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{"seq": 67, "t": "2026-11-03T07:16:49.577", "t_unix": 1793657809.578, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 4, "delta": -2.0, "accepted": true, "measured_before": [-1.14, 1.23, 6.85, -1.75, -7.99, -30.14], "start_source": "command", "cmd_gap_deg": 0.85, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.0, 0.5, 6.0, -2.0, -10.0, -30.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657809.612223, "measured_before_send": [-1.14, 1.23, 6.85, -1.75, -7.99, -30.14], "reached": true, "reached_angles": [-1.14, 1.23, 6.85, -1.75, -9.93, -30.14], "reach_err": 0.85, "elapsed_sec": 0.02, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 68, "t": "2026-11-03T07:16:51.857", "t_unix": 1793657811.858, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 4, "delta": -2.0, "accepted": true, "measured_before": [-1.14, 1.23, 6.85, -1.75, -9.93, -30.14], "start_source": "command", "cmd_gap_deg": 0.85, "clip": [{"joint": 4, "want": -12.0, "cmd": -10.0, "limit": "BASE", "bound": -10.0}], "refused": [{"joint": 4, "why": "at_limit", "value": -12.0, "lo": -10.0, "hi": 10.0, "limit": "BASE"}], "limit_ja": "j4 を -12.00° → -10.00° に切った（基準の姿勢からの範囲 -10.00°） / j4 -12.00° は送らない：範囲の端にいて、押した向きに進めない（範囲 [-10.00, +10.00]・基準の姿勢からの範囲）", "limit_ascii": "j4 clipped -12.00->-10.00 (BASE -10.00) / j4 refused at_limit -12.00 [-10.00, +10.00] (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": 69, "t": "2026-11-03T07:16:53.582", "t_unix": 1793657813.583, "button": 3, "button_name": "triangle", "kind": "select_joint", "selected_joint": 5, "step_deg": 0.5, "execute": true, "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": 70, "t": "2026-11-03T07:16:55.714", "t_unix": 1793657815.714, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 5, "step_deg": 2.0, "execute": true, "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": 72, "t": "2026-11-03T07:16:57.454", "t_unix": 1793657817.455, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": true, "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": 71, "t": "2026-11-03T07:16:56.486", "t_unix": 1793657816.487, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": true, "joint": 5, "delta": 2.0, "accepted": true, "measured_before": [-1.14, 1.23, 6.85, -1.75, -9.93, -30.14], "start_source": "command", "cmd_gap_deg": 0.85, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.0, 0.5, 6.0, -2.0, -10.0, -28.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657816.521379, "measured_before_send": [-1.14, 1.23, 6.85, -1.75, -9.93, -30.14], "reached": true, "reached_angles": [-1.14, 1.23, 6.85, -1.75, -9.93, -28.21], "reach_err": 0.85, "elapsed_sec": 0.02, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 73, "t": "2026-11-03T07:16:58.689", "t_unix": 1793657818.689, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": true, "joint": 5, "delta": 2.0, "accepted": true, "measured_before": [-1.14, 1.23, 6.85, -1.75, -9.93, -28.21], "start_source": "command", "cmd_gap_deg": 0.85, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.0, 0.5, 6.0, -2.0, -10.0, -26.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657818.718755, "measured_before_send": [-1.14, 1.23, 6.85, -1.75, -9.93, -28.21], "reached": true, "reached_angles": [-1.14, 1.23, 6.85, -1.75, -9.93, -26.19], "reach_err": 0.85, "elapsed_sec": 0.03, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 74, "t": "2026-11-03T07:17:02.267", "t_unix": 1793657822.268, "button": 3, "button_name": "triangle", "kind": "select_joint", "selected_joint": 1, "step_deg": 0.5, "execute": true, "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": 75, "t": "2026-11-03T07:17:03.188", "t_unix": 1793657823.189, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 1, "step_deg": 2.0, "execute": true, "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": 76, "t": "2026-11-03T07:17:03.993", "t_unix": 1793657823.994, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 1, "delta": -2.0, "accepted": true, "measured_before": [-1.14, 1.23, 6.85, -1.75, -9.93, -26.19], "start_source": "command", "cmd_gap_deg": 0.85, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.0, -1.5, 6.0, -2.0, -10.0, -26.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657824.037812, "measured_before_send": [-1.14, 1.23, 6.85, -1.75, -9.93, -26.19], "reached": true, "reached_angles": [-1.14, -0.43, 6.85, -1.75, -10.1, -26.19], "reach_err": 1.07, "elapsed_sec": 0.02, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 77, "t": "2026-11-03T07:17:06.268", "t_unix": 1793657826.268, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 1, "delta": 2.0, "accepted": true, "measured_before": [-1.14, -0.43, 6.85, -1.75, -10.1, -26.19], "start_source": "command", "cmd_gap_deg": 1.07, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.0, 0.5, 6.0, -2.0, -10.0, -26.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657826.32715, "measured_before_send": [-1.14, -0.43, 6.85, -1.75, -10.1, -26.19], "reached": true, "reached_angles": [-1.14, 1.23, 6.85, -1.84, -10.1, -26.19], "reach_err": 0.85, "elapsed_sec": 0.01, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
