[LIMIT] step 5 (実測から): j4 移動量 -34.1° を ±20° に制限 [SEND] pi05_chunk006_via05: send_angles (single) [ +27.83, +43.30, +0.87, -0.28, -34.67, -28.31] speed=20 wait=0.0s (pre max|Δ|=20.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 5 Δ= +8.6 -2.1 -2.6 +1.3 -20.0 -0.3 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +34.79, +43.18, -0.45, +0.31, -47.63, -28.70] speed=20 wait=0.0s (pre max|Δ|=12.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.25° (tol 3.0°) [VIA ] step 8 Δ= +7.3 -2.3 -2.6 +0.7 -12.0 -0.7 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +36.08, +43.46, -0.49, +0.34, -47.85, -28.67] speed=20 wait=0.0s (pre max|Δ|=1.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.97° (tol 3.0°) [VIA ] step 9 Δ= +1.4 -2.0 -1.7 -0.1 -1.5 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.97°（関節 j1） [007] 推論 1178ms 10ステップ先 Δ= +2.6 +13.2 -3.6 +1.5 -11.5 -1.2 [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 / r=爪の締め直し / 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=0.0s (pre max|Δ|=47.63°, post-send timeout 9.1s) [SEND] [TIMEOUT] 9.1s 内に未到達: max|Δ|=53.34° actual=[ +0.00, +1.31, +1.23, +0.08, +53.34, -29.70] [SEND] リトライしません: pre→last max|Δ| 100.97° >= 1.0° (部分移動/ストール疑い) [RECORD] 記録終了 コマ 1376 (8.896 fps) 実測角 946 回 (6.12 Hz) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261101_194042/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_20261101_194042 [CLIENT] run_policy_client.py が終わった (終了コード 0. モデル corr (PixelstoMotors/pi05-mecharm-trim-corr-lora-v1)) (161 秒) もう1回やりますか? y=やる / 他=終わる > y === 7. HOME → 爪を開く → 位置合わせ (10 回目) [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: [0.00, 1.31, 1.23, -0.08, 54.49, -29.70] [SEND] HOME へ移動指令 [WAIT] t=2.1s max_err=54.49° [WAIT] t=2.6s max_err=54.49° [WAIT] t=3.1s max_err=54.49° [WAIT] t=3.6s max_err=54.49° [WAIT] t=4.1s max_err=54.49° [WAIT] t=4.7s max_err=54.49° [WAIT] t=5.2s max_err=54.49° [WAIT] t=5.7s max_err=54.49° [WAIT] t=6.2s max_err=54.49° [WAIT] t=6.8s max_err=54.49° [WAIT] t=7.3s max_err=54.49° [WAIT] t=7.8s max_err=54.49° [WAIT] t=8.3s max_err=54.49° [WAIT] t=8.9s max_err=54.49° [WAIT] t=9.4s max_err=54.49° [WAIT] t=9.9s max_err=54.49° [WAIT] t=10.4s max_err=54.49° [WAIT] t=10.9s max_err=54.49° [WAIT] t=11.5s max_err=54.49° [WAIT] t=12.0s max_err=54.49° [WAIT] t=12.5s max_err=54.49° [WAIT] t=13.0s max_err=54.49° [WAIT] t=13.6s max_err=54.49° [WAIT] t=14.1s max_err=54.49° [WAIT] t=14.6s max_err=54.49° [WAIT] t=15.1s max_err=54.49° [WAIT] t=15.7s max_err=54.49° [WAIT] t=16.2s max_err=54.49° [WAIT] t=16.7s max_err=54.49° [WAIT] t=17.2s max_err=54.49° [WAIT] t=17.8s