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{"seq": 111, "t": "2026-11-02T19:29:24.247", "t_unix": 1793615364.248, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 5, "delta": -0.5, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -31.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -31.5], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -31.5], "reach_err": 0.0, "t_send": 1793615364.248802, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 114, "t": "2026-11-02T19:29:24.952", "t_unix": 1793615364.953, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 5, "delta": -0.5, "accepted": false, "reason": "busy", "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 113, "t": "2026-11-02T19:29:24.720", "t_unix": 1793615364.721, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 5, "delta": -0.5, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -31.5], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -32.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -32.0], "reach_err": 0.0, "t_send": 1793615364.7220821, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 116, "t": "2026-11-02T19:29:25.407", "t_unix": 1793615365.407, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 5, "delta": -0.5, "accepted": false, "reason": "busy", "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 115, "t": "2026-11-02T19:29:25.137", "t_unix": 1793615365.137, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 5, "delta": -0.5, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -32.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -32.5], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -32.5], "reach_err": 0.0, "t_send": 1793615365.137384, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 118, "t": "2026-11-02T19:29:25.927", "t_unix": 1793615365.927, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 5, "delta": -0.5, "accepted": false, "reason": "busy", "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 117, "t": "2026-11-02T19:29:25.644", "t_unix": 1793615365.644, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 5, "delta": -0.5, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -32.5], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -33.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -33.0], "reach_err": 0.0, "t_send": 1793615365.645656, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 120, "t": "2026-11-02T19:29:26.344", "t_unix": 1793615366.344, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 5, "delta": -0.5, "accepted": false, "reason": "busy", "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 119, "t": "2026-11-02T19:29:26.158", "t_unix": 1793615366.158, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 5, "delta": -0.5, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -33.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -33.5], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -33.5], "reach_err": 0.0, "t_send": 1793615366.159463, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 121, "t": "2026-11-02T19:29:26.596", "t_unix": 1793615366.597, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 5, "delta": -0.5, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -33.5], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -34.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -34.0], "reach_err": 0.0, "t_send": 1793615366.5980968, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 122, "t": "2026-11-02T19:29:27.397", "t_unix": 1793615367.398, "button": 1, "button_name": "circle", "kind": "grip_open", "selected_joint": 5, "step_deg": 0.5, "execute": false, "grip_cmd": 0, "accepted": true, "measured_before": null, "sent": true, "reached": null, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 123, "t": "2026-11-02T19:29:29.238", "t_unix": 1793615369.238, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 5, "delta": -0.5, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -34.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -34.5], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -34.5], "reach_err": 0.0, "t_send": 1793615369.239279, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 124, "t": "2026-11-02T19:29:29.695", "t_unix": 1793615369.696, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 5, "delta": -0.5, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -34.5], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -35.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -35.0], "reach_err": 0.0, "t_send": 1793615369.69733, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 125, "t": "2026-11-02T19:29:30.740", "t_unix": 1793615370.741, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 5, "step_deg": 2.0, "execute": false, "accepted": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 126, "t": "2026-11-02T19:29:31.158", "t_unix": 1793615371.159, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": -2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -35.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -37.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -37.0], "reach_err": 0.0, "t_send": 1793615371.159596, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 127, "t": "2026-11-02T19:29:31.895", "t_unix": 1793615371.895, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": -2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -37.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -39.