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{"seq": 79, "t": "2026-11-03T07:17:10.522", "t_unix": 1793657830.522, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 1, "delta": 2.0, "accepted": true, "measured_before": [-1.14, 3.42, 6.85, -1.84, -10.1, -26.19], "start_source": "command", "cmd_gap_deg": 0.92, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.0, 4.5, 6.0, -2.0, -10.0, -26.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657830.5612118, "measured_before_send": [-1.14, 3.42, 6.85, -1.84, -10.1, -26.19], "reached": true, "reached_angles": [-1.14, 5.36, 6.85, -1.93, -10.19, -26.19], "reach_err": 0.86, "elapsed_sec": 0.03, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 80, "t": "2026-11-03T07:17:12.771", "t_unix": 1793657832.772, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 1, "delta": 2.0, "accepted": true, "measured_before": [-1.14, 5.36, 6.85, -1.93, -10.19, -26.19], "start_source": "command", "cmd_gap_deg": 0.86, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.0, 6.5, 6.0, -2.0, -10.0, -26.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657832.80897, "measured_before_send": [-1.14, 5.36, 6.85, -1.93, -10.19, -26.19], "reached": true, "reached_angles": [-1.14, 7.38, 6.85, -1.93, -10.19, -26.19], "reach_err": 0.88, "elapsed_sec": 0.01, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 81, "t": "2026-11-03T07:17:15.235", "t_unix": 1793657835.235, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 1, "delta": 2.0, "accepted": true, "measured_before": [-1.14, 7.38, 6.85, -1.93, -10.19, -26.19], "start_source": "command", "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.0, 8.5, 6.0, -2.0, -10.0, -26.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657835.2769542, "measured_before_send": [-1.14, 7.38, 6.85, -1.93, -10.19, -26.19], "reached": true, "reached_angles": [-1.14, 9.4, 6.85, -2.02, -10.19, -26.19], "reach_err": 0.9, "elapsed_sec": 0.02, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 82, "t": "2026-11-03T07:17:17.967", "t_unix": 1793657837.968, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 1, "delta": 2.0, "accepted": true, "measured_before": [-1.14, 9.4, 6.85, -2.02, -10.19, -26.19], "start_source": "command", "cmd_gap_deg": 0.9, "clip": [{"joint": 1, "want": 10.5, "cmd": 10.0, "limit": "BASE", "bound": 10.0}], "refused": [], "limit_ja": "j1 を +10.50° → +10.00° に切った（基準の姿勢からの範囲 +10.00°）", "limit_ascii": "j1 clipped +10.50->+10.00 (BASE +10.00)", "command": [-1.0, 10.0, 6.0, -2.0, -10.0, -26.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657838.037159, "measured_before_send": [-1.14, 9.4, 6.85, -2.02, -10.19, -26.19], "reached": true, "reached_angles": [-1.14, 10.89, 6.85, -2.1, -10.19, -26.19], "reach_err": 0.89, "elapsed_sec": 0.01, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
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{"seq": 95, "t": "2026-11-03T07:17:35.867", "t_unix": 1793657855.868, "button": 3, "button_name": "triangle", "kind": "select_joint", "selected_joint": 5, "step_deg": 0.5, "execute": true, "accepted": true, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
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{"seq": 109, "t": "2026-11-03T07:17:51.668", "t_unix": 1793657871.668, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 2.0, "execute": true, "joint": 2, "delta": -2.0, "accepted": true, "measured_before": [-1.14, 8.96, 10.81, -2.28, -10.54, -26.19], "start_source": "command", "cmd_gap_deg": 0.96, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.0, 8.0, 8.0, -2.0, -10.0, -26.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657871.699438, "measured_before_send": [-1.14, 8.96, 10.81, -2.28, -10.54, -26.19], "reached": true, "reached_angles": [-1.14, 8.96, 9.66, -2.28, -10.54, -26.19], "reach_err": 1.66, "elapsed_sec": 0.03, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 111, "t": "2026-11-03T07:17:53.766", "t_unix": 1793657873.767, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 2, "step_deg": 2.0, "execute": true, "joint": 2, "delta": 2.0, "accepted": true, "measured_before": [-1.14, 8.96, 9.66, -2.28, -10.54, -26.19], "start_source": "command", "cmd_gap_deg": 1.66, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.0, 8.0, 10.0, -2.0, -10.0, -26.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657873.8375008, "measured_before_send": [-1.14, 8.96, 9.66, -2.28, -10.54, -26.19], "reached": true, "reached_angles": [-1.14, 8.96, 10.72, -2.28, -10.54, -26.19], "reach_err": 0.96, "elapsed_sec": 0.02, "grip_state": "open", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