max_err=54.49° [WAIT] t=18.3s max_err=54.49° [WAIT] t=18.8s max_err=54.49° [WAIT] t=19.3s max_err=54.49° [WAIT] t=19.9s max_err=54.49° [WAIT] t=20.4s max_err=54.49° [WAIT] t=20.9s max_err=54.49° [WAIT] t=21.4s max_err=54.49° [WAIT] t=21.9s max_err=54.49° [WAIT] t=22.5s max_err=54.49° [WAIT] t=23.0s max_err=54.49° [WAIT] t=23.5s max_err=54.49° [WAIT] t=24.0s max_err=54.49° [WAIT] t=24.5s max_err=54.49° [WAIT] t=25.1s max_err=54.49° [WAIT] t=25.6s max_err=54.49° [WAIT] t=26.1s max_err=54.49° [WAIT] t=26.6s max_err=54.49° [WAIT] t=27.2s max_err=54.49° [WAIT] t=27.7s max_err=54.49° [WAIT] t=28.2s max_err=54.49° [WAIT] t=28.7s max_err=54.49° [WAIT] t=29.3s max_err=54.49° [WAIT] t=29.8s max_err=54.49° [WAIT] t=30.3s max_err=54.49° [WAIT] t=30.8s max_err=54.49° [WAIT] t=31.4s max_err=54.49° [WAIT] t=31.9s max_err=54.49° [WAIT] t=32.4s max_err=54.49° [WAIT] t=32.9s max_err=54.49° [WAIT] t=33.5s max_err=54.49° [WAIT] t=34.0s max_err=54.49° [WAIT] t=34.5s max_err=54.49° [WAIT] t=35.0s max_err=54.49° [WAIT] t=35.5s max_err=54.49° [WAIT] t=36.1s max_err=54.49° [WAIT] t=36.6s max_err=54.49° [WAIT] t=37.1s max_err=54.49° [WAIT] t=37.6s max_err=54.49° [WAIT] t=38.1s max_err=54.49° [WAIT] t=38.7s max_err=54.49° [WAIT] t=39.2s max_err=54.49° [WAIT] t=39.7s max_err=54.49° [WAIT] t=40.2s max_err=54.49° [WAIT] t=40.7s max_err=54.49° [WAIT] t=41.3s max_err=54.49° [WAIT] t=41.8s max_err=54.49° [WAIT] t=42.3s max_err=54.49° [WAIT] t=42.8s max_err=54.49° [WAIT] t=43.4s max_err=54.49° [WAIT] t=43.9s max_err=54.49° [WAIT] t=44.4s max_err=54.49° [WAIT] t=44.9s max_err=54.49° [WAIT] t=45.5s max_err=54.49° [WAIT] t=46.0s max_err=54.49° [WAIT] t=46.5s max_err=54.49° [WAIT] t=47.0s max_err=54.49° [WAIT] t=47.5s max_err=54.49° [WAIT] t=48.1s max_err=54.49° [WAIT] t=48.6s max_err=54.49° [WAIT] t=49.1s max_err=54.49° [WAIT] t=49.6s max_err=54.49° [WAIT] t=50.2s max_err=54.49° [WAIT] t=50.7s max_err=54.49° [WAIT] t=51.2s max_err=54.49° [WAIT] t=51.7s max_err=54.49° [WAIT] t=52.3s max_err=54.49° [WAIT] t=52.8s max_err=54.49° [WAIT] t=53.3s max_err=54.49° [WAIT] t=53.8s max_err=54.49° [WAIT] t=54.3s max_err=54.49° [WAIT] t=54.9s max_err=54.49° [WAIT] t=55.4s max_err=54.49° [WAIT] t=55.9s max_err=54.49° [WAIT] t=56.5s max_err=54.49° [WAIT] t=57.0s max_err=54.49° [WAIT] t=57.5s max_err=54.49° [WAIT] t=58.0s max_err=54.49° [WAIT] t=58.6s max_err=54.49° [WAIT] t=59.1s max_err=54.49° [WAIT] t=59.6s max_err=54.49° [WAIT] t=60.1s max_err=54.49° [WAIT] t=60.6s max_err=54.49° [WAIT] t=61.2s max_err=54.49° [WAIT] t=61.7s max_err=54.49° [WAIT] t=62.2s max_err=54.49° [WAIT] t=62.7s max_err=54.49° [WAIT] t=63.3s