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -39.0], "reach_err": 0.0, "t_send": 1793615371.896183, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 128, "t": "2026-11-02T19:29:32.599", "t_unix": 1793615372.6, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": -2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -39.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [{"joint": 5, "want": -41.0, "cmd": -40.0, "limit": "BASE", "bound": -40.0}], "refused": [], "limit_ja": "j5 を -41.00° → -40.00° に切った（基準の姿勢からの範囲 -40.00°）", "limit_ascii": "j5 clipped -41.00->-40.00 (BASE -40.00)", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -40.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -40.0], "reach_err": 0.0, "t_send": 1793615372.6020322, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 129, "t": "2026-11-02T19:29:33.540", "t_unix": 1793615373.54, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": -2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -40.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [{"joint": 5, "want": -42.0, "cmd": -40.0, "limit": "BASE", "bound": -40.0}], "refused": [{"joint": 5, "why": "at_limit", "value": -42.0, "lo": -40.0, "hi": -20.0, "limit": "BASE"}], "limit_ja": "j5 を -42.00° → -40.00° に切った（基準の姿勢からの範囲 -40.00°） / j5 -42.00° は送らない：範囲の端にいて、押した向きに進めない（範囲 [-40.00, -20.00]・基準の姿勢からの範囲）", "limit_ascii": "j5 clipped -42.00->-40.00 (BASE -40.00) / j5 refused at_limit -42.00 [-40.00, -20.00] (BASE)", "sent": false, "reached": null, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 130, "t": "2026-11-02T19:29:34.450", "t_unix": 1793615374.451, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -40.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -38.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -38.0], "reach_err": 0.0, "t_send": 1793615374.452723, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 131, "t": "2026-11-02T19:29:35.090", "t_unix": 1793615375.09, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -38.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -36.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -36.0], "reach_err": 0.0, "t_send": 1793615375.091098, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 132, "t": "2026-11-02T19:29:35.545", "t_unix": 1793615375.546, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -36.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -34.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -34.0], "reach_err": 0.0, "t_send": 1793615375.546286, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 133, "t": "2026-11-02T19:29:35.993", "t_unix": 1793615375.993, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -34.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -32.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -32.0], "reach_err": 0.0, "t_send": 1793615375.994407, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 134, "t": "2026-11-02T19:29:36.414", "t_unix": 1793615376.415, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -32.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -30.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -30.0], "reach_err": 0.0, "t_send": 1793615376.415506, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 136, "t": "2026-11-02T19:29:36.949", "t_unix": 1793615376.949, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": false, "reason": "busy", "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 135, "t": "2026-11-02T19:29:36.748", "t_unix": 1793615376.748, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -30.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -28.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -28.0], "reach_err": 0.0, "t_send": 1793615376.748905, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 138, "t": "2026-11-02T19:29:37.432", "t_unix": 1793615377.432, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": false, "reason": "busy", "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 137, "t": "2026-11-02T19:29:37.151", "t_unix": 1793615377.152, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -28.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -26.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -26.0], "reach_err": 0.0, "t_send": 1793615377.152193, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 140, "t": "2026-11-02T19:29:37.783", "t_unix": 1793615377.784, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": false, "reason": "busy", "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 139, "t": "2026-11-02T19:29:37.617", "t_unix": 1793615377.617, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -26.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -24.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -24.0], "reach_err": 0.0, "t_send": 1793615377.619, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 141, "t": "2026-11-02T19:29:38.053", "t_unix": 1793615378.053, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -24.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -22.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -22.0], "reach_err": 0.0, "t_send": 1793615378.053596, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 143, "t": "2026-11-02T19:29:38.614", "t_unix": 1793615378.614, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": false, "reason": "busy", "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 142, "t": "2026-11-02T19:29:38.380", "t_unix": 1793615378.38, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -22.