  ] 2/4  → +1.9 +10.6 +7.9 -1.6 -13.5 -28.5  着いた
[SEND] pi05_rewind_02: send_angles (single) [  +0.40,   +5.31,   +3.90,   -0.54,   -6.04,  -29.51]  speed=20 wait=1.0s  (pre max|Δ|=8.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [BACK  ] 3/4  → +0.4 +5.3 +3.9 -0.5 -6.0 -29.5  着いた
[SEND] pi05_rewind_03: send_angles (single) [  -0.43,   +1.05,   +1.23,   +0.08,   +0.17,  -30.14]  speed=20 wait=1.0s  (pre max|Δ|=6.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.40° (tol 3.0°)
       [BACK  ] 4/4  → -0.4 +1.0 +1.2 +0.1 +0.2 -30.1  着いた
[STATE ] 実測を渡す (直前に送った目標がない)
[002] 推論 2338ms  10ステップ先  Δ= +4.6 +19.1 +12.3  -2.1 -27.5  +2.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 1 に入りました (推論 2 のあと)
  [補正] 1〜6=関節を選ぶ (j0〜j5) / + か . = 選んだ関節を +1 刻み / - か , = -1 刻み
         [ ] = 刻みを 0.5° / 1° / 2° で切り替え / g = グリッパー開閉
         Enter = 補正を終えてモデルの推論に戻る / b = 補正を取り消して始めの姿勢へ戻る
         ? = この一覧
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+0.1 j1=+2.2 j2=+2.6 j3=-0.2 j4=+0.0 j5=-29.8  グリッパー 開
[SEND] pi05_corr01_000: send_angles (single) [  -0.92,   +2.19,   +2.63,   -0.17,   +0.00,  -29.79]  speed=20 wait=1.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-0.9 j1=+2.2 j2=+2.6 j3=-0.2 j4=+0.0 j5=-29.8  グリッパー 開
[SEND] pi05_corr01_001: send_angles (single) [  -1.92,   +2.19,   +2.63,   -0.17,   +0.00,  -29.79]  speed=20 wait=1.0s  (pre max|Δ|=0.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-1.9 j1=+2.2 j2=+2.6 j3=-0.2 j4=+0.0 j5=-29.8  グリッパー 開
[SEND] pi05_corr01_002: send_angles (single) [  -2.92,   +2.19,   +2.63,   -0.17,   +0.00,  -29.79]  speed=20 wait=1.0s  (pre max|Δ|=0.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-2.9 j1=+2.2 j2=+2.6 j3=-0.2 j4=+0.0 j5=-29.8  グリッパー 開
[SEND] pi05_corr01_003: send_angles (single) [  -1.92,   +2.19,   +2.63,   -0.17,   +0.00,  -29.79]  speed=20 wait=1.0s  (pre max|Δ|=1.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-1.9 j1=+2.2 j2=+2.6 j3=-0.2 j4=+0.0 j5=-29.8  グリッパー 開
[SEND] pi05_corr01_004: send_angles (single) [  -0.92,   +2.19,   +2.63,   -0.17,   +0.00,  -29.79]  speed=20 wait=1.0s  (pre max|Δ|=0.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-0.9 j1=+2.2 j2=+2.6 j3=-0.2 j4=+0.0 j5=-29.8  グリッパー 開
[SEND] pi05_corr01_005: send_angles (single) [  -1.92,   +2.19,   +2.63,   -0.17,   +0.00,  -29.79]  speed=20 wait=1.0s  (pre max|Δ|=0.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-1.9 j1=+2.2 j2=+2.6 j3=-0.2 j4=+0.0 j5=-29.8  グリッパー 開
[SEND] pi05_corr01_006: send_angles (single) [  -2.92,   +2.19,   +2.63,   -0.17,   +0.00,  -29.79]  speed=20 wait=1.0s  (pre max|Δ|=1.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-2.9 j1=+2.2 j2=+2.6 j3=-0.2 j4=+0.0 j5=-29.8  グリッパー 開
[CORR  ] 補正 1 を終えました (7 刻み). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[003] 推論 1085ms  10ステップ先  Δ= +1.6 +19.4 +10.2  -2.5 -26.6  +2.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 2 に入りました (推論 3 のあと)
  [補正] 1〜6=関節を選ぶ (j0〜j5) / + か . = 選んだ関節を +1 刻み / - か , = -1 刻み
         [ ] = 刻みを 0.5° / 1° / 2° で切り替え / g = グリッパー開閉
         Enter = 補正を終えてモデルの推論に戻る / b = 補正を取り消して始めの姿勢へ戻る
         ? = この一覧
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-3.2 j1=+3.1 j2=+3.3 j3=-0.1 j4=+0.1 j5=-29.8  グリッパー 開
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-3.2 j1=+3.1 j2=+3.3 j3=-0.1 j4=+0.1 j5=-29.8  グリッパー 開
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-3.2 j1=+3.1 j2=+3.3 j3=-0.1 j4=+0.1 j5=-29.8  グリッパー 開
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-3.2 j1=+3.1 j2=+3.3 j3=-0.1 j4=+0.1 j5=-29.8  グリッパー 開
[SEND] pi05_corr02_000: send_angles (single) [  -4.16,   +3.07,   +3.33,   -0.08,   +0.08,  -29.79]  speed=20 wait=1.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-4.2 j1=+3.1 j2=+3.3 j3=-0.1 j4=+0.1 j5=-29.8  グリッパー 開
[SEND] pi05_corr02_001: send_angles (single) [  -5.16,   +3.07,   +3.33,   -0.08,   +0.08,  -29.79]  speed=20 wait=1.0s  (pre max|Δ|=0.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-5.2 j1=+3.1 j2=+3.3 j3=-0.1 j4=+0.1 j5=-29.8  グリッパー 開
[SEND] pi05_corr02_002: send_angles (single) [  -6.16,   +3.07,   +3.33,   -0.08,   +0.08,  -29.79]  speed=20 wait=1.0s  (pre max|Δ|=0.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-6.2 j1=+3.1 j2=+3.3 j3=-0.1 j4=+0.1 j5=-29.8  グリッパー 開
[SEND] pi05_corr02_003: send_angles (single) [  -5.16,   +3.07,   +3.33,   -0.08,   +0.08,  -29.79]  speed=20 wait=1.0s  (pre max|Δ|=0.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-5.2 j1=+3.1 j2=+3.3 j3=-0.1 j4=+0.1 j5=-29.8  グリッパー 開
[SEND] pi05_corr02_004: send_angles (single) [  -4.16,   +3.07,   +3.33,   -0.08,   +0.08,  -29.79]  speed=20 wait=1.0s  (pre max|Δ|=1.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-4.2 j1=+3.1 j2=+3.3 j3=-0.1 j4=+0.1 j5=-29.8  グリッパー 開