max_err=54.49° [WAIT] t=63.8s max_err=54.49° [WAIT] t=64.3s max_err=54.49° [WAIT] t=64.8s max_err=54.49° [WAIT] t=65.3s max_err=54.49° [WAIT] t=65.9s max_err=54.49° [WAIT] t=66.4s max_err=54.49° [WAIT] t=66.9s max_err=54.49° [WAIT] t=67.4s max_err=54.49° [WAIT] t=68.0s max_err=54.49° [WAIT] t=68.5s max_err=54.49° [WAIT] t=69.0s max_err=54.49° [WAIT] t=69.5s max_err=54.49° [WAIT] t=70.1s max_err=54.49° [WAIT] t=70.6s max_err=54.49° [WAIT] t=71.1s max_err=54.49° [WAIT] t=71.6s max_err=54.49° [WAIT] t=72.2s max_err=54.49° [WAIT] t=72.7s max_err=54.49° [WAIT] t=73.2s max_err=54.49° [WAIT] t=73.7s max_err=54.49° [WAIT] t=74.2s max_err=54.49° [WAIT] t=74.8s max_err=54.49° [WAIT] t=75.3s max_err=54.49° [WAIT] t=75.8s max_err=54.49° [WAIT] t=76.3s max_err=54.49° [WAIT] t=76.8s max_err=54.49° [WAIT] t=77.4s max_err=54.49° [WAIT] t=77.9s max_err=54.49° [WAIT] t=78.4s max_err=54.49° [WAIT] t=79.0s max_err=54.49° [WAIT] t=79.5s max_err=54.49° [WAIT] t=80.0s max_err=54.49° [WAIT] t=80.5s max_err=54.49° [WAIT] t=81.1s max_err=54.49° [WAIT] t=81.6s max_err=54.49° [WAIT] t=82.1s max_err=54.49° [WAIT] t=82.6s max_err=54.49° [WAIT] t=83.1s max_err=54.49° [WAIT] t=83.7s max_err=54.49° [WAIT] t=84.2s max_err=54.49° [WAIT] t=84.7s max_err=54.49° [WAIT] t=85.3s max_err=54.49° [WAIT] t=85.8s max_err=54.49° [WAIT] t=86.3s max_err=54.49° [WAIT] t=86.8s max_err=54.49° [WAIT] t=87.3s max_err=54.49° [WAIT] t=87.9s max_err=54.49° [WAIT] t=88.4s max_err=54.49° [WAIT] t=88.9s max_err=54.49° [WAIT] t=89.4s max_err=54.49° [WAIT] t=90.0s max_err=54.49° [WAIT] t=90.5s max_err=54.49° [WAIT] t=91.0s max_err=54.49° [WAIT] t=91.5s max_err=54.49° [WAIT] t=92.1s max_err=54.49° [WAIT] t=92.6s max_err=54.49° [WAIT] t=93.1s max_err=54.49° [WAIT] t=93.6s max_err=54.49° [WAIT] t=94.1s max_err=54.49° [WAIT] t=94.7s max_err=54.49° [WAIT] t=95.2s max_err=54.49° [WAIT] t=95.7s max_err=54.49° [WAIT] t=96.2s max_err=54.49° [WAIT] t=96.8s max_err=54.49° [WAIT] t=97.3s max_err=54.49° [WAIT] t=97.8s max_err=54.49° [WAIT] t=98.3s max_err=54.49° [WAIT] t=98.9s max_err=54.49° [WAIT] t=99.4s max_err=54.49° [WAIT] t=99.9s max_err=54.49° [WAIT] t=100.4s max_err=54.49° [WAIT] t=100.9s max_err=54.49° [WAIT] t=101.5s max_err=54.49° [WAIT] t=102.0s max_err=54.49° [WAIT] t=102.5s max_err=54.49° [WAIT] t=103.0s max_err=54.49° [WAIT] t=103.6s max_err=54.49° [WAIT] t=104.1s max_err=54.49° [WAIT] t=104.6s max_err=54.49° [WAIT] t=105.1s max_err=54.49° [WAIT] t=105.6s max_err=54.49° [WAIT] t=106.2s max_err=54.49° [WAIT] t=106.7s max_err=54.49° [WAIT] t=107.2s max_err=54.49° [WAIT] t=107.7s max_err=54.49° [WAIT] t=108.3s