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{"seq": 113, "t": "2026-11-03T07:17:56.470", "t_unix": 1793657876.471, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 2, "step_deg": 2.0, "execute": true, "joint": 2, "delta": 2.0, "accepted": true, "measured_before": [-1.14, 8.96, 10.81, -2.28, -10.54, -26.19], "start_source": "command", "cmd_gap_deg": 0.96, "clip": [{"joint": 2, "want": 12.0, "cmd": 10.0, "limit": "BASE", "bound": 10.0}], "refused": [{"joint": 2, "why": "at_limit", "value": 12.0, "lo": -10.0, "hi": 10.0, "limit": "BASE"}], "limit_ja": "j2 を +12.00° → +10.00° に切った（基準の姿勢からの範囲 +10.00°） / j2 +12.00° は送らない：範囲の端にいて、押した向きに進めない（範囲 [-10.00, +10.00]・基準の姿勢からの範囲）", "limit_ascii": "j2 clipped +12.00->+10.00 (BASE +10.00) / j2 refused at_limit +12.00 [-10.00, +10.00] (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": 114, "t": "2026-11-03T07:17:58.716", "t_unix": 1793657878.717, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 2, "step_deg": 2.0, "execute": true, "joint": 2, "delta": 2.0, "accepted": true, "measured_before": [-1.14, 8.96, 10.81, -2.28, -10.45, -26.19], "start_source": "command", "cmd_gap_deg": 0.96, "clip": [{"joint": 2, "want": 12.0, "cmd": 10.0, "limit": "BASE", "bound": 10.0}], "refused": [{"joint": 2, "why": "at_limit", "value": 12.0, "lo": -10.0, "hi": 10.0, "limit": "BASE"}], "limit_ja": "j2 を +12.00° → +10.00° に切った（基準の姿勢からの範囲 +10.00°） / j2 +12.00° は送らない：範囲の端にいて、押した向きに進めない（範囲 [-10.00, +10.00]・基準の姿勢からの範囲）", "limit_ascii": "j2 clipped +12.00->+10.00 (BASE +10.00) / j2 refused at_limit +12.00 [-10.00, +10.00] (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": 115, "t": "2026-11-03T07:18:13.517", "t_unix": 1793657893.518, "button": "L2+R2", "button_name": "L2+R2", "kind": "stop", "selected_joint": 2, "step_deg": 0.5, "execute": true, "accepted": true, "reason": "L2+R2", "already_stopped": false, "busy": false, "send_committed_before_stop": null, "triggers": [1.0, 1.0], "grip_state": "open", "stopped": true, "stop_reason": "L2+R2", "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 116, "t": "2026-11-03T07:18:21.865", "t_unix": 1793657901.865, "button": 5, "button_name": "home", "kind": "home", "selected_joint": 2, "step_deg": 0.5, "execute": true, "accepted": false, "reason": "stopped", "grip_state": "open", "stopped": true, "stop_reason": "L2+R2", "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 117, "t": "2026-11-03T07:18:22.976", "t_unix": 1793657902.977, "button": 0, "button_name": "cross", "kind": "grip_close", "selected_joint": 2, "step_deg": 0.5, "execute": true, "grip_cmd": 1, "accepted": false, "reason": "stopped", "grip_state": "open", "stopped": true, "stop_reason": "L2+R2", "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 118, "t": "2026-11-03T07:18:24.067", "t_unix": 1793657904.067, "button": "L2+R2", "button_name": "L2+R2", "kind": "stop", "selected_joint": 2, "step_deg": 0.5, "execute": true, "accepted": true, "reason": "L2+R2", "already_stopped": true, "busy": false, "send_committed_before_stop": null, "triggers": [1.0, 0.004], "grip_state": "open", "stopped": true, "stop_reason": "L2+R2", "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}
{"seq": 119, "t": "2026-11-03T07:18:29.840", "t_unix": 1793657909.841, "button": 6, "button_name": "options", "kind": "resume", "selected_joint": 2, "step_deg": 0.5, "execute": true, "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": 120, "t": "2026-11-03T07:18:33.023", "t_unix": 1793657913.024, "button": 5, "button_name": "home", "kind": "home", "selected_joint": 2, "step_deg": 0.5, "execute": true, "held_sec": 1.004, "accepted": true, "measured_before": [-1.14, 8.96, 10.81, -2.19, -10.28, -26.19], "command": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0], "range_check": "skipped_for_home", "sent": true, "timeout_sec": 8.0, "t_send": 1793657913.049948, "measured_before_send": [-1.14, 8.96, 10.81, -2.19, -10.28, -26.19], "reached": true, "reached_angles": [-0.26, 1.23, 1.4, -0.35, -0.17, -29.0], "reach_err": 1.4, "elapsed_sec": 0.03, "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": "2026-11-03T07:33:36.825", "t_unix": 1793658816.826, "button": null, "button_name": null, "kind": "controller_lost", "selected_joint": 2, "step_deg": 0.5, "execute": true, "accepted": true, "reason": "controller_disconnected", "already_stopped": false, "busy": false, "send_committed_before_stop": null, "triggers": [-1.0, -1.0], "grip_state": "open", "stopped": true, "stop_reason": "controller_disconnected", "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]}