[CORR  ] 補正 2 を終えました (5 刻み). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[004] 推論 1203ms  10ステップ先  Δ= -6.1 +21.0  +8.3  -1.4 -27.5  +2.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [  -6.93,  +10.04,   +5.82,   -0.24,   -7.66,  -29.34]  speed=20 wait=1.0s  (pre max|Δ|=8.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.5  +6.2  +1.8  -0.2  -8.0  +0.4  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [  -8.84,  +16.48,   +8.55,   -0.99,  -15.94,  -28.55]  speed=20 wait=1.0s  (pre max|Δ|=7.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.1  +5.5  +1.8  -1.2  -7.5  +1.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -10.14,  +23.01,  +11.47,   -1.38,  -24.65,  -27.86]  speed=20 wait=1.0s  (pre max|Δ|=9.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.8  +5.5  +2.1  -1.2  -9.0  +1.4  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -10.48,  +24.82,  +12.36,   -1.37,  -27.17,  -27.71]  speed=20 wait=1.0s  (pre max|Δ|=2.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  +0.9  +0.2  -0.6  -2.7  +0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.93°（関節 j1）
[005] 推論 1269ms  10ステップ先  Δ=-11.4 +22.9  +7.1  -1.1 -32.1  +0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 3 に入りました (推論 5 のあと)
  [補正] 1〜6=関節を選ぶ (j0〜j5) / + か . = 選んだ関節を +1 刻み / - か , = -1 刻み
         [ ] = 刻みを 0.5° / 1° / 2° で切り替え / g = グリッパー開閉
         Enter = 補正を終えてモデルの推論に戻る / b = 補正を取り消して始めの姿勢へ戻る
         ? = この一覧
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-10.3 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_000: send_angles (single) [  -9.28,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-9.3 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_001: send_angles (single) [  -8.28,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-8.3 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_002: send_angles (single) [  -7.28,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-7.3 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_003: send_angles (single) [  -6.28,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-6.3 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_004: send_angles (single) [  -5.28,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-5.3 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_005: send_angles (single) [  -4.28,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-4.3 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_006: send_angles (single) [  -3.28,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-3.3 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_007: send_angles (single) [  -2.28,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-2.3 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_008: send_angles (single) [  -1.28,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-1.3 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-1.3 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-1.3 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_009: send_angles (single) [  -0.28,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=-0.3 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_010: send_angles (single) [  +0.72,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+0.7 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_011: send_angles (single) [  +1.72,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+1.7 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_012: send_angles (single) [  +2.72,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+2.7 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_013: send_angles (single) [  +3.72,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+3.7 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_014: send_angles (single) [  +4.72,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+4.7 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_015: send_angles (single) [  +5.72,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+5.7 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_016: send_angles (single) [  +6.72,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+6.7 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_017: send_angles (single) [  +7.72,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+7.7 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_018: send_angles (single) [  +8.72,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+8.7 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_019: send_angles (single) [  +9.72,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+9.7 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[SEND] pi05_corr03_020: send_angles (single) [ +10.72,  +25.75,  +13.00,   -1.05,  -26.98,  -27.94]  speed=20 wait=1.0s  (pre max|Δ|=1.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+10.7 j1=+25.8 j2=+13.0 j3=-1.1 j4=-27.0 j5=-27.9  グリッパー 開