max_err=54.49° [WAIT] t=108.8s max_err=54.49° [WAIT] t=109.3s max_err=54.49° [WAIT] t=109.8s max_err=54.49° [WAIT] t=110.4s max_err=54.49° [WAIT] t=110.9s max_err=54.49° [WAIT] t=111.4s max_err=54.49° [WAIT] t=111.9s max_err=54.49° [WAIT] t=112.5s max_err=54.49° [WAIT] t=113.0s max_err=54.49° [WAIT] t=113.5s max_err=54.49° [WAIT] t=114.0s max_err=54.49° [WAIT] t=114.6s max_err=54.49° [WAIT] t=115.1s max_err=54.49° [WAIT] t=115.6s max_err=54.49° [WAIT] t=116.1s max_err=54.49° [WAIT] t=116.7s max_err=54.49° [WAIT] t=117.2s max_err=54.49° [WAIT] t=117.7s max_err=54.49° [WAIT] t=118.2s max_err=54.49° [WAIT] t=118.7s max_err=54.49° [WAIT] t=119.3s max_err=54.49° [WAIT] t=119.8s max_err=54.49° [WAIT] t=120.3s max_err=54.49° [WAIT] t=120.8s max_err=54.49° [WAIT] t=121.4s max_err=54.49° [WAIT] t=121.9s max_err=54.49° [WAIT] t=122.4s max_err=54.49° [WAIT] t=122.9s max_err=54.49° [WAIT] t=123.5s max_err=54.49° [WAIT] t=124.0s max_err=54.49° [WAIT] t=124.5s max_err=54.49° [WAIT] t=125.0s max_err=54.49° [WAIT] t=125.6s max_err=54.49° [WAIT] t=126.1s max_err=54.49° [WAIT] t=126.6s max_err=54.49° [WAIT] t=127.1s max_err=54.49° [WAIT] t=127.6s max_err=54.49° [WAIT] t=128.2s max_err=54.49° [WAIT] t=128.7s max_err=54.49° [WAIT] t=129.2s max_err=54.49° [WAIT] t=129.7s max_err=54.49° [WAIT] t=130.2s max_err=54.49° [WAIT] t=130.8s max_err=54.49° [WAIT] t=131.3s max_err=54.49° [WAIT] t=131.8s max_err=54.49° [WAIT] t=132.4s max_err=54.49° [WAIT] t=132.9s max_err=54.49° [WAIT] t=133.4s max_err=54.49° [WAIT] t=133.9s max_err=54.49° [WAIT] t=134.4s max_err=54.49° [WAIT] t=135.0s max_err=54.49° [WAIT] t=135.5s max_err=54.49° [WAIT] t=136.0s max_err=54.49° [WAIT] t=136.5s max_err=54.49° [WAIT] t=137.1s max_err=54.49° [WAIT] t=137.6s max_err=54.49° [WAIT] t=138.1s max_err=54.49° [WAIT] t=138.6s max_err=54.49° [WAIT] t=139.1s max_err=54.49° [WAIT] t=139.7s max_err=54.49° [WAIT] t=140.2s max_err=54.49° [WAIT] t=140.7s max_err=54.49° [WAIT] t=141.2s max_err=54.49° [WAIT] t=141.7s max_err=54.49° [WAIT] t=142.3s max_err=54.49° [WAIT] t=142.8s max_err=54.49° [WAIT] t=143.3s max_err=54.49° [WAIT] t=143.9s max_err=54.49° [WAIT] t=144.4s max_err=54.49° [WAIT] t=144.9s max_err=54.49° [WAIT] t=145.4s max_err=54.49° [WAIT] t=145.9s max_err=54.49° [WAIT] t=146.5s max_err=54.49° [WAIT] t=147.0s max_err=54.49° [WAIT] t=147.5s max_err=54.49° [WAIT] t=148.0s max_err=54.49° [WAIT] t=148.6s max_err=54.49° [WAIT] t=149.1s max_err=54.49° [WAIT] t=149.6s max_err=54.49° [WAIT] t=150.1s max_err=54.49° [WAIT] t=150.7s max_err=54.49° [WAIT] t=151.2s max_err=54.49° [WAIT] t=151.7s max_err=54.49° [WAIT] t=152.2s