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.5, 1.0, 0.5, 0.0, -4.0, -20.0], "sent": true, "reached": true, "reached_angles": [6.5, 1.0, 0.5, 0.0, -4.0, -20.0], "reach_err": 0.0, "t_send": 1793615378.380851, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 144, "t": "2026-11-02T19:29:38.802", "t_unix": 1793615378.802, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": false, "joint": 5, "delta": 2.0, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -20.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [{"joint": 5, "want": -18.0, "cmd": -20.0, "limit": "BASE", "bound": -20.0}], "refused": [{"joint": 5, "why": "at_limit", "value": -18.0, "lo": -40.0, "hi": -20.0, "limit": "BASE"}], "limit_ja": "j5 を -18.00° → -20.00° に切った（基準の姿勢からの範囲 -20.00°） / j5 -18.00° は送らない：範囲の端にいて、押した向きに進めない（範囲 [-40.00, -20.00]・基準の姿勢からの範囲）", "limit_ascii": "j5 clipped -18.00->-20.00 (BASE -20.00) / j5 refused at_limit -18.00 [-40.00, -20.00] (BASE)", "sent": false, "reached": null, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 145, "t": "2026-11-02T19:29:42.307", "t_unix": 1793615382.307, "button": 5, "button_name": "home", "kind": "home", "selected_joint": 5, "step_deg": 0.5, "execute": false, "held_sec": 1.007, "accepted": true, "measured_before": [6.5, 1.0, 0.5, 0.0, -4.0, -20.0], "command": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0], "range_check": "skipped_for_home", "sent": true, "reached": true, "reached_angles": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0], "reach_err": 0.0, "t_send": 1793615382.3079748, "dry": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 146, "t": "2026-11-02T19:29:57.892", "t_unix": 1793615397.892, "button": 2, "button_name": "square", "kind": "ignored", "selected_joint": 5, "step_deg": 0.5, "execute": false, "accepted": false, "reason": "unassigned", "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 147, "t": "2026-11-02T19:29:59.341", "t_unix": 1793615399.342, "button": 0, "button_name": "cross", "kind": "grip_close", "selected_joint": 5, "step_deg": 0.5, "execute": false, "grip_cmd": 1, "accepted": true, "measured_before": null, "sent": true, "reached": null, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 148, "t": "2026-11-02T19:30:01.189", "t_unix": 1793615401.189, "button": 2, "button_name": "square", "kind": "ignored", "selected_joint": 5, "step_deg": 0.5, "execute": false, "accepted": false, "reason": "unassigned", "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 149, "t": "2026-11-02T19:30:03.745", "t_unix": 1793615403.746, "button": 2, "button_name": "square", "kind": "ignored", "selected_joint": 5, "step_deg": 0.5, "execute": false, "accepted": false, "reason": "unassigned", "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 150, "t": "2026-11-02T19:30:04.764", "t_unix": 1793615404.765, "button": 0, "button_name": "cross", "kind": "grip_close", "selected_joint": 5, "step_deg": 0.5, "execute": false, "grip_cmd": 1, "accepted": true, "measured_before": null, "sent": true, "reached": null, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 151, "t": "2026-11-02T19:30:07.613", "t_unix": 1793615407.613, "button": 1, "button_name": "circle", "kind": "grip_open", "selected_joint": 5, "step_deg": 0.5, "execute": false, "grip_cmd": 0, "accepted": true, "measured_before": null, "sent": true, "reached": null, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 152, "t": "2026-11-02T19:30:09.579", "t_unix": 1793615409.579, "button": 0, "button_name": "cross", "kind": "grip_close", "selected_joint": 5, "step_deg": 0.5, "execute": false, "grip_cmd": 1, "accepted": true, "measured_before": null, "sent": true, "reached": null, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 153, "t": "2026-11-02T19:30:11.055", "t_unix": 1793615411.055, "button": 1, "button_name": "circle", "kind": "grip_open", "selected_joint": 5, "step_deg": 0.5, "execute": false, "grip_cmd": 0, "accepted": true, "measured_before": null, "sent": true, "reached": null, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 154, "t": "2026-11-02T19:30:12.601", "t_unix": 1793615412.602, "button": 0, "button_name": "cross", "kind": "grip_close", "selected_joint": 5, "step_deg": 0.5, "execute": false, "grip_cmd": 1, "accepted": true, "measured_before": null, "sent": true, "reached": null, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 155, "t": "2026-11-02T19:30:16.216", "t_unix": 1793615416.216, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 0, "delta": 0.5, "accepted": true, "measured_before": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [0.5, 0.0, 0.0, 0.0, 0.0, -30.0], "sent": true, "reached": true, "reached_angles": [0.5, 0.0, 0.0, 0.0, 0.0, -30.0], "reach_err": 0.0, "t_send": 1793615416.217888, "dry": true, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 157, "t": "2026-11-02T19:30:17.205", "t_unix": 1793615417.205, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 0, "delta": 0.5, "accepted": false, "reason": "busy", "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 156, "t": "2026-11-02T19:30:16.949", "t_unix": 1793615416.949, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 0, "delta": 0.5, "accepted": true, "measured_before": [0.5, 0.0, 0.0, 0.0, 0.0, -30.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [1.0, 0.0, 0.0, 0.0, 0.0, -30.0], "sent": true, "reached": true, "reached_angles": [1.0, 0.0, 0.0, 0.0, 0.0, -30.0], "reach_err": 0.0, "t_send": 1793615416.950113, "dry": true, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 159, "t": "2026-11-02T19:30:17.747", "t_unix": 1793615417.747, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 0, "delta": 0.5, "accepted": false, "reason": "busy", "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 158, "t": "2026-11-02T19:30:17.494", "t_unix": 1793615417.494, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 0, "delta": 0.5, "accepted": true, "measured_before": [1.0, 0.0, 0.0, 0.0, 0.0, -30.