[CORR  ] 補正 3 を終えました (21 刻み). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[006] 推論 1194ms  10ステップ先  Δ= +5.7 +18.9 +11.8  -1.2 -27.6  +0.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ +12.52,  +31.46,  +16.84,   -1.92,  -33.41,  -27.31]  speed=20 wait=1.0s  (pre max|Δ|=6.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  2  Δ= +2.0  +4.8  +3.3  -0.7  -6.2  +0.5  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +14.33,  +37.60,  +20.80,   -2.11,  -43.20,  -27.20]  speed=20 wait=1.0s  (pre max|Δ|=10.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.2  +5.2  +3.2  -0.9 -10.1  +0.2  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +15.76,  +43.63,  +24.48,   -2.28,  -52.14,  -27.12]  speed=20 wait=1.0s  (pre max|Δ|=9.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.4  +5.1  +3.3  -0.6  -9.5  +0.3  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +16.24,  +45.59,  +25.33,   -2.39,  -54.83,  -27.12]  speed=20 wait=1.0s  (pre max|Δ|=2.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  +1.0  +0.6  -0.6  -3.0  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.90°（関節 j1）
[007] 推論 1074ms  10ステップ先  Δ= +0.3  +4.5  +0.8  -0.6  -3.9  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 4 に入りました (推論 7 のあと)
  [補正] 1〜6=関節を選ぶ (j0〜j5) / + か . = 選んだ関節を +1 刻み / - か , = -1 刻み
         [ ] = 刻みを 0.5° / 1° / 2° で切り替え / g = グリッパー開閉
         Enter = 補正を終えてモデルの推論に戻る / b = 補正を取り消して始めの姿勢へ戻る
         ? = この一覧
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+16.2 j1=+46.5 j2=+25.2 j3=-2.1 j4=-55.5 j5=-27.3  グリッパー 開
[SEND] pi05_corr04_000: send_angles (single) [ +17.17,  +46.49,  +25.22,   -2.10,  -55.54,  -27.33]  speed=20 wait=1.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.70° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+17.2 j1=+46.5 j2=+25.2 j3=-2.1 j4=-55.5 j5=-27.3  グリッパー 開
[SEND] pi05_corr04_001: send_angles (single) [ +16.17,  +46.49,  +25.22,   -2.10,  -55.54,  -27.33]  speed=20 wait=1.0s  (pre max|Δ|=1.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.70° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+16.2 j1=+46.5 j2=+25.2 j3=-2.1 j4=-55.5 j5=-27.3  グリッパー 開
[SEND] pi05_corr04_002: send_angles (single) [ +15.17,  +46.49,  +25.22,   -2.10,  -55.54,  -27.33]  speed=20 wait=1.0s  (pre max|Δ|=0.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.70° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+15.2 j1=+46.5 j2=+25.2 j3=-2.1 j4=-55.5 j5=-27.3  グリッパー 開
[SEND] pi05_corr04_003: send_angles (single) [ +14.17,  +46.49,  +25.22,   -2.10,  -55.54,  -27.33]  speed=20 wait=1.0s  (pre max|Δ|=0.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+14.2 j1=+46.5 j2=+25.2 j3=-2.1 j4=-55.5 j5=-27.3  グリッパー 開
[SEND] pi05_corr04_004: send_angles (single) [ +13.17,  +46.49,  +25.22,   -2.10,  -55.54,  -27.33]  speed=20 wait=1.0s  (pre max|Δ|=1.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+13.2 j1=+46.5 j2=+25.2 j3=-2.1 j4=-55.5 j5=-27.3  グリッパー 開
[SEND] pi05_corr04_005: send_angles (single) [ +12.17,  +46.49,  +25.22,   -2.10,  -55.54,  -27.33]  speed=20 wait=1.0s  (pre max|Δ|=0.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+12.2 j1=+46.5 j2=+25.2 j3=-2.1 j4=-55.5 j5=-27.3  グリッパー 開
[CORR  ] 補正 4 を終えました (6 刻み). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[008] 推論 1244ms  10ステップ先  Δ= +0.2  +5.8  -0.6  -0.1  -3.7  +0.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ +12.12,  +50.63,  +26.45,   -2.07,  -59.11,  -27.33]  speed=20 wait=1.0s  (pre max|Δ|=3.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.63° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.0  +3.3  +1.2  -0.1  -3.3  +0.0  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +12.16,  +51.46,  +26.59,   -1.94,  -59.88,  -27.29]  speed=20 wait=1.0s  (pre max|Δ|=2.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.83° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.0  -0.2  -0.1  -0.1  -2.4  +0.0  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +12.29,  +52.35,  +25.46,   -2.01,  -59.71,  -27.28]  speed=20 wait=1.0s  (pre max|Δ|=1.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +0.1  -1.3  -0.2  -0.6  +0.0  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +12.30,  +53.06,  +24.65,   -2.03,  -59.47,  -27.30]  speed=20 wait=1.0s  (pre max|Δ|=1.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.18° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -0.3  -1.9  -0.2  -0.1  +0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.18°（関節 j2）