max_err=54.49° [WAIT] t=152.7s max_err=54.49° [WAIT] t=153.3s max_err=54.49° [WAIT] t=153.8s max_err=54.49° [WAIT] t=154.3s max_err=54.49° [WAIT] t=154.9s max_err=54.49° [WAIT] t=155.4s max_err=54.49° [WAIT] t=155.9s max_err=54.49° [WAIT] t=156.4s max_err=54.49° [WAIT] t=157.0s max_err=54.49° [WAIT] t=157.5s max_err=54.49° [WAIT] t=158.0s max_err=54.49° [WAIT] t=158.5s max_err=54.49° [WAIT] t=159.0s max_err=54.49° [WAIT] t=159.6s max_err=54.49° [WAIT] t=160.1s max_err=54.49° [WAIT] t=160.6s max_err=54.49° [WAIT] t=161.1s max_err=54.49° [WAIT] t=161.7s max_err=54.49° [WAIT] t=162.2s max_err=54.49° [WAIT] t=162.7s max_err=54.49° [WAIT] t=163.2s max_err=54.49° [WAIT] t=163.7s max_err=54.49° [WAIT] t=164.3s max_err=54.49° [WAIT] t=164.8s max_err=54.49° [WAIT] t=165.3s max_err=54.49° [WAIT] t=165.8s max_err=54.49° [WAIT] t=166.4s max_err=54.49° [WAIT] t=166.9s max_err=54.49° [WAIT] t=167.4s max_err=54.49° [WAIT] t=167.9s max_err=54.49° [WAIT] t=168.5s max_err=54.49° [WAIT] t=169.0s max_err=54.49° [WAIT] t=169.5s max_err=54.49° [WAIT] t=170.0s max_err=54.49° [WAIT] t=170.5s max_err=54.49° [WAIT] t=171.0s max_err=54.49° [WAIT] t=171.6s max_err=54.49° [WAIT] t=172.1s max_err=54.49° [WAIT] t=172.6s max_err=54.49° [WAIT] t=173.2s max_err=54.49° [WAIT] t=173.7s max_err=54.49° [WAIT] t=174.2s max_err=54.49° [WAIT] t=174.7s max_err=54.49° [WAIT] t=175.2s max_err=54.49° [WAIT] t=175.8s max_err=54.49° [WAIT] t=176.3s max_err=54.49° [WAIT] t=176.8s max_err=54.49° [WAIT] t=177.3s max_err=54.49° [WAIT] t=177.8s max_err=54.49° [WAIT] t=178.4s max_err=54.49° [WAIT] t=178.9s max_err=54.49° [WAIT] t=179.4s max_err=54.49° [WAIT] t=179.9s max_err=54.49° [WAIT] t=180.5s max_err=54.49° [WAIT] t=181.0s max_err=54.49° [WAIT] t=181.5s max_err=54.49° [WAIT] t=182.0s max_err=54.49° [WAIT] t=182.6s max_err=54.49° [WAIT] t=183.1s max_err=54.49° [WAIT] t=183.6s max_err=54.49° [WAIT] t=184.1s max_err=54.49° [WAIT] t=184.7s max_err=54.49° [WAIT] t=185.2s max_err=54.49° [WAIT] t=185.7s max_err=54.49° [WAIT] t=186.2s max_err=54.49° [WAIT] t=186.8s max_err=54.49° [WAIT] t=187.3s max_err=54.49° [WAIT] t=187.8s max_err=54.49° [WAIT] t=188.3s max_err=54.49° [WAIT] t=188.8s max_err=54.49° [WAIT] t=189.4s max_err=54.49° [WAIT] t=189.9s max_err=54.49° [WAIT] t=190.4s max_err=54.49° [WAIT] t=191.0s max_err=54.49° [WAIT] t=191.5s max_err=54.49° [WAIT] t=192.0s max_err=54.49° [WAIT] t=192.5s max_err=54.49° [WAIT] t=193.1s max_err=54.49° [WAIT] t=193.6s max_err=54.49° [WAIT] t=194.1s max_err=54.49° [WAIT] t=194.6s max_err=54.49° [WAIT] t=195.1s max_err=54.49° [WAIT] t=195.7s max_err=54.49° [WAIT] t=196.2s