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [1.5, 0.0, 0.0, 0.0, 0.0, -30.0], "sent": true, "reached": true, "reached_angles": [1.5, 0.0, 0.0, 0.0, 0.0, -30.0], "reach_err": 0.0, "t_send": 1793615417.49533, "dry": true, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 160, "t": "2026-11-02T19:30:19.098", "t_unix": 1793615419.099, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 5, "step_deg": 0.5, "execute": false, "joint": 0, "delta": 0.5, "accepted": true, "measured_before": [1.5, 0.0, 0.0, 0.0, 0.0, -30.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [2.0, 0.0, 0.0, 0.0, 0.0, -30.0], "sent": true, "reached": true, "reached_angles": [2.0, 0.0, 0.0, 0.0, 0.0, -30.0], "reach_err": 0.0, "t_send": 1793615419.100053, "dry": true, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 161, "t": "2026-11-02T19:30:20.552", "t_unix": 1793615420.552, "button": 3, "button_name": "triangle", "kind": "select_joint", "selected_joint": 1, "step_deg": 0.5, "execute": false, "accepted": true, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 162, "t": "2026-11-02T19:30:23.567", "t_unix": 1793615423.567, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 1, "step_deg": 2.0, "execute": false, "accepted": true, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 163, "t": "2026-11-02T19:30:23.897", "t_unix": 1793615423.898, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": false, "joint": 0, "delta": 2.0, "accepted": true, "measured_before": [2.0, 0.0, 0.0, 0.0, 0.0, -30.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [4.0, 0.0, 0.0, 0.0, 0.0, -30.0], "sent": true, "reached": true, "reached_angles": [4.0, 0.0, 0.0, 0.0, 0.0, -30.0], "reach_err": 0.0, "t_send": 1793615423.899039, "dry": true, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 164, "t": "2026-11-02T19:30:24.650", "t_unix": 1793615424.65, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": false, "joint": 0, "delta": 2.0, "accepted": true, "measured_before": [4.0, 0.0, 0.0, 0.0, 0.0, -30.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.0, 0.0, 0.0, 0.0, 0.0, -30.0], "sent": true, "reached": true, "reached_angles": [6.0, 0.0, 0.0, 0.0, 0.0, -30.0], "reach_err": 0.0, "t_send": 1793615424.650733, "dry": true, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 165, "t": "2026-11-02T19:30:25.342", "t_unix": 1793615425.342, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": false, "joint": 0, "delta": 2.0, "accepted": true, "measured_before": [6.0, 0.0, 0.0, 0.0, 0.0, -30.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [8.0, 0.0, 0.0, 0.0, 0.0, -30.0], "sent": true, "reached": true, "reached_angles": [8.0, 0.0, 0.0, 0.0, 0.0, -30.0], "reach_err": 0.0, "t_send": 1793615425.3432372, "dry": true, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 166, "t": "2026-11-02T19:30:26.144", "t_unix": 1793615426.145, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": false, "joint": 0, "delta": 2.0, "accepted": true, "measured_before": [8.0, 0.0, 0.0, 0.0, 0.0, -30.0], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [10.0, 0.0, 0.0, 0.0, 0.0, -30.0], "sent": true, "reached": true, "reached_angles": [10.0, 0.0, 0.0, 0.0, 0.0, -30.0], "reach_err": 0.0, "t_send": 1793615426.145644, "dry": true, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 167, "t": "2026-11-02T19:30:27.392", "t_unix": 1793615427.392, "button": "L2+R2", "button_name": "L2+R2", "kind": "stop", "selected_joint": 1, "step_deg": 0.5, "execute": false, "accepted": true, "reason": "L2+R2", "already_stopped": false, "busy": false, "send_committed_before_stop": null, "triggers": [1.0, 1.0], "grip_state": "closed", "stopped": true, "stop_reason": "L2+R2", "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 168, "t": "2026-11-02T19:30:30.507", "t_unix": 1793615430.507, "button": 5, "button_name": "home", "kind": "home", "selected_joint": 1, "step_deg": 0.5, "execute": false, "accepted": false, "reason": "stopped", "grip_state": "closed", "stopped": true, "stop_reason": "L2+R2", "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 169, "t": "2026-11-02T19:30:39.657", "t_unix": 1793615439.657, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 0.5, "execute": false, "joint": 0, "delta": -0.5, "accepted": false, "reason": "stopped", "grip_state": "closed", "stopped": true, "stop_reason": "L2+R2", "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 170, "t": "2026-11-02T19:30:41.192", "t_unix": 1793615441.193, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 0.5, "execute": false, "joint": 0, "delta": -0.5, "accepted": false, "reason": "stopped", "grip_state": "closed", "stopped": true, "stop_reason": "L2+R2", "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 171, "t": "2026-11-02T19:30:41.750", "t_unix": 1793615441.75, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 0.5, "execute": false, "joint": 0, "delta": 0.5, "accepted": false, "reason": "stopped", "grip_state": "closed", "stopped": true, "stop_reason": "L2+R2", "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 172, "t": "2026-11-02T19:30:50.768", "t_unix": 1793615450.769, "button": 6, "button_name": "options", "kind": "resume", "selected_joint": 1, "step_deg": 0.5, "execute": false, "accepted": true, "grip_state": "closed", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}