[009] 推論 1156ms  8ステップ先  Δ= +0.9  +5.3  -6.1  -0.2  +0.9  -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 / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via02: send_angles (single) [ +12.52,  +56.91,  +21.64,   -2.02,  -58.89,  -27.38]  speed=20 wait=1.0s  (pre max|Δ|=4.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +3.1  -4.2  -0.2  +0.4  -0.2  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +12.92,  +59.10,  +19.61,   -2.01,  -58.34,  -27.46]  speed=20 wait=1.0s  (pre max|Δ|=2.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.56° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +1.5  -2.7  -0.2  +2.2  -0.0  着いた
[SEND] pi05_chunk009_via07: send_angles (single) [ +13.02,  +59.11,  +19.68,   -2.00,  -58.38,  -27.47]  speed=20 wait=1.0s  (pre max|Δ|=2.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  7  Δ= +0.4  -0.6  -0.4  -0.6  +2.5  +0.3  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 1.91°（関節 j4）
[010] 推論 1322ms  10ステップ先  Δ= +1.1 -10.2  +8.6  -0.7  +0.6  +0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +13.09,  +56.31,  +22.31,   -2.14,  -59.17,  -27.35]  speed=20 wait=1.0s  (pre max|Δ|=3.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.40° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -3.2  +3.0  -0.6  +1.1  +0.5  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +13.12,  +53.31,  +25.25,   -2.29,  -59.85,  -27.18]  speed=20 wait=1.0s  (pre max|Δ|=4.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -3.6  +4.3  -0.4  -1.9  +0.6  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +13.28,  +49.79,  +28.12,   -2.26,  -60.14,  -27.10]  speed=20 wait=1.0s  (pre max|Δ|=4.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  -4.5  +3.9  +0.4  -2.3  +0.4  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +13.60,  +49.26,  +27.91,   -2.14,  -59.73,  -27.23]  speed=20 wait=1.0s  (pre max|Δ|=1.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  -1.9  +0.3  +0.4  -1.9  -0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.90°（関節 j4）
[011] 推論 1190ms  10ステップ先  Δ=+18.6  -1.6 -20.3  +4.7  +7.0  -4.8
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 5 に入りました (推論 11 のあと)
  [補正] 1〜6=関節を選ぶ (j0〜j5) / + か . = 選んだ関節を +1 刻み / - か , = -1 刻み
         [ ] = 刻みを 0.5° / 1° / 2° で切り替え / g = グリッパー開閉
         Enter = 補正を終えてモデルの推論に戻る / b = 補正を取り消して始めの姿勢へ戻る
         ? = この一覧
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+13.3 j1=+51.0 j2=+27.9 j3=-2.5 j4=-58.7 j5=-26.6  グリッパー 閉
  [補正] 関節 j3  刻み 1.0°  補正目標 j0=+13.3 j1=+51.0 j2=+27.9 j3=-2.5 j4=-58.7 j5=-26.6  グリッパー 閉
[SEND] pi05_corr05_000: send_angles (single) [ +13.27,  +50.97,  +27.86,   -1.46,  -58.71,  -26.63]  speed=20 wait=1.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 3.0°)
  [補正] 関節 j3  刻み 1.0°  補正目標 j0=+13.3 j1=+51.0 j2=+27.9 j3=-1.5 j4=-58.7 j5=-26.6  グリッパー 閉
[SEND] pi05_corr05_001: send_angles (single) [ +13.27,  +50.97,  +27.86,   -0.46,  -58.71,  -26.63]  speed=20 wait=1.0s  (pre max|Δ|=1.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 3.0°)
  [補正] 関節 j3  刻み 1.0°  補正目標 j0=+13.3 j1=+51.0 j2=+27.9 j3=-0.5 j4=-58.7 j5=-26.6  グリッパー 閉
  [補正] 関節 j3  刻み 1.0°  補正目標 j0=+13.3 j1=+51.0 j2=+27.9 j3=-0.5 j4=-58.7 j5=-26.6  グリッパー 閉
  [補正] 関節 j4  刻み 1.0°  補正目標 j0=+13.3 j1=+51.0 j2=+27.9 j3=-0.5 j4=-58.7 j5=-26.6  グリッパー 閉
[SEND] pi05_corr05_002: send_angles (single) [ +13.27,  +50.97,  +27.86,   -0.46,  -57.71,  -26.63]  speed=20 wait=1.0s  (pre max|Δ|=1.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.26° (tol 3.0°)
  [補正] 関節 j4  刻み 1.0°  補正目標 j0=+13.3 j1=+51.0 j2=+27.9 j3=-0.5 j4=-57.7 j5=-26.6  グリッパー 閉
[SEND] pi05_corr05_003: send_angles (single) [ +13.27,  +50.97,  +27.86,   -0.46,  -56.71,  -26.63]  speed=20 wait=1.0s  (pre max|Δ|=2.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
  [補正] 関節 j4  刻み 1.0°  補正目標 j0=+13.3 j1=+51.0 j2=+27.9 j3=-0.5 j4=-56.7 j5=-26.6  グリッパー 閉
[SEND] pi05_corr05_004: send_angles (single) [ +13.27,  +50.97,  +27.86,   -0.46,  -55.71,  -26.63]  speed=20 wait=1.0s  (pre max|Δ|=2.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
  [補正] 関節 j4  刻み 1.0°  補正目標 j0=+13.3 j1=+51.0 j2=+27.9 j3=-0.5 j4=-55.7 j5=-26.6  グリッパー 閉
[SEND] pi05_corr05_005: send_angles (single) [ +13.27,  +50.97,  +27.86,   -0.46,  -54.71,  -26.63]  speed=20 wait=1.0s  (pre max|Δ|=0.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
  [補正] 関節 j4  刻み 1.0°  補正目標 j0=+13.3 j1=+51.0 j2=+27.9 j3=-0.5 j4=-54.7 j5=-26.6  グリッパー 閉