max_err=54.49° [WAIT] t=196.7s max_err=54.49° [WAIT] t=197.2s max_err=54.49° [WAIT] t=197.8s max_err=54.49° [WAIT] t=198.3s max_err=54.49° [WAIT] t=198.8s max_err=54.49° [WAIT] t=199.3s max_err=54.49° [WAIT] t=199.8s max_err=54.49° [WAIT] t=200.4s max_err=54.49° [WAIT] t=200.9s max_err=54.49° [WAIT] t=201.4s max_err=54.49° [WAIT] t=201.9s max_err=54.49° [WAIT] t=202.5s max_err=54.49° [WAIT] t=203.0s max_err=54.49° [WAIT] t=203.5s max_err=54.49° [WAIT] t=204.0s max_err=54.49° [WAIT] t=204.6s max_err=54.49° [WAIT] t=205.1s max_err=54.49° [WAIT] t=205.6s max_err=54.49° [WAIT] t=206.1s max_err=54.49° [WAIT] t=206.7s max_err=54.49° [WAIT] t=207.2s max_err=54.49° [WAIT] t=207.7s max_err=54.49° [WAIT] t=208.2s max_err=54.49° [WAIT] t=208.8s max_err=54.49° [WAIT] t=209.3s max_err=54.49° [WAIT] t=209.8s max_err=54.49° [WAIT] t=210.3s max_err=54.49° [WAIT] t=210.8s max_err=54.49° [WAIT] t=211.4s max_err=54.49° [WAIT] t=211.9s max_err=54.49° [WAIT] t=212.4s max_err=54.49° [WAIT] t=212.9s max_err=54.49° [WAIT] t=213.5s max_err=54.49° [WAIT] t=214.0s max_err=54.49° [WAIT] t=214.5s max_err=54.49° [WAIT] t=215.1s max_err=54.49° [WAIT] t=215.6s max_err=54.49° [WAIT] t=216.1s max_err=54.49° [WAIT] t=216.6s max_err=54.49° [WAIT] t=217.1s max_err=54.49° [WAIT] t=217.7s max_err=54.49° [WAIT] t=218.2s max_err=54.49° [WAIT] t=218.7s max_err=54.49° [WAIT] t=219.2s max_err=54.49° [WAIT] t=219.8s max_err=54.49° [WAIT] t=220.3s max_err=54.49° [WAIT] t=220.8s max_err=54.49° [WAIT] t=221.3s max_err=54.49° [WAIT] t=221.9s max_err=54.49° [WAIT] t=222.4s max_err=54.49° [WAIT] t=222.9s max_err=54.49° [WAIT] t=223.4s max_err=54.49° [WAIT] t=223.9s max_err=54.49° [WAIT] t=224.4s max_err=54.49° [WAIT] t=225.0s max_err=54.49° [WAIT] t=225.5s max_err=54.49° [WAIT] t=226.0s max_err=54.49° [WAIT] t=226.5s max_err=54.49° [WAIT] t=227.1s max_err=54.49° [WAIT] t=227.6s max_err=54.49° [WAIT] t=228.1s max_err=54.49° [WAIT] t=228.6s max_err=54.49° [WAIT] t=229.1s max_err=54.49° [WAIT] t=229.7s max_err=54.49° [WAIT] t=230.2s max_err=54.49° [WAIT] t=230.7s max_err=54.49° [WAIT] t=231.2s max_err=54.49° [WAIT] t=231.8s max_err=54.49° [WAIT] t=232.3s max_err=54.49° [WAIT] t=232.8s max_err=54.49° [WAIT] t=233.3s max_err=54.49° [WAIT] t=233.8s max_err=54.49° [WAIT] t=234.4s max_err=54.49° [WAIT] t=234.9s max_err=54.49° [WAIT] t=235.4s max_err=54.49° [WAIT] t=235.9s max_err=54.49° [WAIT] t=236.5s max_err=54.49° [WAIT] t=237.0s max_err=54.49° [WAIT] t=237.5s max_err=54.49° [WAIT] t=238.0s max_err=54.49° [WAIT] t=238.6s max_err=54.49° [WAIT] t=239.1s max_err=54.49° [WAIT] t=239.6s max_err=54.49° [WAIT] t=240.1s