[SEND] pi05_corr05_006: send_angles (single) [ +13.27,  +50.97,  +27.86,   -0.46,  -53.71,  -26.63]  speed=20 wait=1.0s  (pre max|Δ|=1.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.52° (tol 3.0°)
  [補正] 関節 j4  刻み 1.0°  補正目標 j0=+13.3 j1=+51.0 j2=+27.9 j3=-0.5 j4=-53.7 j5=-26.6  グリッパー 閉
[SEND] pi05_corr05_007: send_angles (single) [ +13.27,  +50.97,  +27.86,   -0.46,  -52.71,  -26.63]  speed=20 wait=1.0s  (pre max|Δ|=1.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
  [補正] 関節 j4  刻み 1.0°  補正目標 j0=+13.3 j1=+51.0 j2=+27.9 j3=-0.5 j4=-52.7 j5=-26.6  グリッパー 閉
[SEND] pi05_corr05_008: send_angles (single) [ +13.27,  +50.97,  +27.86,   -0.46,  -51.71,  -26.63]  speed=20 wait=1.0s  (pre max|Δ|=5.24°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=4.71° actual=[ +13.79,  +51.50,  +27.50,   -0.17,  -56.42,  -26.27]
[RETRY] 1回目送信が無視された（pre→last max|Δ| 0.53°）。5.0s 待って再送します
[RETRY] pi05_corr05_008 (retry): send_angles (single) [ +13.27,  +50.97,  +27.86,   -0.46,  -51.71,  -26.63]  speed=20 wait=1.0s  (pre max|Δ|=4.71°, post-send timeout 8.0s)
[RETRY] 失敗。ABORT へ. 8.0s 内に未到達: max|Δ|=4.71° actual=[ +13.79,  +51.50,  +27.50,   -0.17,  -56.42,  -26.27]
  [WARN] 未到達. j4 の発熱などを確認してください
  [補正] 関節 j4  刻み 1.0°  補正目標 j0=+13.3 j1=+51.0 j2=+27.9 j3=-0.5 j4=-51.7 j5=-26.6  グリッパー 閉
[CORR  ] 補正 5 を終えました (9 刻み). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[012] 推論 1140ms  10ステップ先  Δ=+12.5  -1.4 -10.8  +2.5  +3.9  -2.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk012_via02: send_angles (single) [ +14.07,  +49.42,  +29.45,   -0.19,  -57.08,  -26.12]  speed=20 wait=1.0s  (pre max|Δ|=2.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -2.1  +1.9  -0.0  -0.7  +0.2  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +18.38,  +49.70,  +25.54,   +0.51,  -55.69,  -27.13]  speed=20 wait=1.0s  (pre max|Δ|=4.59°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.05° actual=[ +18.19,  +50.44,  +25.75,   +0.79,  -52.64,  -27.42]
[SEND] リトライしません: pre→last max|Δ| 4.40° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  5  Δ= +4.6  -0.7  -2.8  +0.6  -0.5  -0.8  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[SEND] pi05_chunk012_via08: send_angles (single) [ +24.32,  +50.35,  +18.50,   +1.94,  -53.32,  -28.57]  speed=20 wait=1.0s  (pre max|Δ|=7.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.88° (tol 3.0°)
       [VIA   ] step  8  Δ= +6.1  -0.1  -7.3  +1.2  -0.7  -1.2  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +26.28,  +50.12,  +16.74,   +2.32,  -52.49,  -29.00]  speed=20 wait=1.0s  (pre max|Δ|=2.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.1  -1.0  -2.2  +0.9  -2.1  -1.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.43°（関節 j4）
[013] 推論 1074ms  10ステップ先  Δ=+16.4  +8.3 -19.4  +3.7  +2.0  -4.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk013_via02: send_angles (single) [ +31.77,  +51.47,  +11.17,   +3.07,  -49.77,  -29.91]  speed=20 wait=1.0s  (pre max|Δ|=6.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  2  Δ= +5.4  +0.2  -6.7  +1.0  +2.9  -1.3  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +37.79,  +54.22,   +4.32,   +4.43,  -47.36,  -31.38]  speed=20 wait=1.0s  (pre max|Δ|=7.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  5  Δ= +5.7  +1.9  -7.9  +1.2  +3.8  -1.2  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +41.92,  +58.16,   -0.95,   +5.67,  -48.05,  -32.64]  speed=20 wait=1.0s  (pre max|Δ|=6.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  8  Δ= +4.0  +3.0  -6.3  +1.0  +0.1  -1.5  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +42.72,  +59.44,   -1.51,   +5.89,  -49.02,  -32.78]  speed=20 wait=1.0s  (pre max|Δ|=1.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  +0.3  -1.6  +0.2  -1.0  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.29°（関節 j1）
[014] 推論 1147ms  8ステップ先  Δ= +0.0  +6.2  -2.5  +1.0  -7.3  -0.6  グリッパー→開
       [VIA   ] 中継点 3 点: step 2, 5, 7
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / 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|=60.73°, post-send timeout 11.1s)
[SEND] arrival OK: max|Δ|=1.49° (tol 2.5°)
[RECORD] 記録終了 コマ 6419 (8.944 fps) 実測角 5040 回 (7.02 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_185133/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > n
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_185133
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py
python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_194818 --scale 5 --alpha 0.7
python3 pi05/run_policy_client.py --raw-dir $RAW --steps-per-chunk 10 --via-stride 3 --settle-retries 0 --state-from-target --execute --ignore-framing
[INIT] daemon 接続中...
  [WARN] fresh_mode切替不可: daemon error: set_fresh_mode is not available in this pymycobot environment
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.43, 1.49, 0.70, 0.26, -0.26, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=2.0s  max_err=1.49°
[DONE] HOME 到達 max_err=1.49°
[POST] 最終姿勢: [-0.43, 1.49, 0.70, 0.26, -0.26, -30.23]
  [WARN] fresh_mode切替不可: daemon error: set_fresh_mode is not available in this pymycobot environment
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= -1
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  +1.8  dx=  +4.5  response=0.909  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
[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_20261030_190659
[CAMERA] 写り方 dy=-4.4 dx=+10.9 response=0.557 → 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={}
[RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_190659/recording
[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 1512ms  10ステップ先  Δ= +4.4 +16.6 +11.0  -1.8 -24.0  +2.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / 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) [  +0.65,   +4.99,   +3.03,   -0.05,   -5.61,  -29.70]  speed=20 wait=1.0s  (pre max|Δ|=5.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +3.5  +2.3  -0.3  -5.3  +0.5  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.90,  +10.71,   +6.68,   -0.67,  -14.41,  -28.80]  speed=20 wait=1.0s  (pre max|Δ|=9.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.5  +4.8  +2.7  -0.8  -9.8  +1.1  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +3.44,  +16.31,  +10.53,   -1.41,  -22.24,  -27.84]  speed=20 wait=1.0s  (pre max|Δ|=8.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.0  +4.7  +2.9  -0.7  -8.9  +1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.96,  +18.08,  +11.66,   -1.51,  -24.28,  -27.68]  speed=20 wait=1.0s  (pre max|Δ|=2.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.1  +0.9  +0.2  +0.2  -2.5  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.90°（関節 j1）
[001] 推論 1257ms  10ステップ先  Δ= +5.4 +18.8 +12.0  +0.1 -28.6  +1.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +5.58,  +23.70,  +15.35,   -2.09,  -32.57,  -27.18]  speed=20 wait=1.0s  (pre max|Δ|=7.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.8  +4.7  +3.0  -0.3  -7.9  +0.7  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +7.19,  +29.92,  +19.32,   -2.12,  -41.80,  -27.01]  speed=20 wait=1.0s  (pre max|Δ|=10.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.0  +5.2  +3.2  -0.5 -10.1  +0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +8.67,  +36.03,  +23.38,   -2.18,  -50.95,  -26.92]  speed=20 wait=1.0s  (pre max|Δ|=9.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.1  +5.2  +3.5  -0.5  -9.6  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +9.15,  +37.83,  +24.32,   -2.15,  -53.25,  -26.88]  speed=20 wait=1.0s  (pre max|Δ|=2.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.9  +0.6  -0.7  -2.8  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j1）
[002] 推論 806ms  10ステップ先  Δ= +1.8  +7.9  +5.3  -0.9 -10.0  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 1 に入りました (推論 2 のあと)
  [補正] 1〜6=関節を選ぶ (j0〜j5) / + か . = 選んだ関節を +1 刻み / - か , = -1 刻み
         [ ] = 刻みを 0.5° / 1° / 2° で切り替え / g = グリッパー開閉
         Enter = 補正を終えてモデルの推論に戻る / b = 補正を取り消して始めの姿勢へ戻る
         ? = この一覧
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+8.7 j1=+38.8 j2=+24.6 j3=-1.8 j4=-54.0 j5=-27.1  グリッパー 開
[SEND] pi05_corr01_000: send_angles (single) [  +9.70,  +38.84,  +24.60,   -1.84,  -53.96,  -27.07]  speed=20 wait=1.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+9.7 j1=+38.8 j2=+24.6 j3=-1.8 j4=-54.0 j5=-27.1  グリッパー 開
[SEND] pi05_corr01_001: send_angles (single) [ +10.70,  +38.84,  +24.60,   -1.84,  -53.96,  -27.07]  speed=20 wait=1.0s  (pre max|Δ|=1.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+10.7 j1=+38.8 j2=+24.6 j3=-1.8 j4=-54.0 j5=-27.1  グリッパー 開
[SEND] pi05_corr01_002: send_angles (single) [ +11.70,  +38.84,  +24.60,   -1.84,  -53.96,  -27.07]  speed=20 wait=1.0s  (pre max|Δ|=1.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+11.7 j1=+38.8 j2=+24.6 j3=-1.8 j4=-54.0 j5=-27.1  グリッパー 開
[CORR  ] 補正 1 を終えました (3 刻み). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[003] 推論 821ms  10ステップ先  Δ= +1.5  +8.2  +4.8  -0.4  -8.9  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ +12.60,  +45.46,  +28.37,   -2.32,  -61.35,  -27.02]  speed=20 wait=1.0s  (pre max|Δ|=7.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.0  +5.7  +3.7  -0.4  -7.6  +0.0  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +13.06,  +47.72,  +30.08,   -2.24,  -63.14,  -27.01]  speed=20 wait=1.0s  (pre max|Δ|=2.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +1.2  +1.7  -0.5  -2.6  +0.1  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +13.09,  +47.88,  +29.83,   -2.25,  -62.82,  -27.01]  speed=20 wait=1.0s  (pre max|Δ|=0.81°, post-send timeout 8.0s)

[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -0.8  -0.8  -0.6  +0.1  +0.1  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +13.14,  +48.02,  +29.46,   -2.31,  -62.70,  -27.01]  speed=20 wait=1.0s  (pre max|Δ|=1.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -0.8  -1.1  -0.6  +0.2  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.03°（関節 j2）
[004] 推論 914ms  10ステップ先  Δ= +1.3  +9.0  -9.2  -0.4  +0.9  -0.0  グリッパー→閉