max_err=54.49° [WAIT] t=240.6s max_err=54.49° [WAIT] t=241.2s max_err=54.49° [WAIT] t=241.7s max_err=54.49° [WAIT] t=242.2s max_err=54.49° [WAIT] t=242.7s max_err=54.49° [WAIT] t=243.3s max_err=54.49° [WAIT] t=243.8s max_err=54.49° [WAIT] t=244.3s max_err=54.49° [WAIT] t=244.8s max_err=54.49° [WAIT] t=245.3s max_err=54.49° [WAIT] t=245.9s max_err=54.49° [WAIT] t=246.4s max_err=54.49° [WAIT] t=246.9s max_err=54.49° [WAIT] t=247.4s max_err=54.49° [WAIT] t=248.0s max_err=54.49° [WAIT] t=248.5s max_err=54.49° [WAIT] t=249.0s max_err=54.49° [WAIT] t=249.5s max_err=54.49° [WAIT] t=250.0s max_err=54.49° [WAIT] t=250.6s max_err=54.49° [WAIT] t=251.1s max_err=54.49° [WAIT] t=251.6s max_err=54.49° [WAIT] t=252.1s max_err=54.49° [WAIT] t=252.7s max_err=54.49° [WAIT] t=253.2s max_err=54.49° [WAIT] t=253.7s max_err=54.49° ^C[INTERRUPT] Ctrl+C 検出 [POST] 最終姿勢: [0.00, 1.31, 1.23, -0.08, 54.49, -29.70] [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= -23.4 dx= -2.0 response=0.123 → 測れない (相関が弱く dx/dy が当てにならない (response=0.123 < 0.20)) [ALIGN ] dy= -20.9 dx= -0.0 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= -23.3 dx= -2.0 response=0.122 → 測れない (相関が弱く dx/dy が当てにならない (response=0.122 < 0.20)) [ALIGN ] dy= -20.8 dx= -0.2 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= -23.3 dx= -2.0 response=0.124 → 測れない (相関が弱く dx/dy が当てにならない (response=0.124 < 0.20)) [ALIGN ] dy= -20.7 dx= -0.1 response=0.084 → 測れない (相関が弱く dx/dy が当てにならない (response=0.084 < 0.20)) [ALIGN ] dy= -23.3 dx= -2.0 response=0.122 → 測れない (相関が弱く dx/dy が当てにならない (response=0.122 < 0.20)) [ALIGN ] dy= -20.8 dx= -0.0 response=0.089 → 測れない (相関が弱く dx/dy が当てにならない (response=0.089 < 0.20)) [ALIGN ] dy= -23.4 dx= -1.9 response=0.126 → 測れない (相関が弱く dx/dy が当てにならない (response=0.126 < 0.20)) [ALIGN ] dy= -20.7 dx= +0.0 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= -23.3 dx= -2.0 response=0.125 → 測れない (相関が弱く dx/dy が当てにならない (response=0.125 < 0.20)) [ALIGN ] dy= -20.7 dx= -0.0 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= -23.4 dx= -1.9 response=0.124 → 測れない (相関が弱く dx/dy が当てにならない (response=0.124 < 0.20)) [ALIGN ] dy= -20.8 dx= -0.1 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)) [DONE ] 終了 (何も書いていません) (267 秒) === 8. 実機推論 (10 回目) [WAIT ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s [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_20261101_195421 [MODEL ] corr (PixelstoMotors/pi05-mecharm-trim-corr-lora-v1) [CAMERA] 写り方 dy=-43.3 dx=+11.4 response=0.028 → 測れない (相関が弱く dx/dy が当てにならない (response=0.028 < 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 [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_20261101_195421/recording [WARN ] HOME から離れています (max|Δ|=54.5°). 学習データは HOME から始まっています 現在角: j0=+0.0 j1=+1.3 j2=+1.2 j3=-0.1 j4=+54.5 j5=-29.7 [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 1093ms 10ステップ先 Δ= -2.2 +15.9 +7.4 -1.6 -44.1 +0.6 [LIMIT] j4 安全範囲でクランプ +33.6→+10.4 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [LIMIT] step 2: j4 安全範囲でクランプ +51.0→+10.4 [LIMIT] step 2: j4 移動量 -44.1° を ±20° に制限 [LIMIT] step 5: j4 安全範囲でクランプ +42.7→+10.4 [LIMIT] step 5: j4 移動量 -24.1° を ±20° に制限 [LIMIT] step 8: j4 安全範囲でクランプ +35.2→+10.4 [LIMIT] step 9: j4 安全範囲でクランプ +33.6→+10.4 [ABORT] step 2: j4 +34.49° が安全範囲 [-90.00, +10.43] の外 (j4 の範囲は 学習データ ∩ J4_SAFE [-90, +60]) [ABORT] step 5: j4 +14.49° が安全範囲 [-90.00, +10.43] の外 (j4 の範囲は 学習データ ∩ J4_SAFE [-90, +60]) [STOP ] 安全でない目標のため, 送らずに停止します (現在角が安全範囲の外にあると, 移動量の制限で範囲の外に戻る) h=HOMEに戻して終了 / 他=そのまま終了 > h [SEND] pi05_home: send_angles (single) [ +0.00, +0.00, +0.00, +0.00, +0.00, -30.00] speed=20 wait=0.0s (pre max|Δ|=54.49°, post-send timeout 10.2s) [SEND] [TIMEOUT] 10.2s 内に未到達: max|Δ|=54.49° actual=[ +0.00, +1.31, +1.23, -0.08, +54.49, -29.70] [RETRY] 1回目送信が無視された（pre→last max|Δ| 0.00°）。5.0s 待って再送します ^C [STOP ] Ctrl-C [RECORD] 記録終了 コマ 187 (8.67 fps) 実測角 202 回 (9.37 Hz) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261101_195421/recording [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261101_195421 [DONE ] 終了コード 1 (安全停止 / 途中のエラー) [CLIENT] run_policy_client.py が終わった (終了コード 1. モデル corr (PixelstoMotors/pi05-mecharm-trim-corr-lora-v1)) (26 秒) もう1回やりますか? y=やる / 他=終わる > === かかった時間 モデル corr (PixelstoMotors/pi05-mecharm-trim-corr-lora-v1) 1. Pod を作る 2 秒 2. Pod が立ち上がるまで待つ 41 秒 3a. スクリプトを送る 65 秒 3b. huggingface_hub を入れ, 鍵を渡す 14 秒 3c. モデルを取る (hf download PixelstoMotors/pi05-mecharm-trim-corr-lora-v1) 18 秒 3d. openpi を取る (215abfb) 22 秒 3e. uv sync 20 秒 3f. addon・設定・assets (pi05_mecharm_trim_corr_lora) 4 秒 4. サーバーの起動 55 秒 5. Mac の 8000 番へのトンネル 4 秒 6. デーモンの状態 2 秒 7. HOME → 爪を開く → 位置合わせ (1 回目) 72 秒 8. 実機推論 (1 回目) 278 秒 7. HOME → 爪を開く → 位置合わせ (2 回目) 27 秒 8. 実機推論 (2 回目) 213 秒 7. HOME → 爪を開く → 位置合わせ (3 回目) 21 秒 8. 実機推論 (3 回目) 82 秒 7. HOME → 爪を開く → 位置合わせ (4 回目) 17 秒 8. 実機推論 (4 回目) 170 秒 7. HOME → 爪を開く → 位置合わせ (5 回目) 23 秒 8. 実機推論 (5 回目) 196 秒 7. HOME → 爪を開く → 位置合わせ (6 回目) 18 秒 8. 実機推論 (6 回目) 144 秒 7. HOME → 爪を開く → 位置合わせ (7 回目) 17 秒 8. 実機推論 (7 回目) 189 秒 7. HOME → 爪を開く → 位置合わせ (8 回目) 18 秒 8. 実機推論 (8 回目) 204 秒 7. HOME → 爪を開く → 位置合わせ (9 回目) 19 秒 8. 実機推論 (9 回目) 161 秒 7. HOME → 爪を開く → 位置合わせ (10 回目) 267 秒 8. 実機推論 (10 回目) 26 秒 [LAB ] Pod は残しています (id v7w5nerpf0hh1y). 片付けは ./lab_stop.sh --log Log18 [TUNNEL] 8000 番のトンネルを閉じました