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk004_via02: send_angles (single) [ +13.28,  +52.32,  +26.17,   -2.28,  -62.83,  -27.01]  speed=20 wait=1.0s  (pre max|Δ|=4.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +3.5  -4.3  -0.3  +0.1  +0.1  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +13.65,  +56.20,  +23.04,   -2.36,  -62.23,  -27.07]  speed=20 wait=1.0s  (pre max|Δ|=4.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  +2.9  -4.0  -0.3  +0.7  +0.0  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +13.90,  +57.75,  +21.32,   -2.36,  -62.04,  -27.11]  speed=20 wait=1.0s  (pre max|Δ|=2.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +0.6  -2.6  -0.3  +0.9  -0.0  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +13.90,  +57.75,  +21.32,   -2.36,  -62.04,  -27.11]  speed=20 wait=1.0s  (pre max|Δ|=0.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.82° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.8  -0.8  -0.3  +1.0  +0.0  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 1.94°（関節 j4）
[005] 推論 935ms  10ステップ先  Δ= +1.2 -10.9  +6.2  -0.3  +1.1  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 2 に入りました (推論 5 のあと)
  [補正] 1〜6=関節を選ぶ (j0〜j5) / + か . = 選んだ関節を +1 刻み / - か , = -1 刻み
         [ ] = 刻みを 0.5° / 1° / 2° で切り替え / g = グリッパー開閉
         Enter = 補正を終えてモデルの推論に戻る / b = 補正を取り消して始めの姿勢へ戻る
         ? = この一覧
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+13.6 j1=+58.4 j2=+22.0 j3=-2.1 j4=-62.7 j5=-27.4  グリッパー 閉
  [補正] 関節 j1  刻み 1.0°  補正目標 j0=+13.6 j1=+58.4 j2=+22.0 j3=-2.1 j4=-62.7 j5=-27.4  グリッパー 閉
[SEND] pi05_corr02_000: send_angles (single) [ +13.62,  +59.44,  +21.97,   -2.10,  -62.66,  -27.42]  speed=20 wait=1.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.56° (tol 3.0°)
  [補正] 関節 j1  刻み 1.0°  補正目標 j0=+13.6 j1=+59.4 j2=+22.0 j3=-2.1 j4=-62.7 j5=-27.4  グリッパー 閉
[CORR  ] 補正 2 を終えました (1 刻み). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[006] 推論 982ms  10ステップ先  Δ= +1.1 -11.6  +7.9  +0.0  -0.8  +0.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 3 に入りました (推論 6 のあと)
  [補正] 1〜6=関節を選ぶ (j0〜j5) / + か . = 選んだ関節を +1 刻み / - か , = -1 刻み
         [ ] = 刻みを 0.5° / 1° / 2° で切り替え / g = グリッパー開閉
         Enter = 補正を終えてモデルの推論に戻る / b = 補正を取り消して始めの姿勢へ戻る
         ? = この一覧
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+13.6 j1=+58.9 j2=+21.8 j3=-2.2 j4=-62.7 j5=-27.4  グリッパー 閉
  [補正] 関節 j0  刻み 2.0°  補正目標 j0=+13.6 j1=+58.9 j2=+21.8 j3=-2.2 j4=-62.7 j5=-27.4  グリッパー 閉
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+13.6 j1=+58.9 j2=+21.8 j3=-2.2 j4=-62.7 j5=-27.4  グリッパー 閉
[SEND] pi05_corr03_000: send_angles (single) [ +13.62,  +60.88,  +21.79,   -2.19,  -62.66,  -27.42]  speed=20 wait=1.0s  (pre max|Δ|=1.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+13.6 j1=+60.9 j2=+21.8 j3=-2.2 j4=-62.7 j5=-27.4  グリッパー 閉
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+13.6 j1=+60.9 j2=+21.8 j3=-2.2 j4=-62.7 j5=-27.4  グリッパー 閉
[SEND] pi05_corr03_001: send_angles (single) [ +13.62,  +62.88,  +21.79,   -2.19,  -62.66,  -27.42]  speed=20 wait=1.0s  (pre max|Δ|=4.22°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=5.36° actual=[ +13.53,  +63.19,  +21.35,   -2.37,  -68.02,  -27.15]
[SEND] リトライしません: pre→last max|Δ| 1.85° >= 1.0° (部分移動/ストール疑い)
  [WARN] 未到達. j4 の発熱などを確認してください
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+13.6 j1=+62.9 j2=+21.8 j3=-2.2 j4=-62.7 j5=-27.4  グリッパー 閉
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.6 j1=+62.9 j2=+21.8 j3=-2.2 j4=-62.7 j5=-27.4  グリッパー 閉
[CORR  ] 補正 3 を終えました (2 刻み). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[007] 推論 2147ms  10ステップ先  Δ= +0.8 -11.2  +7.3  -0.1  +0.6  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > c]
[SEND] pi05_chunk007_via02: send_angles (single) [ +13.62,  +61.66,  +23.09,   -2.51,  -69.39,  -27.10]  speed=20 wait=1.0s  (pre max|Δ|=1.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  -1.7  +1.7  -0.1  -0.2  -0.0  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +13.46,  +57.75,  +26.12,   -2.70,  -69.35,  -26.95]  speed=20 wait=1.0s  (pre max|Δ|=5.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  -5.3  +4.1  -0.3  -0.2  +0.1  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +13.80,  +53.24,  +28.63,   -2.65,  -68.88,  -26.93]  speed=20 wait=1.0s  (pre max|Δ|=6.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.77° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -6.2  +3.0  +0.1  -0.8  +0.0  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +14.35,  +52.15,  +28.66,   -2.48,  -68.34,  -27.07]  speed=20 wait=1.0s  (pre max|Δ|=2.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  -2.9  +0.2  +0.3  -0.3  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.99°（関節 j1）
[008] 推論 872ms  10ステップ先  Δ=+16.1  -3.8 -14.7  +3.2  +6.8  -4.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 4 に入りました (推論 8 のあと)
  [補正] 1〜6=関節を選ぶ (j0〜j5) / + か . = 選んだ関節を +1 刻み / - か , = -1 刻み
         [ ] = 刻みを 0.5° / 1° / 2° で切り替え / g = グリッパー開閉
         Enter = 補正を終えてモデルの推論に戻る / b = 補正を取り消して始めの姿勢へ戻る
         ? = この一覧
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+14.3 j1=+54.1 j2=+28.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+14.3 j1=+54.1 j2=+28.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_000: send_angles (single) [ +14.32,  +54.14,  +29.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+14.3 j1=+54.1 j2=+29.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_001: send_angles (single) [ +14.32,  +54.14,  +30.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=0.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+14.3 j1=+54.1 j2=+30.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_002: send_angles (single) [ +14.32,  +54.14,  +31.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=0.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+14.3 j1=+54.1 j2=+31.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_003: send_angles (single) [ +14.32,  +54.14,  +32.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=1.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+14.3 j1=+54.1 j2=+32.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+14.3 j1=+54.1 j2=+32.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_004: send_angles (single) [ +14.32,  +54.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=2.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+14.3 j1=+54.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_005: send_angles (single) [ +14.32,  +54.14,  +36.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=2.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 3.0°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+14.3 j1=+54.1 j2=+36.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_006: send_angles (single) [ +14.32,  +54.14,  +38.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=3.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+14.3 j1=+54.1 j2=+38.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_007: send_angles (single) [ +14.32,  +54.14,  +40.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=3.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.15° (tol 3.0°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+14.3 j1=+54.1 j2=+40.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_008: send_angles (single) [ +14.32,  +54.14,  +38.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=1.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+14.3 j1=+54.1 j2=+38.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_009: send_angles (single) [ +14.32,  +54.14,  +36.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=1.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.53° (tol 3.0°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+14.3 j1=+54.1 j2=+36.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_010: send_angles (single) [ +14.32,  +54.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=1.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+14.3 j1=+54.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+54.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+54.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_011: send_angles (single) [ +14.32,  +52.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=2.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+52.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_012: send_angles (single) [ +14.32,  +50.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=2.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.90° (tol 3.0°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+50.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_013: send_angles (single) [ +14.32,  +48.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=3.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.69° (tol 3.0°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+48.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_014: send_angles (single) [ +14.32,  +46.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=3.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+46.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_015: send_angles (single) [ +14.32,  +44.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=3.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+44.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_016: send_angles (single) [ +14.32,  +42.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=3.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+42.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_017: send_angles (single) [ +14.32,  +40.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=3.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.60° (tol 3.0°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+40.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_018: send_angles (single) [ +14.32,  +38.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=3.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 3.0°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+38.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_019: send_angles (single) [ +14.32,  +36.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=3.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+36.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_020: send_angles (single) [ +14.32,  +34.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=3.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+34.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_021: send_angles (single) [ +14.32,  +32.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=3.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+32.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_022: send_angles (single) [ +14.32,  +30.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=3.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.32° (tol 3.0°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+30.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[SEND] pi05_corr04_023: send_angles (single) [ +14.32,  +28.14,  +34.47,   -2.81,  -67.85,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=3.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+14.3 j1=+28.1 j2=+34.5 j3=-2.8 j4=-67.8 j5=-26.4  グリッパー 閉
[CORR  ] 補正 4 を終えました (24 刻み). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[009] 推論 808ms  10ステップ先  Δ=+15.5  +9.2 -12.9  +3.4  +3.2  -3.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / 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|=67.67°, post-send timeout 12.2s)
[SEND] arrival OK: max|Δ|=1.58° (tol 2.5°)
[RECORD] 記録終了 コマ 2839 (8.785 fps) 実測角 1922 回 (5.95 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_190659/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > n
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_190659
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts %