--- title: "フィジカルAI研究室を作る Log#20 | ゲームパッドで動いた mechArm 270、遅さは pymycobot の版" slug: gamepad-moves-mecharm-270-pymycobot-version date: 2026-11-03 day: 436 meta_description: "ゲームパッドで mechArm 270 を動かすと1回の指令に1.6秒かかった原因は、Pi の daemon が pymycobot 4.0.4 を読んでいたこと。2.9.6 に戻すと送信は約0.02秒、長押しで毎秒約8°動くようになった。" tags: [フィジカルAI研究室, mechArm 270, ゲームパッド, テレオペレーション, pymycobot, daemon, jog, 人の補正, Claude Code] series: "フィジカルAI研究室" --- 市販のゲームパッドで小型ロボットアーム mechArm 270 を実機で動かしたところ、1回の指令ごとに約1.6秒待たされていた原因は、アームの中の Raspberry Pi で動く制御の受け口（daemon）が、使うはずの制御ライブラリ pymycobot 2.9.6 ではなく 4.0.4 を読んでいたことでした。**pymycobot 4.0.4 は、指令を送るたびにアームからの返事を0.5秒ずつ3回待ち、同じ指令を3回書いてから −1 を返していました。** 2.9.6 に戻すと1回の送信は約0.02秒になり、十字キーを押し続ければ関節が毎秒約8°で動き続けるようになりました。 この回でやったことで、次のことが変わります。 - 良くなること：十字キーを押し続けると、関節が止まらずに動き続ける。長押しの速さは、直す前の毎秒1.0°から、毎秒約8°（中央の値。実機の記録 14 回の長押しから）になった。1回押して1.6秒待つことはなくなった - もたらされること：10月30日の夜に daemon を自動で起動する形にしてから、このアームを使うスクリプトはすべて、1回の送信に約1.6秒かかっていた。AI（Physical Intelligence の π0.5）の推論も同じ daemon を通るので、次の推論から送る待ちが短くなる見込み。推論で実際にどれだけ縮むかは、次の実機の推論で測る - 時間・費用：遅さに気づいてから daemon を直すまで約6分（7:51 に長押しが動かないと気づき、7:57 に直った daemon で動いた）。直したのは起動スクリプトの1行。GPU は使っていないので費用は0円 【動画】LOG436_02_hold_ahead.mp4 十字キーの長押しで mechArm 270 の関節を動かしているところ。読んだ角度から3°先の目標を0.1秒おきに送る形で、関節は止まらずに動くが、ところどころで速さがゆれる 前の回（LOG419）では、ゲームパッドで関節を動かすスクリプトを、アームに指令を送らない試しまで作りました。同じシリーズの Log#18（LOG422）では、AI の推論の途中で手首の関節が垂れたまま戻らなくなり、実機を止めていました。今回は手首の点検から始め、ゲームパッドで初めて実物のアームを動かしました。動かしてみると、決めた範囲が狭すぎる、0.5°の押しでは関節が動かない、押すたびに長く待たされる、長押しがぎこちない、と困りごとが順に出てきて、その場で1つずつ直しています。 | 段階 | やったこと | 結果 | |---|---|---| | 手首を点検する | 6つのサーボの力・角度・電圧・温度を、アームを動かさずに読んだ | 手首 j4 にも力が入っていた。あとでゲームパッドで動かすと、0°から −10°まで指令どおりに動いた | | ゲームパッドで初めて実機を動かす | 根元・肩・ひじ・手首・爪・停止・HOME を一通り押した | 動いた。ただ、起動した姿勢から各関節 ±10° の枠では、HOME からブロックの上まで運べなかった | | 範囲を広げ、長押しを足す | 枠をやめてアーム本体の可動域にし、十字キーの長押しで送り続ける形にした | 別の Claude にコードを読んでもらい、直すべき点1つと推奨5つのうち4つを直した | | 長押しが動かない理由を調べる | 記録を見ると、1回送るたびに約1.6秒かかっていた | Pi の daemon が pymycobot 4.0.4 を読んでいた。起動スクリプトで 2.9.6 を読むように直した | | 刻みと送り直し | 0.5°の押しは半分以上で関節が動かなかった。無視された指令で8秒止まった | 1押しを1°にし、動いていなければ同じ指令を送り直す形にした | | 長押しをなめらかにする | 刻みごとに着いて止まっていたので、読んだ角度から3°先を0.1秒おきに送る形にした | 止まらずには動くが、なめらかにはならなかった。角度の読み取りが続けて失敗し、13秒止まった場面もあった | | 限界を測る準備 | 今の形をタグで残し、jog（押している間だけ動き続けるアームの命令）を測る試しを作った | 実機では、次の回で測る | ゲームパッドで直す練習を重ねる前に、mechArm 270 でどこまでなめらかに動かせるのかを数字で知りたい、というのが次の課題です。 GPU を買うか借りるかの判断は、Runpod で実際に借りて学習させた費用をもとに、別のページにまとめています。 【バナー】gpu-buy-or-rent ## 作業ログ ― 手首の点検から、ゲームパッドの実機と daemon の pymycobot の版まで この回の数字は、すべて実機の記録（KIOXIA の `runs/experiments/gamepad_teleop/` の log.jsonl 5本と、`diag/servo_check_20261103_071326/`）から数えたものです。見込みの数字は、見込みと書いています。 ### この回で使う言葉 | 言葉 | 意味 | |---|---| | daemon（デーモン） | アームの中の Raspberry Pi で、ずっと動いている受け口のプログラム（`mecharm_daemon.py`）。Mac から送られた指令を受け取り、シリアルでアームへ流す。ゲームパッドのスクリプトも AI の推論も、ここを通ってアームを動かす | | systemd | Raspberry Pi の電源を入れたときに、決めたプログラムを自動で起動する仕組み。10月30日の夜から daemon はこれで起動している | | fresh_mode | アームの設定の1つ。1にすると、前の動きが終わるのを待たずに、新しい指令で上書きできる | | jog | アームの命令の1つ。関節と向きと速さを渡すと、止める命令が来るまで、一定の速さで動き続ける | ### pymycobot は、mechArm を Python から動かすためのライブラリ [pymycobot](https://github.com/elephantrobotics/pymycobot) は、mechArm 270 を作っている Elephant Robotics が出している Python のライブラリです。関節の角度を送る `send_angles`、角度を読む `get_angles`、爪を動かす命令などが入っています。[PyPI](https://pypi.org/project/pymycobot/) で版ごとに配られていて、同じ名前の命令でも、版によって中の動きが違います。 | この回で出てくる版 | 置き場所（Raspberry Pi） | 送る命令の返り方 | |---|---|---| | 2.9.6 | `/usr/local/lib/python2.7/dist-packages`（対話のシェルの `~/.bashrc` で PYTHONPATH に入る） | 書いたらすぐ返る | | 4.0.4 | Python 3 の標準の置き場所（何も付けずに起動すると読まれる） | アームの返事を0.5秒ずつ3回待ち、来なければ −1 を返す | このプロジェクトでは、daemon も、点検のスクリプトも、2.9.6 を前提に作ってきました。2.9.6 が対話のシェルでしか読まれず、何も付けずに起動すると 4.0.4 が読まれることは、10月19日のレビュー（`docs/review_request_20261019_record_teach_demo.md`）で分かっていました。 ## 11/3 7:05：前回までの状態を確かめた ゲームパッドのスクリプトの残りを頼んだ依頼69は、前の晩に終わっていました（ドライランは記録しない・起動時の SDL の警告を消す。テスト53件。commit f061d54）。 #### 依頼箱の報告 20261102_69_ゲームパッドのドライランは記録しない・SDLの重複を直す_20261102_1939.md ```markdown # 結果：20261102_69_ゲームパッドのドライランは記録しない・SDLの重複を直す - 状態：完了 - 始めた時刻：2026-11-02 19:39 - 終わった時刻：2026-11-02 20:09（30分） - 作業フォルダ：/Users/shimazueiichi/r2r2r-scripts - この続きを Claude Code で話すとき：作業フォルダで `claude --resume e3ba2c9d-9a7a-49a7-82b0-e461abd73097` ## Claude Code の報告 **やったこと** - ドライラン（`--execute` なし）は、KIOXIA に何も書かないようにしました。フォルダも作らず、KIOXIA がつながっているかも確かめないので、つながっていなくても動きます。`--execute` のときは今までどおり記録します。 - 変わる表示は2行だけです。始めの行は「[記録] ドライランなので記録しません」、終わりの行は「記録なし（ドライラン）」になります。ほかのターミナルの表示と画面は前と同じです。 - スクリプトの先頭の説明に「L2+R2 は新しい指令を送らないだけで、送った1回分（HOME を含む）は最後まで動く」を書きました。 - SDL が2つ読み込まれる原因が分かりました。 - 2つ目は opencv（cv2）に入っている `site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib` です。 - gamepad_teleop.py が先頭で読む `pi05/run_policy_client.py` が `import cv2` をしていました（camera_resolver から cv2_enumerate_cameras も読む）。`j0_sweep_scan.py`・`visual_servo_pick.py`・`pi05/policy_recorder.py` も先頭で cv2 を読みます。 - 直し方： - この3つ（run_policy_client・j0_sweep_scan・visual_servo_pick）は、`--execute` のときだけ読むようにしました。 - ドライランでも要る値（HOME・J4_SAFE・GRIPPER_SLEEP、waypoint_replay.py の可動域）は、元のファイルの書いてある値をそのまま読みます。同じ値を二重に書いてはいません。 - `--execute` では、読み込んだあとに値が同じかを確かめます。違えば、記録も daemon も触らずに止めます。 - ほかのスクリプトと Python の環境は変えていません。 - 操作・刻み・守りの値・送り方・停止の作り・十字キー左右の向きは変えていません。実機には流していません。 - codex のレビューは2回通しました。必須の指摘は2回ともなしでした。推奨は1回目に3件、2回目に1件あり、すべて直しました。 **結果** - テストは53件すべて通りました（前からの46件と、新しく足した7件）。 - ドライランのテストは「KIOXIA に何も作らない・書かない」を確かめる形に変えました。 - 新しいテストは、`--execute` では今までどおり書くこと、別のプロセスで起動したドライランに cv2 が入らず警告も出ないこと、値の読み取りと一致を確かめます。 - PS4 コントローラーをつないだ状態で本物のドライランを起動し、objc の警告は0行でした（前は十数行）。 - 画面の描画を前の版と比べたところ、止まっていないときも止まっているときも同じでした。 - KIOXIA の `gamepad_teleop/` の中は `teleop_20261102_192657_dry` だけのままです。消していませんし、動かしてもいません。 - pygame 自身が出す「pkg_resources is deprecated」の警告は残ります。SDL とは別のもので、pygame だけを読む `gamepad_check.py` でも出ます。 **変えたファイル** - `tools/gamepad_teleop.py` - `tools/test_gamepad_teleop.py` - `logs/20261102_2009.md`（作業の記録） - commit：f061d54（この3つを個別に指定して add しました） **決めてほしいこと** - `--execute` のときは cv2 を読むので、SDL の警告は今までどおり出ます（動きには影響ありません）。消すには、Python の環境を変える（opencv か pygame を入れ替える）か、`visual_servo_pick.py` などで cv2 を読むところを変える必要があります。このままにするか、決めてください。 ``` 手首の点検のスクリプトを頼んだ依頼58は、codex の2回目のレビューを待つ間に時間切れになっていました。Mac の `~/r2r2r-scripts` を見ると、`tools/servo_check.sh`・`tools/pi/servo_check_pi.py` とテストはでき上がっていて、コミットされていないだけでした。2回目のレビューの結果はありません。テストを流すと、シェルの52件と Python の15件はどちらも通りました。 #### tools/test_servo_check.sh の出力 ```text [1] systemd で動いている・読むだけ ok 終了コード 0 ok console.txt がある ok result.json を持ち帰った ok result.json の move は null (読むだけ) ok 6 つのサーボを読んだ ok Pi へ写してから流した ok 止めてから流した ok 流したあとに戻した ok --read-only を渡した ok PYTHONPATH に 2.9.6 の置き場所 ok 画面に j4 の力が入っていない ok 画面にデーモンが戻った ok 2.9.6 で戻れば PYTHONPATH の注意は出ない ok デーモンは動いている ok 手で起動していない [2] 手で起動されている・動かす側で q ok 終了コード 0 ok pkill で止めた ok 対話シェルで戻した ok systemctl は使っていない ok --read-only を渡していない ok 支える 1 行が出た ok q で何も送らずに止めた ok result.json に止めた印 [3] デーモンが動いていない ok 終了コード 0 ok 止めていない・起動していない ok 動いていないと出した ok デーモンは動いていないまま [4] Pi のスクリプトが失敗しても戻す ok 終了コード 3 を返す ok 戻した ok 持ち帰れないと出した [5] デーモンが止まらない ok 終了コード 1 ok 止まらないと出した ok Pi のスクリプトは流していない [6] 止めたあとも 5555 が開いている・シリアルを別のプロセスが開いている・確かめられない ok listen_stays: 終了コード 1 ok listen_stays: 止めた理由を出した ok listen_stays: Pi のスクリプトは流していない ok serial=777: 終了コード 1 ok serial=777: 止めた理由を出した ok serial=777: Pi のスクリプトは流していない ok serial=不明: 終了コード 1 ok serial=不明: 止めた理由を出した ok serial=不明: Pi のスクリプトは流していない [7] 戻す前に点検の残りを止める・戻したデーモンが 4.0.4 かもしれない・戻らない ok 点検の残りを止めてから戻した ok JSON を持ち帰ってから戻した ok PYTHONPATH の注意を出した ok 戻らないと注意を出した ok 戻らなくても終了コードは Pi のもの (0) [8] KIOXIA がない・同じ名前がある・引数が違う ok KIOXIA がないと 1 ok KIOXIA がないと Pi に触らない ok 同じ名前があると 1 ok 同じ名前があると Pi に触らない ok 知らない引数は 2 OK 52 / NG 0 ``` #### test_servo_check_pi.py の出力 ```text test_main_read_only_writes_json (test_servo_check_pi.TestMain) ... ok test_already_zero_goes_home (test_servo_check_pi.TestMove) ... ok test_focus_missing_stops (test_servo_check_pi.TestMove) ... ok test_negative_start (test_servo_check_pi.TestMove) ... ok test_partial_moves_follow_measured (test_servo_check_pi.TestMove) ... ok test_q_at_prompt_sends_nothing (test_servo_check_pi.TestMove) ... ok test_q_during_angle_retries (test_servo_check_pi.TestMove) ... ok test_q_during_steps_stops_sending (test_servo_check_pi.TestMove) ... ok test_send_failure_stops (test_servo_check_pi.TestMove) ... ok test_steps_to_zero_then_home (test_servo_check_pi.TestMove) ... ok test_stuck_does_not_run_ahead (test_servo_check_pi.TestMove) ... ok test_exception_is_not_fatal (test_servo_check_pi.TestRead) ... ok test_legacy_fallback_and_missing (test_servo_check_pi.TestRead) ... ok test_no_reply_servo (test_servo_check_pi.TestRead) ... ok test_read_only_sends_nothing (test_servo_check_pi.TestRead) ... ok ---------------------------------------------------------------------- Ran 15 tests in 2.280s OK ``` アームを動かす部分（手首に力を入れ直して5°ずつ0°へ戻す）はレビューが終わっていないので、まず読むだけの点検（`--read-only`）を流すことにしました。 ## 7:13：手首 j4 のサーボを読むだけで点検すると、力が入っていた 1回目は Pi へスクリプトを送る所で接続が切れ、2回目で通りました。 #### KIOXIA の diag/servo_check_20261103_071236/console.txt ```text servo_check 20261103_071236 (結果: /Volumes/KIOXIA/r2r2r-data/diag/servo_check_20261103_071236) scp: Connection closed ABORT: Pi へ送れなかった ``` #### servo_check.sh --read-only を流したターミナルの出力（1〜64行目） ```text Last login: Mon Nov 2 15:44:30 on ttys003 (base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % cd ~/r2r2r-scripts tools/servo_check.sh --read-only servo_check 20261103_071236 (結果: /Volumes/KIOXIA/r2r2r-data/diag/servo_check_20261103_071236) scp: Connection closed ABORT: Pi へ送れなかった (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts tools/servo_check.sh --read-only servo_check 20261103_071326 (結果: /Volumes/KIOXIA/r2r2r-data/diag/servo_check_20261103_071326) --- デーモンの状態 (止める前) mode=systemd pid=540 listen=yes daemon_pythonpath=(なし) serial_users=540 checker=no --- デーモンの状態 (止めたあと) mode=none pid=なし listen=no serial_users=(なし) checker=no pymycobot 2.9.6 (/usr/local/lib/python2.7/dist-packages/pymycobot/__init__.py) ======================================================================== 1. 読むだけの点検 (アームは動かさない) ======================================================================== get_angles [+23.29, +109.77, -62.40, +0.79, -49.30, -30.93] get_encoders [1783, 3297, 1338, 2039, 1487, 2400] get_error_information 取れない (この版に get_error_information がない) get_servo_status [0, 0, 0] get_servo_temps [6425, 5654, 6421] get_servo_voltages [+1901.60, +1901.80, +1876.10] get_system_version [11] is_all_servo_enable 1 is_controller_connected 1 is_power_on 1 read_next_error [0, 0, 0, 0, 0, 0, 0] サーボごと (力 1=入っている 0=入っていない -1=エラー / 番地 62・63・65 は Feetech STS 想定・未確認) id 力 角度 エンコ エンコ→° 電圧62 温度63 状態65 電圧 温度 応答 j0 1 1 +23.29 1783 -23.29 74 25 0 +1901.60 6425 あり j1 2 1 +109.77 3297 +109.78 72 26 0 +1901.80 5654 あり j2 3 1 -62.40 1338 -62.40 74 22 0 +1876.10 6421 あり j3 4 1 +0.79 2039 -0.79 74 22 0 応答なし 応答なし あり j4 5 1 -49.30 1487 -49.31 73 25 0 応答なし 応答なし あり j5 6 1 -30.93 2400 +30.94 73 21 0 応答なし 応答なし あり 目安: j4 の電圧62 73 / ほかの関節の中央 74 j4 の温度63 25 / ほかの関節の中央 22 j4 の角度 -49.30 / エンコーダからの角度 -49.31 (差 0.0°。2048=0°・向きは仮定。同じセンサーの読みどうし) 結果: /tmp/servo_check_20261103_071326.json Connection to 192.168.2.1 closed. --- servo_check_pi.py の終了コード: 0 結果の JSON: /Volumes/KIOXIA/r2r2r-data/diag/servo_check_20261103_071326/result.json --- デーモンを戻す (systemctl start) mode=systemd pid=31095 listen=yes daemon_pythonpath=(なし) serial_users=31095 checker=no デーモンは戻った (5555 LISTEN) 注意: デーモンの PYTHONPATH に python2.7 がない (pymycobot 4.0.4 を読んでいるかもしれない) ``` #### KIOXIA の diag/servo_check_20261103_071326/result.json ```json { "read": { "global": { "is_power_on": 1, "is_controller_connected": 1, "is_all_servo_enable": 1, "read_next_error": [ 0, 0, 0, 0, 0, 0, 0 ], "get_error_information": { "error": "この版に get_error_information がない" }, "get_system_version": [ 11 ], "get_servo_voltages": [ 1901.6, 1901.8, 1876.1 ], "get_servo_temps": [ 6425, 5654, 6421 ], "get_servo_status": [ 0, 0, 0 ], "get_encoders": [ 1783, 3297, 1338, 2039, 1487, 2400 ], "get_angles": [ 23.29, 109.77, -62.4, 0.79, -49.3, -30.93 ] }, "servos": [ { "joint": "j0", "servo_id": 1, "enable": 1, "encoder": 1783, "voltage_raw": 74, "temp_raw": 25, "status_raw": 0, "angle": 23.29, "angle_from_encoder": -23.291015625, "responded": true, "voltage_list": 1901.6, "temp_list": 6425, "status_list": 0 }, { "joint": "j1", "servo_id": 2, "enable": 1, "encoder": 3297, "voltage_raw": 72, "temp_raw": 26, "status_raw": 0, "angle": 109.77, "angle_from_encoder": 109.775390625, "responded": true, "voltage_list": 1901.8, "temp_list": 5654, "status_list": 0 }, { "joint": "j2", "servo_id": 3, "enable": 1, "encoder": 1338, "voltage_raw": 74, "temp_raw": 22, "status_raw": 0, "angle": -62.4, "angle_from_encoder": -62.40234375, "responded": true, "voltage_list": 1876.1, "temp_list": 6421, "status_list": 0 }, { "joint": "j3", "servo_id": 4, "enable": 1, "encoder": 2039, "voltage_raw": 74, "temp_raw": 22, "status_raw": 0, "angle": 0.79, "angle_from_encoder": -0.791015625, "responded": true, "voltage_list": null, "temp_list": null, "status_list": null }, { "joint": "j4", "servo_id": 5, "enable": 1, "encoder": 1487, "voltage_raw": 73, "temp_raw": 25, "status_raw": 0, "angle": -49.3, "angle_from_encoder": -49.306640625, "responded": true, "voltage_list": null, "temp_list": null, "status_list": null }, { "joint": "j5", "servo_id": 6, "enable": 1, "encoder": 2400, "voltage_raw": 73, "temp_raw": 21, "status_raw": 0, "angle": -30.93, "angle_from_encoder": 30.9375, "responded": true, "voltage_list": null, "temp_list": null, "status_list": null } ], "notes": [ "j4 の電圧62 73 / ほかの関節の中央 74", "j4 の温度63 25 / ほかの関節の中央 22", "j4 の角度 -49.30 / エンコーダからの角度 -49.31 (差 0.0°。2048=0°・向きは仮定。同じセンサーの読みどうし)" ] }, "move": null, "pymycobot": { "version": "2.9.6", "file": "/usr/local/lib/python2.7/dist-packages/pymycobot/__init__.py" }, "started": "2022-10-13 14:44:59", "finished": "2022-10-13 14:45:02" } ``` 6つのサーボすべてに力が入っていて（is_all_servo_enable 1）、エラーの読み（read_next_error）も全部0でした。手首 j4 の電圧の読み（番地62）は73で、ほかの関節の中央の74とほぼ同じ、温度の読み（番地63）は25で、ほかの中央22より少し高いだけでした。LOG422 では手首が +54.49° のまま指令に応えなくなっていましたが、この朝は −49.30° にいて、力も入っていました。電源を入れ直したあと、どこかで戻ったと見ています。何が戻したのかは、この記録からは分かりません。 点検の終わりに、デーモンの PYTHONPATH に python2.7 がない、という注意が出ています。止める前から同じ状態だったので、この時点では点検で変わったものではないと判断しました。この注意が、あとで遅さの原因につながります。 ## 7:14：ゲームパッドで初めて実物の mechArm 270 を動かした アームは起動したとき j1（肩）が +109.77° で、PICK の高さ（90.87°）より下にいました。スクリプトは守りの外と判断し、HOME の長押しだけを受け付けました。HOME で戻してから、根元・肩・ひじ・手首・爪・停止を一通り押しています。 #### gamepad_teleop.py --execute を動かしたターミナルの出力（65〜217行目） ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 tools/gamepad_teleop.py --execute /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. from pkg_resources import resource_stream, resource_exists objc[7091]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1063912c8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0890). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106391318) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b08e0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106391390) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0958). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1063913b8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0980). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106391408) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b09d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106391458) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0a20). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1063914d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0a98). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106391520) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0ae8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106391570) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0b38). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1063915c0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0b88). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1063915e8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0bb0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106391610) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0bd8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106391688) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0c50). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106391700) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0cc8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106391750) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0d18). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106391778) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0d40). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7091]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1063917c8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1278b0d90). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. [記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261103_071424 [実機] daemon に送ります。起動したときの姿勢: +23.29 +109.77 -62.40 +0.79 -49.30 -30.93 [注意] 起動したときの姿勢が守りの外: j1=+109.77。この関節を含む操作は送りません（HOME の長押しは送れます） コントローラーを待っています（つないでいなければ、今つないでください） [接続] PS4 Controller GUID=03008fe54c050000cc09000000016800 軸=6 ボタン=16 [送信] HOME → +0.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 1.4°） 届いた角度 -0.17 +1.40 +0.43 +0.35 +1.05 -30.58 [送信] j0 -0.5° → -0.50 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 1.31°） 届いた角度 +0.00 +1.31 +0.87 +0.26 +1.23 -30.32 [送信] j0 -0.5° → -1.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 1.31°） 届いた角度 -0.96 +1.31 +0.87 +0.26 +0.61 -30.23 [関節] 上下で動かす関節を j2 にしました [関節] 上下で動かす関節を j3 にしました [関節] 上下で動かす関節を j4 にしました [関節] 上下で動かす関節を j5 にしました [関節] 上下で動かす関節を j1 にしました [送信] j0 -0.5° → -1.50 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 1.31°） 届いた角度 -0.96 +1.31 +0.87 +0.26 +0.52 -30.23 [受付なし] 前の操作が終わっていません（ためません） [Pi] GRIPPER: OPEN result= -1 [受付なし] 前の操作が終わっていません（ためません） [爪] 爪を開く（待ち 0.8 秒のあと受付） [送信] j0 +0.5° → -1.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 1.31°） 届いた角度 -1.05 +1.31 +0.87 +0.26 -1.23 -30.23 [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [受付なし] 前の操作が終わっていません（ためません） [爪] 爪を閉じる（待ち 0.8 秒のあと受付） [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [爪] 爪を閉じる（待ち 0.8 秒のあと受付） [Pi] GRIPPER: OPEN result= -1 [爪] 爪を開く（待ち 0.8 秒のあと受付） [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [爪] 爪を閉じる（待ち 0.8 秒のあと受付） [Pi] GRIPPER: OPEN result= -1 [爪] 爪を開く（待ち 0.8 秒のあと受付） [受付なし] 前の操作が終わっていません（ためません） [受付なし] 前の操作が終わっていません（ためません） [送信] j1 -0.5° → -1.00 -0.50 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 1.29°） 届いた角度 -1.14 +0.79 +0.87 +0.26 -0.26 -30.23 [受付なし] 前の操作が終わっていません（ためません） [送信] j1 +0.5° → -1.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 0.87°） 届いた角度 -1.14 +0.79 +0.87 +0.26 -0.26 -30.23 [受付なし] 前の操作が終わっていません（ためません） [送信] j0 +2.0° → +1.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 0.87°） 届いた角度 +1.31 +0.79 +0.87 +0.26 -0.26 -30.23 [送信] j0 +2.0° → +3.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 0.87°） 届いた角度 +3.16 +0.79 +0.87 +0.26 -0.26 -30.23 [送信] j0 +2.0° → +5.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 0.87°） 届いた角度 +5.18 +0.79 +0.87 +0.26 -0.26 -30.23 [送信] j0 -2.0° → +3.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 0.87°） 届いた角度 +2.81 +0.79 +0.87 +0.26 -0.26 -30.23 [送信] j0 -2.0° → +1.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 0.87°） 届いた角度 +0.87 +0.79 +0.87 +0.17 -0.26 -30.23 [送信] j0 -2.0° → -1.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 0.87°） 届いた角度 -1.14 +0.79 +0.87 +0.17 -0.26 -30.14 [送信] j1 +0.5° → -1.00 +0.50 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 0.87°） 届いた角度 -1.14 +1.23 +0.87 +0.17 -0.26 -30.14 [関節] 上下で動かす関節を j2 にしました [Pi] GRIPPER: OPEN result= -1 [受付なし] 前の操作が終わっていません（ためません） [爪] 爪を開く（待ち 0.8 秒のあと受付） [送信] j2 -2.0° → -1.00 +0.50 -2.00 +0.00 +0.00 -30.00 届いた（ずれ 1.48°） 届いた角度 -1.14 +1.23 -0.52 +0.17 -0.26 -30.14 [受付なし] 前の操作が終わっていません（ためません） [送信] j2 -2.0° → -1.00 +0.50 -4.00 +0.00 +0.00 -30.00 届いた（ずれ 1.37°） 届いた角度 -1.14 +1.23 -2.63 +0.17 -0.26 -30.14 [送信] j2 +2.0° → -1.00 +0.50 -2.00 +0.00 +0.00 -30.00 届いた（ずれ 0.95°） 届いた角度 -1.14 +1.23 -1.05 +0.17 -0.26 -30.14 [送信] j2 +2.0° → -1.00 +0.50 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 0.96°） 届いた角度 -1.14 +1.23 +0.96 +0.17 -0.26 -30.14 [送信] j2 +2.0° → -1.00 +0.50 +2.00 +0.00 +0.00 -30.00 届いた（ずれ 0.81°） 届いた角度 -1.14 +1.23 +2.81 +0.17 -0.26 -30.14 [送信] j2 +2.0° → -1.00 +0.50 +4.00 +0.00 +0.00 -30.00 届いた（ずれ 0.92°） 届いた角度 -1.14 +1.23 +4.92 +0.17 -0.26 -30.14 [送信] j2 +2.0° → -1.00 +0.50 +6.00 +0.00 +0.00 -30.00 届いた（ずれ 0.85°） 届いた角度 -1.14 +1.23 +6.85 +0.17 -0.26 -30.14 [関節] 上下で動かす関節を j3 にしました [送信] j3 +2.0° → -1.00 +0.50 +6.00 +2.00 +0.00 -30.00 届いた（ずれ 0.85°） 届いた角度 -1.14 +1.23 +6.85 +1.31 -0.26 -30.14 [送信] j3 -2.0° → -1.00 +0.50 +6.00 +0.00 +0.00 -30.00 届いた（ずれ 0.85°） 届いた角度 -1.14 +1.23 +6.85 +0.70 -0.26 -30.14 [送信] j3 -2.0° → -1.00 +0.50 +6.00 -2.00 +0.00 -30.00 届いた（ずれ 0.85°） 届いた角度 -1.14 +1.23 +6.85 -1.31 -0.26 -30.14 [関節] 上下で動かす関節を j4 にしました [受付なし] 前の操作が終わっていません（ためません） [送信] j4 +2.0° → -1.00 +0.50 +6.00 -2.00 +2.00 -30.00 届いた（ずれ 0.85°） 届いた角度 -1.14 +1.23 +6.85 -1.58 +1.75 -30.14 [受付なし] 前の操作が終わっていません（ためません） [送信] j4 -2.0° → -1.00 +0.50 +6.00 -2.00 +0.00 -30.00 届いた（ずれ 1.66°） 届いた角度 -1.14 +1.23 +6.85 -1.66 +1.66 -30.14 [送信] j4 -2.0° → -1.00 +0.50 +6.00 -2.00 -2.00 -30.00 届いた（ずれ 0.85°） 届いた角度 -1.14 +1.23 +6.85 -1.66 -1.84 -30.14 [送信] j4 -2.0° → -1.00 +0.50 +6.00 -2.00 -4.00 -30.00 届いた（ずれ 0.85°） 届いた角度 -1.14 +1.23 +6.85 -1.66 -3.33 -30.14 [送信] j4 -2.0° → -1.00 +0.50 +6.00 -2.00 -6.00 -30.00 届いた（ずれ 0.85°） 届いた角度 -1.14 +1.23 +6.85 -1.66 -6.41 -30.14 [送信] j4 -2.0° → -1.00 +0.50 +6.00 -2.00 -8.00 -30.00 届いた（ずれ 0.85°） 届いた角度 -1.14 +1.23 +6.85 -1.75 -7.99 -30.14 [送信] j4 -2.0° → -1.00 +0.50 +6.00 -2.00 -10.00 -30.00 届いた（ずれ 0.85°） 届いた角度 -1.14 +1.23 +6.85 -1.75 -9.93 -30.14 [範囲] 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） [送らない] j4 -2.0° [関節] 上下で動かす関節を j5 にしました [受付なし] 前の操作が終わっていません（ためません） [送信] j5 +2.0° → -1.00 +0.50 +6.00 -2.00 -10.00 -28.00 届いた（ずれ 0.85°） 届いた角度 -1.14 +1.23 +6.85 -1.75 -9.93 -28.21 [送信] j5 +2.0° → -1.00 +0.50 +6.00 -2.00 -10.00 -26.00 届いた（ずれ 0.85°） 届いた角度 -1.14 +1.23 +6.85 -1.75 -9.93 -26.19 [関節] 上下で動かす関節を j1 にしました [送信] j1 -2.0° → -1.00 -1.50 +6.00 -2.00 -10.00 -26.00 届いた（ずれ 1.07°） 届いた角度 -1.14 -0.43 +6.85 -1.75 -10.10 -26.19 [送信] j1 +2.0° → -1.00 +0.50 +6.00 -2.00 -10.00 -26.00 届いた（ずれ 0.85°） 届いた角度 -1.14 +1.23 +6.85 -1.84 -10.10 -26.19 [送信] j1 +2.0° → -1.00 +2.50 +6.00 -2.00 -10.00 -26.00 届いた（ずれ 0.92°） 届いた角度 -1.14 +3.42 +6.85 -1.84 -10.10 -26.19 [送信] j1 +2.0° → -1.00 +4.50 +6.00 -2.00 -10.00 -26.00 届いた（ずれ 0.86°） 届いた角度 -1.14 +5.36 +6.85 -1.93 -10.19 -26.19 [送信] j1 +2.0° → -1.00 +6.50 +6.00 -2.00 -10.00 -26.00 届いた（ずれ 0.88°） 届いた角度 -1.14 +7.38 +6.85 -1.93 -10.19 -26.19 [送信] j1 +2.0° → -1.00 +8.50 +6.00 -2.00 -10.00 -26.00 届いた（ずれ 0.9°） 届いた角度 -1.14 +9.40 +6.85 -2.02 -10.19 -26.19 [範囲] j1 を +10.50° → +10.00° に切った（基準の姿勢からの範囲 +10.00°） [送信] j1 +2.0° → -1.00 +10.00 +6.00 -2.00 -10.00 -26.00 届いた（ずれ 0.89°） 届いた角度 -1.14 +10.89 +6.85 -2.10 -10.19 -26.19 [範囲] j1 を +12.00° → +10.00° に切った（基準の姿勢からの範囲 +10.00°） / j1 +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） [送らない] j1 +2.0° [範囲] j1 を +12.00° → +10.00° に切った（基準の姿勢からの範囲 +10.00°） / j1 +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） [送らない] j1 +2.0° [範囲] j1 を +12.00° → +10.00° に切った（基準の姿勢からの範囲 +10.00°） / j1 +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） [送らない] j1 +2.0° [範囲] j1 を +12.00° → +10.00° に切った（基準の姿勢からの範囲 +10.00°） / j1 +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） [送らない] j1 +2.0° [関節] 上下で動かす関節を j2 にしました [送信] j2 +2.0° → -1.00 +10.00 +8.00 -2.00 -10.00 -26.00 届いた（ずれ 0.89°） 届いた角度 -1.14 +10.89 +8.87 -2.10 -10.19 -26.19 [送信] j2 +2.0° → -1.00 +10.00 +10.00 -2.00 -10.00 -26.00 届いた（ずれ 0.89°） 届いた角度 -1.14 +10.89 +10.81 -2.19 -10.19 -26.19 [関節] 上下で動かす関節を j3 にしました [関節] 上下で動かす関節を j4 にしました [関節] 上下で動かす関節を j5 にしました [関節] 上下で動かす関節を j1 にしました [範囲] j1 を +12.00° → +10.00° に切った（基準の姿勢からの範囲 +10.00°） / j1 +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） [送らない] j1 +2.0° [範囲] j1 を +12.00° → +10.00° に切った（基準の姿勢からの範囲 +10.00°） / j1 +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） [送らない] j1 +2.0° [範囲] j1 を +12.00° → +10.00° に切った（基準の姿勢からの範囲 +10.00°） / j1 +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） [送らない] j1 +2.0° [範囲] j1 を +12.00° → +10.00° に切った（基準の姿勢からの範囲 +10.00°） / j1 +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） [送らない] j1 +2.0° [送信] j1 -2.0° → -1.00 +8.00 +10.00 -2.00 -10.00 -26.00 届いた（ずれ 1.22°） 届いた角度 -1.14 +9.22 +10.81 -2.28 -10.19 -26.19 [送信] j1 -2.0° → -1.00 +6.00 +10.00 -2.00 -10.00 -26.00 届いた（ずれ 1.11°） 届いた角度 -1.14 +7.11 +10.81 -2.28 -10.54 -26.19 [受付なし] 前の操作が終わっていません（ためません） [送信] j1 +2.0° → -1.00 +8.00 +10.00 -2.00 -10.00 -26.00 届いた（ずれ 0.96°） 届いた角度 -1.14 +8.96 +10.81 -2.28 -10.54 -26.19 [関節] 上下で動かす関節を j2 にしました [範囲] 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） [送らない] j2 +2.0° [受付なし] 前の操作が終わっていません（ためません） [送信] j2 -2.0° → -1.00 +8.00 +8.00 -2.00 -10.00 -26.00 届いた（ずれ 1.66°） 届いた角度 -1.14 +8.96 +9.66 -2.28 -10.54 -26.19 [送信] j2 +2.0° → -1.00 +8.00 +10.00 -2.00 -10.00 -26.00 届いた（ずれ 0.96°） 届いた角度 -1.14 +8.96 +10.72 -2.28 -10.54 -26.19 [範囲] 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） [送らない] j2 +2.0° [範囲] 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） [送らない] j2 +2.0° [範囲] 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） [送らない] j2 +2.0° [停止] L2+R2。新しい指令は送りません（OPTIONS で再開） [受付なし] HOME: 停止中です（押し直してください） [受付なし] 停止中です（OPTIONS で再開） [停止] L2+R2。新しい指令は送りません（OPTIONS で再開） [再開] 操作を受け付けます [送信] HOME → +0.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 1.4°） 届いた角度 -0.26 +1.23 +1.40 -0.35 -0.17 -29.00 [停止] controller_disconnected。新しい指令は送りません（OPTIONS で再開） ^C [終了] Ctrl+C [終了] アームは動かしていません。記録: /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261103_071424 ``` 根元（j0）も肩（j1）も手首（j4）も動き、L2+R2 の停止と OPTIONS の再開、HOME の長押しも決めたとおりに動きました。爪の行に出る `result= -1` は、LOG175 のころから出ている返り値で、動いたかどうかとは関係ありません（arm_kinematics.md の「DAY175 既知の問題」）。 止まったのは、j1 の +10°、j2 の +10°、j4 の −10° でした。どれも、起動した姿勢（HOME を押したあとは HOME）から各関節 ±10° の枠です。決めたとおりに効いていました。 > 関節のリミットあってる？ 決めたとおりではあるけれど、この枠では HOME から始めると、各関節 ±10° の中しか動けず、PICK の高さまで下ろせません。AI が止めた姿勢の近くで直すだけなら足りますが、HOME から手でブロックの上まで運ぶ使い方には合いません。 > HOME から手でブロックの上まで運ぶ使い方もするのでアーム本体の可動域まで広げてください。 > それと方向キーの長押しでずっと関節が動くように修正してください。 ## 7:23：範囲をアーム本体の可動域に広げ、十字キーの長押しで送り続ける形にした 最初は依頼箱に依頼77として置きましたが、依頼箱では ServiceSim の依頼75が作業中、76が待ちで、始まるまでに時間がかかる状態でした。 > 依頼じゃなく、すぐに進めてください。 依頼77は依頼箱から外し（`依頼箱/_to_delete_77.md` に移した）、Claude が Mac の `~/r2r2r-scripts` を直接直しました。外した依頼文は、何を頼もうとしたかの記録として残します。 #### 依頼箱から外した依頼文 20261103_77_ゲームパッドの範囲を物理可動域にし長押しで動き続けるようにする.md ```markdown --- 作業フォルダ: /Users/shimazueiichi/r2r2r-scripts 上限時間: 120 --- # 依頼77：tools/gamepad_teleop.py の範囲を物理可動域まで広げ、十字キーの長押しで関節が動き続けるようにする。実機には流さない（2026-11-03） 2026-11-03 朝の実機の試し（runs/experiments/gamepad_teleop/teleop_20261103_071424、120行）を受けて、エイイチが決めた。 ゲームパッドは、AI の動きを近くで直すだけでなく、HOME から手でブロックの上まで運ぶ使い方もする。 ## 1. 範囲：基準の姿勢から ±15°・±10° の枠をなくし、物理可動域にする - 今の枠（J0_RANGE_DEG 15・JOINT_RANGE_DEG 10、基準の姿勢から測る BASE）では、HOME から始めると各関節 ±10° の中しか動けず、PICK の高さまで下ろせない（今朝、j1・j2 は +10°、j4 は −10° で切られた） - BASE の枠を外す。残す守りは次の3つ（狭い方が勝つ形は今のまま） - 物理可動域（wr.JOINT_LIMITS。今の読み方のまま） - j1 は 90.87 を超えない（PICK_J1_FIXED。床に当てないため。エイイチと決めた値のまま） - j4 は J4_SAFE（−90〜+60） - 起動したときの姿勢が守りの外なら HOME しか送らない、の扱いは今のまま（今朝は j1 +109.77 で起動して、そのとおりに動いた） - 基準の姿勢（base_pose）は範囲には使わなくなる。記録の項目として残すか消すかは任せる ## 2. 十字キーの長押しで、押している間ずっと動く - 短く押したら今までどおり 1 刻み（0.5°、R1 を押しながらなら 2°） - 押し続けたら、離すまで同じ向きに刻みを送り続ける。十字キーの左右（j0）・上下（選んでいる関節）の両方 - 注意：今の届いたかの判定（REACH_TOL_DEG 3°）は刻み（0.5°・2°）より大きいので、送った直後に「届いた」になる（今朝の elapsed_sec は 0.01〜0.04 秒）。この判定を頼りに次を送ると、アームより指令が先へ走る。次のように歩調を決める - 長押しとみなすのは、押してから約 0.4 秒たっても押しているとき（短い押しで 2 刻み出ないように） - 送る間隔は一定（目安 0.15〜0.2 秒。下の速さを見て決める） - 送る前に読んだ角度と、直前に送った指令の差が 3° を超えていたら、その回は送らずに待つ（離したときに、アームが指令から大きく遅れて動き続けないように） - 速さの目安：0.5° 刻みで 2〜3°/秒、R1 で 8〜10°/秒くらい。daemon と speed 20 で実際に出る速さを、ログ（今朝の分を含む）や送り口の待ち時間から見て決め、報告に書く - 長押しを止めるもの：ボタンを離す・L2+R2 の停止・範囲の端に着いた（端では 1 回だけ「送らない」を出して、同じ行を繰り返さない）・コントローラーの接続が切れた・読み取りの失敗 - 長押しの途中で R1 を押す／離すと刻みが変わってよい - 長押しの途中で別の関節に △ で切り替えたら、その長押しは止める - 記録：送った 1 刻みごとに log.jsonl へ 1 行（今までと同じ項目）。長押しの何回目か・同じ長押しの通し番号を足す - 停止の作りは変えない（L2+R2 は新しい指令を送らないだけ。送った 1 刻み分は最後まで動く） ## 変えないもの - ボタンの割り当て・刻み（0.5° / 2°）・HOME の長押し・爪・停止と OPTIONS の再開 - 十字キー左右の向き（J0_LEFT_SIGN）。エイイチの確認待ち - send_angles だけ・speed 20・daemon の送り方と読み方 - daemon、run_policy_client.py・visual_servo_pick.py などの既存のスクリプト、tools/gamepad_check.py - 既存のデータ（runs/experiments/gamepad_teleop/ の2つのフォルダ） ## 確かめ（実機なし） - 今のテスト53件が通ること（枠を外したことで意味が変わるテストは直し、直した理由を書く） - 足すテスト：HOME から j1 を 90.87 まで下ろせる・90.87 で止まる、j4 が J4_SAFE で止まる、物理可動域で止まる／長押しで刻みが続く・短い押しは 1 刻み・離すと止まる・L2+R2 で止まる・指令が読んだ角度より 3° 先なら送らない・端で止まって同じ行を繰り返さない・△ で長押しが止まる - ドライランで、長押しがひととおり動くこと ## 終わったら - 関節を動かすコードで、守りの枠を外すので、codex のレビューを通してから報告する（code_review_request_template.md の形）。指摘は直すか、直さない理由を書く - 実機には流さない。報告に、エイイチが最初に試す手順を書く（HOME から j0 の長押し → j1 の長押しで少し下ろす → 離して止まるか → L2+R2 で止まるか） - 個別のファイルを指定して add・commit する（`git add .` は使わない） ``` 直したのは2つです。 | 直した所 | 前 | 後 | |---|---|---| | 範囲 | 起動した姿勢から j0 ±15°・j1〜j5 ±10°、物理可動域、j1 ≤ 90.87、j4 は J4_SAFE（−90〜+60） | 物理可動域、j1 ≤ 90.87、j4 は J4_SAFE。基準の姿勢からの枠はやめた | | 十字キーの長押し | なし（1回押すと1刻み） | 0.4秒押し続けたら、0.2秒おきに同じ向きの刻みを送る。直前の指令と読んだ角度の差が3°を超えている間は送らずに待つ | j1 の 90.87（PICK の高さ。床に当てないため）と、手首の J4_SAFE は残しました。HOME からブロックの上まで運んで PICK の高さまで下ろすなら、どちらにも当たりません。 長押しを足すときに、記録で気づいたことがあります。届いたかを見る幅（3°）が刻み（0.5°・2°）より大きいので、送った直後に届いたと判定されていました（7:14 の記録の elapsed_sec は 0.01〜0.04秒）。この判定を合図に次を送ると、指令がアームより先へ走り、離したあとも動き続けます。そのため、読んだ角度と指令の差で待つ形にしました。 ### 別の Claude に、長押しのコードを読んでもらった codex は Mac の外からは呼べなかったので、書いた Claude とは別の Claude のエージェントに、差分と全体を読んでもらいました（読み取りだけ・ファイルは変えない）。 #### レビュー依頼 docs/review_request_20261103_gamepad_hold.md（差分を含む全文） ````markdown # レビュー依頼：gamepad_teleop.py の範囲を物理可動域にし、十字キーの長押しで動き続けるようにした（2026-11-03） 前提: 2026-11-03 朝の実機の試し（runs/experiments/gamepad_teleop/teleop_20261103_071424）で、基準の姿勢から ±10° の枠により HOME から PICK の高さへ下ろせなかった。エイイチが「HOME から手でブロックの上まで運ぶ使い方もするので、アーム本体の可動域まで広げる」「方向キーの長押しでずっと関節が動くように」と決めた。 実装は Claude（依頼箱を通さず、エイイチの指示ですぐ直した）。まだ実機では流していない。 ## 変えたこと 1. 範囲: 基準の姿勢 ±15°/±10° の枠（BASE）をやめた。残る守りは 物理可動域（wr.JOINT_LIMITS）・j1 ≤ 90.87（PICK_J1_FIXED）・j4 は J4_SAFE（−90〜+60）。起動時の姿勢が守りの外なら HOME しか送らない扱いは今のまま 2. 長押し: 十字キーを押して 0.4 秒たっても押していれば、0.2 秒おきに同じ向きの刻みを送る。2 回目からは送る前に、直前の指令と読んだ角度の差（6 関節の最大）が 3° を超えている間は送らずに待つ。3 秒待っても追いつかなければ、その長押しを止める。離す・L2+R2・△・ほかのボタン（R1 以外）・接続が切れる・範囲の端・送れなかった で長押しは止まる - 背景: 届いたかの判定 3° が刻み（0.5°・2°）より大きく、送った直後に「届いた」になる（今朝の elapsed_sec は 0.01〜0.04 秒）。この判定を合図に送ると指令がアームより先へ走る ## 見てほしい点 1. 長押しで、指令がアームより大きく先へ走る道がないか（離したあと、アームが大きく動き続けないか） 2. 停止（L2+R2）・接続が切れたあとに、長押しの指令が送られる道がないか（SendGate との関係・待っている間の停止） 3. 範囲を物理可動域にしたことで、守りが抜ける道がないか（出発点が範囲の外のとき・HOME） 4. スレッド: 送る仕事のスレッドが self.hold を読む（_hold_alive）。pygame のループ側が書き換える。問題ないか 5. 1 回の長押しの中で同じ行がたくさん出る・ログが壊れる道がないか ファイル変更・実機操作はしないこと。日本語で、必須 / 推奨 / 据え置きに分けて、表（項目 / 判定 / 確認結果・修正案）で返すこと。 ## 差分 ```diff --- a/tools/gamepad_teleop.py +++ b/tools/gamepad_teleop.py 2026-11-02 22:28:53.464993143 +0000 @@ -9,6 +9,12 @@ 十字キー 左 / 右 (13 / 14) j0 を 0.5° ずつ. どの関節を選んでいても いつも j0 (向き: 左 = J0_LEFT_SIGN. 依頼に向きの指定がないので, 右 = +, 左 = − にしてある) 十字キー 上 / 下 (11 / 12) 選んでいる関節を 0.5° ずつ. 上 = −, 下 = +. 始めは j1 + 十字キーの長押し 押している間, 同じ向きに刻みを送り続ける (2026-11-03). 短く押せば 1 刻み. + 押して HOLD_START_SEC (0.4 秒) たっても押していれば, HOLD_INTERVAL_SEC (0.2 秒) おきに送る. + 直前の指令と読んだ角度の差が HOLD_LEAD_MAX_DEG (3°) を超えている間は送らずに待つ + (指令がアームより先へ走らないように. 離したら, アームは直前の指令までで止まる). + HOLD_WAIT_MAX_SEC (3 秒) 待っても追いつかなければ, その長押しは止める (押し直す). + 離す・L2+R2・範囲の端・△・ほかのボタン・接続が切れる で長押しは止まる. R1 は途中で効く △ (3) 上下で動かす関節を切り替える: j1 → j2 → j3 → j4 → j5 → j1 R1 (10) を押しながら 1 回 2° ずつ (十字キーの左右・上下とも) × (0) / ○ (1) 爪を閉じる / 開く @@ -20,8 +26,8 @@ 守り: - j1 は 90.87 (arm_kinematics.md の PICK_J1_FIXED) を超える指令を送らない (fk_lookup.J1_SAFE_MAX = 88.0 は別の用途の値なので, ここでは使わない) - - j0 は 基準の姿勢 ±15°, j1〜j5 は ±10°. j4 は J4_SAFE (−90〜+60). 物理可動域 (wr.JOINT_LIMITS) も通す - - 基準の姿勢 = 起動したときに読んだ姿勢. HOME を送ったあとは HOME を基準にし直す + - 各関節は物理可動域 (wr.JOINT_LIMITS) まで. j4 は J4_SAFE (−90〜+60) + (基準の姿勢から j0 ±15°・j1〜j5 ±10° の枠は 2026-11-03 にやめた. HOME から手でブロックの上まで運ぶため) - 範囲で切られたら理由を画面とログに出す. 別の関節で補わない - HOME だけは範囲の検査を通さずに送れる (run_policy_client.py の h と同じ扱い) @@ -203,14 +209,19 @@ # ---- 守り ---- J1_MAX_DEG = 90.87 # arm_kinematics.md の PICK_J1_FIXED (エイイチと決めた. J1_SAFE_MAX 88 は使わない) -J0_RANGE_DEG = 15.0 # 基準の姿勢から j0 は ±15° -JOINT_RANGE_DEG = 10.0 # j1〜j5 は ±10° J4_SAFE = tuple(float(v) for v in _RPC_CONST["J4_SAFE"]) # (-90, 60) JOINT_LIMITS = [tuple(float(v) for v in lim) for lim in _WR_CONST["JOINT_LIMITS"]] # 物理可動域 (wr.JOINT_LIMITS) GRIPPER_SLEEP = float(_RPC_CONST["GRIPPER_SLEEP"]) # 爪のあとの待ち (rpc.GRIPPER_SLEEP. ドライランと画面の表示で使う) LIMIT_EPS_DEG = 1e-6 REACH_TOL_DEG = 3.0 # 届いたかの判定 (推論の到着確認と同じ 3°) +# ---- 長押し (2026-11-03) ---- +HOLD_START_SEC = 0.4 # 押してからこれだけたっても押していれば, 長押しとして送り続ける +HOLD_INTERVAL_SEC = 0.2 # 長押しで送る間隔 (0.5° なら 2.5°/秒, R1 の 2° なら 10°/秒) +HOLD_LEAD_MAX_DEG = 3.0 # 直前の指令と読んだ角度の差がこれを超えている間は送らない +HOLD_WAIT_MAX_SEC = 3.0 # 追いつくのをこれだけ待っても追いつかなければ, 長押しを止める +HOLD_POLL_SEC = 0.05 # 追いつくのを待つ間に読み直す間隔 + DRY_MOVE_SEC = 0.3 # ドライランで「動いている」状態を見せる時間 SEND_RPC_TIMEOUT_SEC = 8.0 # send_angles 1 回の通信 (接続・ping・送信・返事) の上限. 通信が詰まった # 送信が 停止のずっとあとに届かないように (daemon の返事は送信後の読み直し込みで最長 3.7 秒. LOG352) @@ -242,14 +253,13 @@ # 守り (純関数. テストで直接呼ぶ) # ============================================================================= -def joint_window(base): - """基準の姿勢 base から, 各関節に送ってよい範囲 (lo, hi, 各端の出どころ) を作る. - 出どころ: BASE (基準 ±15/±10) / PHYS (物理可動域) / J4_SAFE / J1_MAX. 狭い方が勝つ.""" +def joint_window(): + """各関節に送ってよい範囲 (lo, hi, 各端の出どころ) を作る. + 出どころ: PHYS (物理可動域) / J4_SAFE / J1_MAX. 狭い方が勝つ.""" lo, hi, lo_src, hi_src = [], [], [], [] for k in range(6): - r = J0_RANGE_DEG if k == 0 else JOINT_RANGE_DEG - cands_lo = [(float(base[k]) - r, "BASE"), (JOINT_LIMITS[k][0], "PHYS")] - cands_hi = [(float(base[k]) + r, "BASE"), (JOINT_LIMITS[k][1], "PHYS")] + cands_lo = [(JOINT_LIMITS[k][0], "PHYS")] + cands_hi = [(JOINT_LIMITS[k][1], "PHYS")] if k == 4: cands_lo.append((J4_SAFE[0], "J4_SAFE")) cands_hi.append((J4_SAFE[1], "J4_SAFE")) @@ -261,11 +271,11 @@ return np.array(lo), np.array(hi), lo_src, hi_src -LIMIT_JA = {"BASE": "基準の姿勢からの範囲", "PHYS": "物理可動域", "J4_SAFE": "J4_SAFE", +LIMIT_JA = {"PHYS": "物理可動域", "J4_SAFE": "J4_SAFE", "J1_MAX": "j1 の上限 90.87 (PICK_J1_FIXED)"} -def plan_step(start, joint, delta, base): +def plan_step(start, joint, delta): """start (今回の出発点) の joint を delta 動かした目標を作り, 範囲を通す. 戻り値 dict: @@ -275,7 +285,7 @@ 動かした関節は範囲の端で切る (端までは送る). 端にいて押した向きに 1 ° も進めないときは送らない. ほかの関節は変えない (補わない). 6 関節のどれかが範囲の外なら送らない. """ - lo, hi, lo_src, hi_src = joint_window(base) + lo, hi, lo_src, hi_src = joint_window() want = np.asarray(start, dtype=float)[:6].copy() out = {"target": None, "clip": [], "refused": []} if not np.all(np.isfinite(want)): @@ -346,7 +356,7 @@ why = {"at_limit": "範囲の端にいて、押した向きに進めない", "out_of_window": "範囲の外", "start_out_of_window": "出発点が範囲の外（HOME の長押しで戻せます）", - "empty_window": "範囲が空（基準の姿勢が守りの外）"}.get(r["why"], r["why"]) + "empty_window": "範囲が空"}.get(r["why"], r["why"]) parts.append(f"j{r['joint']} {r['value']:+.2f}° は送らない：{why}" f"（範囲 [{r['lo']:+.2f}, {r['hi']:+.2f}]・{LIMIT_JA.get(r['limit'], r['limit'])}）") return " / ".join(parts) @@ -535,7 +545,6 @@ self.log = log self.out = out self.spawn = spawn or self._spawn_thread - self.base = np.asarray(start_pose, dtype=float).copy() # 基準の姿勢 self.cmd = np.asarray(start_pose, dtype=float).copy() # 直前の目標 (始めは起動時の姿勢) self.cmd_reached = True self.measured = np.asarray(start_pose, dtype=float).copy() # 最後に読めた角度 @@ -560,6 +569,8 @@ self.read_error = False self.seq = 0 self.n_sent = 0 + self.hold = None # 十字キーの長押し {id, button, joint, sign, down_at, n, last_req_at} + self.hold_seq = 0 # ---- 見せる値 ---- @property @@ -588,8 +599,7 @@ return e def _finish(self, e): - e.update({"grip_state": self.grip, "stopped": self.stopped, "stop_reason": self.stop_reason, - "base_pose": _r(self.base)}) + e.update({"grip_state": self.grip, "stopped": self.stopped, "stop_reason": self.stop_reason}) try: self.log.write(e) except Exception as ex: # SSD が外れたなど. ローカルには逃がさない @@ -619,9 +629,16 @@ self.out("[HOME] 長押しの途中で受け付けられなくなったので取り消しました（押し直してください）") self._finish(self._entry(BTN_HOME, "home", accepted=False, reason="hold_cancelled")) + def _end_hold(self, msg=None): + if self.hold is not None: + if msg: + self.out(msg) + self.hold = None + def enter_stop(self, reason, button=None, kind="stop"): was = self.stopped self.stopped = True + self._end_hold() committed = self._cancel_gate() if not was: self.stop_reason = reason @@ -683,6 +700,7 @@ self.r1 = True self._finish(self._entry(button, "modifier", accepted=True)) return + self._end_hold() # 十字キーの長押しは, ほかのボタン (R1 以外) で止まる if button == BTN_TRIANGLE: self.sel = (self.sel + 1) % len(SELECT_ORDER) self.out(f"[関節] 上下で動かす関節を j{self.joint} にしました") @@ -702,16 +720,19 @@ + "（押し直してください）") self._finish(self._entry(button, "home", accepted=False, reason=why)) return # 1 秒続いたとき (tick) か 離したとき (release) に 1 行書く - if button in (BTN_LEFT, BTN_RIGHT): - sign = J0_LEFT_SIGN if button == BTN_LEFT else -J0_LEFT_SIGN - self._request(self._entry(button, "move", joint=0, delta=sign * self.step), - ("move", 0, sign * self.step)) - return - if button in (BTN_UP, BTN_DOWN): - sign = UP_SIGN if button == BTN_UP else -UP_SIGN - j = self.joint - self._request(self._entry(button, "move", joint=j, delta=sign * self.step), - ("move", j, sign * self.step)) + if button in (BTN_LEFT, BTN_RIGHT, BTN_UP, BTN_DOWN): + if button in (BTN_LEFT, BTN_RIGHT): + sign = J0_LEFT_SIGN if button == BTN_LEFT else -J0_LEFT_SIGN + j = 0 + else: + sign = UP_SIGN if button == BTN_UP else -UP_SIGN + j = self.joint + self.hold_seq += 1 + self.hold = {"id": self.hold_seq, "button": button, "joint": j, "sign": sign, + "down_at": now, "n": 0, "last_req_at": now} + self._request(self._entry(button, "move", joint=j, delta=sign * self.step, + hold_id=self.hold_seq, hold_n=0), + ("move", j, sign * self.step, None)) return if button in (BTN_CROSS, BTN_CIRCLE): state = 1 if button == BTN_CROSS else 0 @@ -721,6 +742,8 @@ self._finish(self._entry(button, "ignored", accepted=False, reason="unassigned")) def release(self, button, now): + if self.hold is not None and button == self.hold["button"]: + self.hold = None # 離したら長押しを止める if button == BTN_R1: self.r1 = False elif button == BTN_HOME: @@ -740,6 +763,21 @@ self.home_handled = True self._request(self._entry(BTN_HOME, "home", held_sec=round(now - self.home_down_at, 3)), ("home",)) + h = self.hold + if (h is not None and not self.stopped and not self.busy + and now - h["down_at"] >= HOLD_START_SEC - 1e-6 + and now - h["last_req_at"] >= HOLD_INTERVAL_SEC - 1e-6): + h["n"] += 1 + h["last_req_at"] = now + d = h["sign"] * self.step + self._request(self._entry(h["button"], "move", joint=h["joint"], delta=d, + hold_id=h["id"], hold_n=h["n"], + held_sec=round(now - h["down_at"], 3)), + ("move", h["joint"], d, h["id"])) + + def _hold_alive(self, hold_id): + h = self.hold + return h is not None and h["id"] == hold_id # ---- 送る仕事 ---- def _request(self, e, job): @@ -758,7 +796,7 @@ self.pending = e gate = SendGate() self.gate = gate - snap = {"cmd": self.cmd.copy(), "cmd_reached": self.cmd_reached, "base": self.base.copy()} + snap = {"cmd": self.cmd.copy(), "cmd_reached": self.cmd_reached} self.spawn(lambda: self._run_job(job, snap, gate)) def _spawn_thread(self, fn): @@ -769,12 +807,35 @@ res = {} try: if job[0] == "move": - _, j, d = job + _, j, d, hold_id = job q = self.arm.read() res["measured_before"] = _r(q) if q is None: res["error"] = "read_failed" return + if hold_id is not None: + # 長押しの 2 回目から: 直前の指令にアームが追いつくまで送らない + t_w = time.monotonic() + while True: + lead = float(np.max(np.abs(np.asarray(snap["cmd"]) - q))) + if lead <= HOLD_LEAD_MAX_DEG: + break + if gate.cancel.is_set() or self.quitting.is_set(): + res.update(sent=False, why="halted_before_send") + return + if not self._hold_alive(hold_id): + res.update(sent=False, why="hold_released", hold_lead_deg=round(lead, 3)) + return + if time.monotonic() - t_w >= HOLD_WAIT_MAX_SEC: + res.update(sent=False, why="arm_not_following", hold_lead_deg=round(lead, 3)) + return + time.sleep(HOLD_POLL_SEC) + q = self.arm.read() + if q is None: + res["error"] = "read_failed" + return + res["hold_wait_sec"] = round(time.monotonic() - t_w, 3) + res["measured_before"] = _r(q) # 出発点: 直前の目標に届いていて, 今読んだ角度とも 3° 以内ならその目標. # そうでなければ今読んだ角度 (手で動かされたなど. 古い目標から大きく動かさない. codex 必須 3) gap = float(np.max(np.abs(np.asarray(snap["cmd"]) - q))) @@ -782,7 +843,7 @@ start = snap["cmd"] if use_cmd else q res["start_source"] = "command" if use_cmd else "measured" res["cmd_gap_deg"] = round(gap, 3) - plan = plan_step(start, j, d, snap["base"]) + plan = plan_step(start, j, d) res["clip"] = plan["clip"] res["refused"] = plan["refused"] res["limit_ja"] = limit_text_ja(plan) @@ -838,8 +899,6 @@ self.n_sent += 1 self.cmd = np.asarray(target, dtype=float) self.cmd_reached = bool(res.get("reached")) - if job[0] == "home": - self.base = np.array(HOME, dtype=float) # HOME を送ったあとは HOME を基準にし直す elif sent == "unknown": self.cmd_reached = False # 次は読んだ角度から if job[0] == "grip" and res.get("error"): @@ -851,7 +910,7 @@ e["reached"] = res.get("reached") if sent is True else None # ---- ターミナル ---- if job[0] == "move": - label = f"j{job[1]} {job[2]:+.1f}°" + label = f"j{job[1]} {job[2]:+.1f}°" + (f"（長押し {e.get('hold_n')}）" if job[3] is not None else "") elif job[0] == "home": label = "HOME" else: @@ -869,8 +928,16 @@ f"（ずれ {res.get('reach_err')}°） 届いた角度 {_fmt(res.get('reached_angles'))}") elif res.get("why") == "halted_before_send": self.out(f"[送らない] {label}: 停止が入ったので送りませんでした") + elif res.get("why") == "hold_released": + pass # 追いつくのを待つ間に離した. 何も出さない + elif res.get("why") == "arm_not_following": + self.out(f"[送らない] {label}: {HOLD_WAIT_MAX_SEC:.0f} 秒待ってもアームが指令に追いつきません" + f"（差 {res.get('hold_lead_deg')}°）") else: self.out(f"[送らない] {label}") + # 長押しの中で送れなかったら (範囲の端・追いつかない・停止), その長押しは止める. 端で同じ行を繰り返さない + if job[0] == "move" and sent is not True and e.get("hold_id") is not None and self._hold_alive(e["hold_id"]): + self._end_hold("[長押し] 止めました（もう一度押せば動きます）" if res.get("why") == "arm_not_following" else None) self.gate = None self._finish(e) if res.get("error"): @@ -904,7 +971,7 @@ ("big", f"GRIP {self.grip}"), ] for k in range(6): - lines.append(("mono", f"j{k} {q[k]:+8.2f} cmd {self.cmd[k]:+8.2f} base {self.base[k]:+8.2f}")) + lines.append(("mono", f"j{k} {q[k]:+8.2f} cmd {self.cmd[k]:+8.2f}")) lines.append(("small", "last limit: " + (self.last_limit or "-"))) if self.stopped: lines.append(("small", f"stop reason: {self.stop_reason} (OPTIONS = resume)")) @@ -989,7 +1056,7 @@ screen.blit(fonts[kind].render(text[:110], True, col), (10, y)) y += {"big": 44, "mono": 26, "small": 24}[kind] y += 6 - for t in ("dpad L/R: j0 dpad U/D: selected joint (up = -, down = +) triangle: next joint", + for t in ("dpad L/R: j0 dpad U/D: selected joint (up = -, down = +) hold: keep moving triangle: next joint", "R1 hold: 2 deg cross: close circle: open HOME hold 1s: home", "L2+R2: stop OPTIONS: resume window close / Ctrl+C: quit (arm is not moved)"): screen.blit(fonts["small"].render(t, True, (150, 150, 160)), (10, y)) @@ -1059,7 +1126,7 @@ start = np.asarray(start_pose_dry if start_pose_dry is not None else HOME, dtype=float) arm = DryArm(start) print("[ドライラン] daemon にもアームにも触りません。HOME から始まる仮の姿勢を動かします") - lo, hi, _, _ = joint_window(start) + lo, hi, _, _ = joint_window() bad = [k for k in range(6) if not (lo[k] - LIMIT_EPS_DEG <= start[k] <= hi[k] + LIMIT_EPS_DEG)] if bad: print("[注意] 起動したときの姿勢が守りの外: " + ", ".join(f"j{k}={start[k]:+.2f}" for k in bad) @@ -1072,15 +1139,17 @@ "python": sys.version, "pygame": pygame.version.ver, "sdl": ".".join(str(v) for v in pygame.get_sdl_version()), "platform": platform.platform(), "start_pose": _r(start), - "guards": {"J1_MAX_DEG": J1_MAX_DEG, "J0_RANGE_DEG": J0_RANGE_DEG, "JOINT_RANGE_DEG": JOINT_RANGE_DEG, + "guards": {"J1_MAX_DEG": J1_MAX_DEG, "range": "physical_limits (no base window. 2026-11-03)", "J4_SAFE": list(J4_SAFE), "JOINT_LIMITS": [list(x) for x in JOINT_LIMITS], - "window_at_start": {"lo": _r(lo), "hi": _r(hi)}, + "window": {"lo": _r(lo), "hi": _r(hi)}, "home_bypasses_range_check": True}, "motion": {"speed": SPEED, "step_fine_deg": STEP_FINE_DEG, "step_coarse_deg": STEP_COARSE_DEG, "reach_tol_deg": REACH_TOL_DEG, "reach_timeout_min_sec": REACH_TIMEOUT_SEC, "poll_sec": POLL_SLEEP, "gripper_sleep_sec": rpc.GRIPPER_SLEEP, "grip_close_value": rpc.GRIP_VALUE, "send_wait": rpc.SEND_WAIT, "home": HOME, "home_hold_sec": HOME_HOLD_SEC, "trigger_stop_above": TRIGGER_STOP_ABOVE, + "hold_start_sec": HOLD_START_SEC, "hold_interval_sec": HOLD_INTERVAL_SEC, + "hold_lead_max_deg": HOLD_LEAD_MAX_DEG, "hold_wait_max_sec": HOLD_WAIT_MAX_SEC, "j0_left_sign": J0_LEFT_SIGN, "up_sign": UP_SIGN, "select_order": list(SELECT_ORDER)}, "button_map": {str(k): v for k, v in BUTTON_NAMES.items()}, "git": git_info(__file__), --- a/tools/test_gamepad_teleop.py +++ b/tools/test_gamepad_teleop.py 2026-11-02 22:28:35.369895819 +0000 @@ -5,7 +5,9 @@ 中身: - ボタン番号と操作の対応 (依頼 68 の表) / 十字キー上下の向き / △ で j1 → j5 → j1 - - 守り: j1 は 90.87 を超えない / j0 ±15°・j1〜j5 ±10° / J4_SAFE / HOME のあと基準が HOME + - 守り: j1 は 90.87 を超えない / 物理可動域まで (基準の姿勢からの枠はない. 2026-11-03) / J4_SAFE + - 長押し (2026-11-03): 短い押しは 1 刻み / 押している間は送り続ける / 離す・停止・△・範囲の端で止まる / + 指令が読んだ角度より 3° 先なら送らずに待つ / 追いつかなければ止める - 停止: L2・R2 の両方 > 0.0 で止まる・片方では止まらない / 停止中は受け付けない / OPTIONS で戻る / 接続が切れたら停止 - HOME: 1 秒に満たない長押しでは送らない / 1 秒続けたら 1 回だけ送る - 動いている間の押しは受け付けない (ためない) @@ -175,23 +177,26 @@ self.assertTrue(refused and refused[-1]["refused"][0]["why"] == "at_limit") self.assertIn("J1_MAX", tp.last_limit) - def test_j0_15_and_others_10(self): + def test_home_to_pick_height(self): + # HOME から j1 を PICK の高さ 90.87 まで下ろせる (基準の姿勢からの ±10° の枠はない. 2026-11-03) tp, arm, log, _ = make() tp.r1 = True + for _ in range(50): + press(tp, gt.BTN_DOWN) + self.assertAlmostEqual(max(s[1] for s in arm.sent), 90.87) + self.assertFalse(any(r.get("clip") and r["clip"][0]["limit"] == "BASE" for r in log.rows)) + # ほかの関節も ±10° を超えて動く for _ in range(12): press(tp, gt.BTN_RIGHT) - self.assertAlmostEqual(max(s[0] for s in arm.sent), 15.0) - for _ in range(20): - press(tp, gt.BTN_LEFT) - self.assertAlmostEqual(min(s[0] for s in arm.sent), -15.0) + self.assertAlmostEqual(arm.sent[-1][0], 24.0) tp.sel = 1 # j2 - for _ in range(10): + for _ in range(15): press(tp, gt.BTN_UP) - self.assertAlmostEqual(min(s[2] for s in arm.sent), -10.0) - tp.sel = 4 # j5 (基準 -30) + self.assertAlmostEqual(arm.sent[-1][2], -30.0) + tp.sel = 4 # j5 for _ in range(10): press(tp, gt.BTN_DOWN) - self.assertAlmostEqual(max(s[5] for s in arm.sent), -20.0) + self.assertAlmostEqual(arm.sent[-1][5], -10.0) def test_j4_safe(self): start = [0.0, 0.0, 0.0, 0.0, 55.0, -30.0] @@ -204,39 +209,41 @@ self.assertEqual([r for r in log.rows if r.get("clip")][0]["clip"][0]["limit"], "J4_SAFE") def test_window_function(self): - lo, hi, lo_src, hi_src = gt.joint_window([0, 85, 0, 0, 55, -30]) + lo, hi, lo_src, hi_src = gt.joint_window() self.assertAlmostEqual(hi[1], 90.87) self.assertEqual(hi_src[1], "J1_MAX") + self.assertAlmostEqual(lo[4], -90.0) self.assertAlmostEqual(hi[4], 60.0) - self.assertEqual(hi_src[4], "J4_SAFE") - self.assertAlmostEqual(lo[0], -15.0) - self.assertAlmostEqual(hi[2], 10.0) + self.assertEqual((lo_src[4], hi_src[4]), ("J4_SAFE", "J4_SAFE")) + for k in (0, 2, 3, 5): # 残りは物理可動域 + self.assertEqual((lo[k], hi[k]), gt.JOINT_LIMITS[k]) + self.assertEqual((lo_src[k], hi_src[k]), ("PHYS", "PHYS")) + self.assertEqual(lo[1], gt.JOINT_LIMITS[1][0]) def test_no_compensation_other_joints(self): start = [0.0, 0.0, 0.0, 0.0, 0.0, -30.0] - p = gt.plan_step(start, 1, 20.0, start) - self.assertAlmostEqual(p["target"][1], 10.0) + p = gt.plan_step(start, 1, 20.0) + self.assertAlmostEqual(p["target"][1], 20.0) self.assertEqual(list(p["target"][[0, 2, 3, 4, 5]]), [0.0, 0.0, 0.0, 0.0, -30.0]) def test_out_of_window_start_refuses(self): # 起動したときに j1 が 91 (守りの外): j1 を下げる (−) 押しも, 他の関節の押しも送らない start = [0.0, 91.0, 0.0, 0.0, 0.0, -30.0] - p = gt.plan_step(start, 0, 0.5, start) + p = gt.plan_step(start, 0, 0.5) self.assertIsNone(p["target"]) self.assertEqual(p["refused"][0]["joint"], 1) - def test_home_rebases(self): + def test_home_then_continue(self): start = [10.0, 5.0, 0.0, 0.0, 0.0, -30.0] tp, arm, log, _ = make(start) tp.press(gt.BTN_HOME, 0.0) tp.tick(1.01) tp.poll() self.assertEqual(arm.sent[-1], HOME) - self.assertEqual(list(tp.base), HOME) tp.r1 = True for _ in range(10): press(tp, gt.BTN_LEFT) - self.assertAlmostEqual(arm.sent[-1][0], -15.0) # 基準が HOME (j0=0) になった + self.assertAlmostEqual(arm.sent[-1][0], -20.0) # HOME から続けて動く (枠はない) def test_home_bypasses_range(self): # 範囲の外 (j1=95) にいても HOME は送れる @@ -258,11 +265,201 @@ self.assertEqual(log.rows[-1]["start_source"], "measured") +class LagArm(FakeArm): + """送ると「届いた」と返すが, 角度は読むたびに lag_step ずつしか追いつかない (読みが古いのと同じ).""" + + def __init__(self, start=HOME, lag_step=0.0): + super().__init__(start) + self.target = np.asarray(start, dtype=float).copy() + self.lag_step = lag_step + self.reads = 0 + + def read(self): + self.reads += 1 + d = self.target - self.q + self.q = self.q + np.clip(d, -self.lag_step, self.lag_step) + return self.q.copy() + + def send_and_check(self, target, gate, quitting): + if not gate.run(lambda: self.sent.append([float(v) for v in target])): + return {"sent": False, "why": "halted_before_send"} + self.target = np.asarray(target, dtype=float).copy() + return {"sent": True, "reached": True, "reached_angles": gt._r(self.q), "reach_err": 0.0} + + +def make_arm(arm, sync=True): + log = ListLog() + out = [] + tp = gt.Teleop(arm, arm.q.copy(), log, out=out.append, spawn=lambda fn: fn()) + return tp, log, out + + +class TestHold(unittest.TestCase): + def test_short_press_is_one_step(self): + tp, arm, log, _ = make() + tp.press(gt.BTN_RIGHT, 0.0) + tp.poll() + tp.release(gt.BTN_RIGHT, 0.1) + for t in (0.4, 0.6, 1.0): + tp.tick(t) + tp.poll() + self.assertEqual(len(arm.sent), 1) + + def test_hold_keeps_sending_until_release(self): + tp, arm, log, _ = make() + tp.press(gt.BTN_RIGHT, 0.0) + tp.poll() + for t in (0.1, 0.3, 0.39): # 0.4 秒までは 1 刻みだけ + tp.tick(t); tp.poll() + self.assertEqual(len(arm.sent), 1) + tp.tick(0.4); tp.poll() + tp.tick(0.5); tp.poll() # 間隔 0.2 秒に満たない + tp.tick(0.6); tp.poll() + tp.tick(0.8); tp.poll() + self.assertEqual([s[0] for s in arm.sent], [0.5, 1.0, 1.5, 2.0]) + moves = [r for r in log.rows if r["kind"] == "move"] + self.assertEqual([r["hold_n"] for r in moves], [0, 1, 2, 3]) + self.assertEqual(len({r["hold_id"] for r in moves}), 1) + tp.release(gt.BTN_RIGHT, 0.85) + for t in (1.0, 1.2, 2.0): + tp.tick(t); tp.poll() + self.assertEqual(len(arm.sent), 4) + + def test_hold_up_down_selected_joint_and_r1(self): + tp, arm, log, _ = make() + tp.sel = 1 # j2 + tp.press(gt.BTN_UP, 0.0); tp.poll() + tp.tick(0.4); tp.poll() + tp.press(gt.BTN_R1, 0.45) # 途中で R1: 刻みが 2° に + tp.tick(0.6); tp.poll() + self.assertEqual([s[2] for s in arm.sent], [-0.5, -1.0, -3.0]) + self.assertIsNotNone(tp.hold) # R1 では長押しは止まらない + + def test_triangle_and_other_buttons_end_hold(self): + tp, arm, log, _ = make() + tp.press(gt.BTN_DOWN, 0.0); tp.poll() + tp.press(gt.BTN_TRIANGLE, 0.1) + tp.tick(0.5); tp.poll() + self.assertEqual(len(arm.sent), 1) + tp.press(gt.BTN_RIGHT, 1.0); tp.poll() + tp.press(gt.BTN_CIRCLE, 1.1); tp.poll() # 爪で止まる + tp.tick(1.5); tp.poll() + self.assertEqual(len(arm.sent), 2) + + def test_stop_ends_hold_and_resume_does_not_revive(self): + tp, arm, log, _ = make() + tp.press(gt.BTN_RIGHT, 0.0); tp.poll() + tp.tick(0.4); tp.poll() + tp.set_triggers(0.5, 0.5) + tp.tick(0.6); tp.poll() + self.assertEqual(len(arm.sent), 2) + self.assertIsNone(tp.hold) + tp.set_triggers(-1.0, -1.0) + press(tp, gt.BTN_OPTIONS, 0.7) + tp.tick(0.9); tp.tick(1.2); tp.poll() # 押しっぱなしでも, 押し直すまで動かない + self.assertEqual(len(arm.sent), 2) + + def test_disconnect_ends_hold(self): + tp, arm, log, _ = make() + tp.press(gt.BTN_RIGHT, 0.0); tp.poll() + tp.controller_lost("controller_disconnected") + tp.tick(0.5); tp.poll() + self.assertEqual(len(arm.sent), 1) + self.assertIsNone(tp.hold) + + def test_limit_ends_hold_without_repeating_lines(self): + start = [0.0, 89.0, 0.0, 0.0, 0.0, -30.0] + tp, arm, log, _ = make(start) + tp.r1 = True + tp.press(gt.BTN_DOWN, 0.0); tp.poll() # 89 → 90.87 (切られて端まで) + self.assertAlmostEqual(arm.sent[-1][1], 90.87) + tp.tick(0.4); tp.poll() # 端: 送らない → 長押しを止める + n_rows = len(log.rows) + for t in (0.6, 0.8, 1.0, 2.0): + tp.tick(t); tp.poll() + self.assertEqual(len(arm.sent), 1) + self.assertEqual(len(log.rows), n_rows) # 同じ行を繰り返さない + self.assertIsNone(tp.hold) + self.assertEqual(log.rows[-1]["refused"][0]["why"], "at_limit") + + def test_waits_for_arm_and_never_leads_more_than_3(self): + arm = LagArm(lag_step=0.2) # 読むたびに 0.2° しか追いつかない + tp, log, out = make_arm(arm) + tp.r1 = True + with mock.patch.object(gt, "HOLD_POLL_SEC", 0.0): + tp.press(gt.BTN_RIGHT, 0.0); tp.poll() + t = 0.4 + for _ in range(8): + tp.tick(t); tp.poll() + t += 0.2 + self.assertEqual(len(arm.sent), 9) + sent_rows = [r for r in log.rows if r["kind"] == "move" and r.get("sent") is True] + for r in sent_rows[1:]: # 送る前に読んだ角度は, 直前の指令から 3° 以内 + prev_cmd = sent_rows[sent_rows.index(r) - 1]["command"][0] + self.assertLessEqual(abs(prev_cmd - r["measured_before"][0]), gt.HOLD_LEAD_MAX_DEG + 1e-9) + self.assertTrue(any(r.get("hold_wait_sec", 0) >= 0 and r.get("hold_n", 0) > 0 for r in sent_rows)) + + def test_arm_not_following_ends_hold(self): + arm = LagArm(lag_step=0.0) # まったく動かない (読みは 0 のまま, 送ると「届いた」) + tp, log, out = make_arm(arm) + tp.r1 = True + with mock.patch.object(gt, "HOLD_POLL_SEC", 0.0), mock.patch.object(gt, "HOLD_WAIT_MAX_SEC", 0.05): + tp.press(gt.BTN_RIGHT, 0.0); tp.poll() + t = 0.4 + for _ in range(6): + tp.tick(t); tp.poll() + t += 0.2 + self.assertEqual([s[0] for s in arm.sent], [2.0, 4.0]) # 差 2 → 送る, 差 4 → 待って止める + self.assertIsNone(tp.hold) + self.assertEqual([r for r in log.rows if r["kind"] == "move"][-1]["why"], "arm_not_following") + self.assertTrue(any("追いつきません" in o for o in out)) + + def test_release_while_waiting_does_not_send(self): + arm = LagArm(lag_step=0.0) + tp, log, out = make_arm(arm) + tp.r1 = True + tp.press(gt.BTN_RIGHT, 0.0); tp.poll() + tp.tick(0.4); tp.poll() # 4.0 を送った (読みは 0) + orig = arm.read + + def read_then_release(): + q = orig() + if arm.reads > 6: + tp.hold = None # 待っている間に離した + return q + arm.read = read_then_release + with mock.patch.object(gt, "HOLD_POLL_SEC", 0.0), mock.patch.object(gt, "HOLD_WAIT_MAX_SEC", 5.0): + tp.tick(0.6); tp.poll() + self.assertEqual(len(arm.sent), 2) + last = [r for r in log.rows if r["kind"] == "move"][-1] + self.assertEqual(last["why"], "hold_released") + self.assertFalse(any("送らない" in o and "長押し 2" in o for o in out)) + + def test_stop_while_waiting_does_not_send(self): + arm = LagArm(lag_step=0.0) + tp, log, out = make_arm(arm) + tp.r1 = True + tp.press(gt.BTN_RIGHT, 0.0); tp.poll() + tp.tick(0.4); tp.poll() + orig = arm.read + + def read_then_stop(): + q = orig() + if arm.reads > 6 and tp.gate is not None: + tp.gate.cancel_now() # 待っている間に L2+R2 (取り消し) + return q + arm.read = read_then_stop + with mock.patch.object(gt, "HOLD_POLL_SEC", 0.0), mock.patch.object(gt, "HOLD_WAIT_MAX_SEC", 5.0): + tp.tick(0.6); tp.poll() + self.assertEqual(len(arm.sent), 2) + self.assertEqual([r for r in log.rows if r["kind"] == "move"][-1]["why"], "halted_before_send") + + class TestCodexR1(unittest.TestCase): def test_selected_joint_out_of_window_not_clamped(self): # 基準 j1=100 (守りの外) から −0.5 を押しても 90.87 へ 1 回で動かさない start = [0.0, 100.0, 0.0, 0.0, 0.0, -30.0] - p = gt.plan_step(start, 1, -0.5, start) + p = gt.plan_step(start, 1, -0.5) self.assertIsNone(p["target"]) self.assertEqual(p["refused"][0]["why"], "start_out_of_window") tp, arm, log, _ = make(start) @@ -271,7 +468,7 @@ def test_physical_limit_ends(self): base = [0.0, 0.0, 170.0, 0.0, 0.0, -30.0] # j2 の物理可動域は ±177 - p = gt.plan_step(base, 2, 20.0, base) + p = gt.plan_step(base, 2, 20.0) self.assertAlmostEqual(p["target"][2], 177.0) self.assertEqual(p["clip"][0]["limit"], "PHYS") @@ -282,7 +479,7 @@ press(tp, gt.BTN_RIGHT) self.assertAlmostEqual(arm.sent[-1][0], 10.5) # 今読んだ角度から 0.5 self.assertEqual(log.rows[-1]["start_source"], "measured") - arm.q[0] = -20.0 # 基準から ±15 の外 → 送らない + arm.q[0] = -170.0 # 物理可動域 (-156) の外 → 送らない press(tp, gt.BTN_RIGHT) self.assertEqual(len(arm.sent), 2) ``` ```` #### 別の Claude のレビューの全文 ```markdown # gamepad_teleop.py 長押しと範囲変更のレビュー（2026-11-03） **確かめた範囲：** 依頼文・`gamepad_teleop.py` 全体・`test_gamepad_teleop.py` を読みました。ここには pygame と、定数を読む元のファイル（`run_policy_client.py`・`waypoint_replay.py`）がないので、64 件のテストは流せていません。代わりに、`gamepad_teleop.py` をスクラッチに写し、定数と pygame を仮のものに差し替えて、下の A・B・C の道を実際に起こして確かめました。元のファイルは何も変えていません。 ## 必須 | 項目 | 判定 | 確認結果・修正案 | |---|---|---| | A. 動いている間に押した十字キーが、受付なしと出たあとで長押しとして動き出す（L723-736, L789-793） | 必須 | **起きる順番：** HOME や爪の仕事で busy の間に十字キー下を押す。`press` が L731 で `self.hold` を作ってから `_request` を呼び、`_request` は busy で断る。画面には「[受付なし] 前の操作が終わっていません（ためません）」と出る。それでも `hold` は残っているので、busy が解けたあとの `tick`（L766-776）が 0.2 秒おきに送り始める。
**確かめた結果：** 爪の仕事の間に下を押して断られたあと、tick 4 回で j1 が 0.5→1.0→1.5→2.0 と送られた。
停止中に押した場合も `hold` は残る。ただしこちらは、再開に使う OPTIONS が L703 で長押しを消すので動かない。
HOME の長押しには「押し始めに受け付けられなければ、続けても送らない」という決まりがある（L715-717、codex 必須 4）。十字キーの長押しはこの決まりと食い違っている。
**直し方：** `press` で `_request` のあとに `if not e.get("accepted"): self.hold = None` を足す。または、停止中・busy のときは `hold` を作らない。直したらテストを 1 件足す（busy の間に押して押し続ける → 送られた数が増えない）。 | ## 推奨 | 項目 | 判定 | 確認結果・修正案 | |---|---|---| | B. 離したあとに 1 刻み送られることがある（L816-838, L856） | 推奨 | 待つループ（L820-831）は、先に角度の差を見て 3° 以内ならすぐ抜ける。長押しが生きているかを見るのは、差が 3° を超えているときだけ（L826）。そのため次の 2 つの道で、離したあとに 1 刻みが出る。
(1) 仕事が始まって角度を読んでいる間に離した。
(2) 待っている途中で離し、ちょうど次に読んだ角度で追いついた。
**確かめた結果：** 2 つとも実際に送られた（j0 が 0.5→1.0、2.0→4.0）。
出るのは 1 刻み（2° まで）なので、大きく走り続ける道ではありません。ただ、読み取りが遅いと（`read_angles` の読み直し）、離してから数秒たって 1 刻みが届くことがあります。説明（L15「離したら直前の指令までで止まる」）とも合いません。
**直し方：** `release` で、走っている仕事がこの長押しの 2 回目以降（`hold_n>=1`）なら `self.gate.cancel_now()` を呼ぶ。SendGate の鍵で「送ると決める」と順番が決まるので、決める前なら必ず止まる。あわせて `_apply` で、停止していないときの `halted_before_send` は「離した」と表示を分ける。1 回目（`hold_n=0`、短く押した分）は取り消さないこと。 | | C. アームより先へ出る量は 3° ではなく「3° + 刻み」（L821, L842-846） | 推奨 | 送ってよいかの判断は「直前の指令と読んだ角度の差 ≤ 3°」で、そのあと指令 + 刻みを送る。なので、読んだ角度より先へ出る量は最大 3 + 2 = 5°（R1 のとき）になる。止まらない道ではなく、上限が 5° に決まっている。読む角度が古い場合は、アームは実際にはもっと進んでいるので、安全な側にずれる。
**直し方：** 説明と `HOLD_LEAD_MAX_DEG` の注記を「最大 3° + 刻み」に直す。または、作った目標で `max|target − q| ≤ 3` になるまで待つ。 | | D. 離した合図を取りこぼすと、物理可動域の端まで動き続ける（L744-746, L1033-1039） | 推奨 | 長押しを止めるのは、ボタンを離した合図・停止・ほかのボタンだけ。コントローラーの今の状態は見直していない。合図を取りこぼす道（Bluetooth の乱れで接続が切れたことにならないとき、手前にないウィンドウで合図が届かないとき）では、範囲の端まで送り続ける。前の ±10° の枠がなくなったので、この道で動く量は大きくなった。
**直し方：** `run_loop` で毎コマ `js.get_button(tp.hold["button"])` を見て、押されていなければ `tp.release(...)` を呼ぶ。手を離せば止まる仕組みを、合図とボタンの状態の 2 本立てにする。 | | E. 物理可動域まで広げたので、机や本体に当たる道がある（L256-271） | 推奨 | j1 は 90.87 で切られる。しかし j2・j4 も手先を下げる向きに効く（L205 のコメント）。j1 を 90.87 にしたまま j2 や j4 を下へ長押しすると、手先が机の高さより下へ行く指令を止める守りはない。j2 の ±177 などは、ぶつからない範囲ではない。範囲を広げたのはエイイチの決定なので、禁止にはしません。
**案：** FK で手先の高さが机 + 余白を下回る目標を断る守りを足す（`fk_lookup` が使えるか確かめる）。または、j2・j4 だけ PICK のデータが届く範囲までにする。
**初回の試し方：** R1 なし（0.5°）で、机に近いところでは短い長押しだけ。L2+R2 は、送った 1 刻み（先へ出る量 5° まで）は止めないことを前提にする。 | | F. 机などに押し当たって追いつかないとき、最後の指令が残り続ける（L829-831, L933-940） | 推奨 | 当たって追いつかないと 3 秒で長押しは止まる。しかし最後の指令（読んだ角度より最大 5° 先）は残るので、サーボは押し続ける。逆向きを 1 回押せば、読んだ角度を出発点にして戻れる（L842-843）。
**直し方：** `arm_not_following` の表示に「当たっていれば逆向きを 1 回押すか、HOME で戻してください」と足す。 | ## 据え置き | 項目 | 判定 | 確認結果・修正案 | |---|---|---| | 停止（L2+R2）・接続が切れたときと SendGate の関係 | 問題なし | 送り口は `gate.run` の中だけ（L420・L458・L460）。ほかに送る道はない。
待つループは `gate.cancel` と `quitting` を見ている（L823）。待ち終えて抜けても、送る直前に `gate.run` の鍵の中でもう一度確かめる。
`enter_stop` は長押しを消してから取り消しを立てる（L641-642）。`tick` は止まっている間は送らない（L767）。再開は OPTIONS を押したときに長押しも消える（L703）ので、押し直すまで動かない。
接続が切れたとき・読み取りに失敗したときも `enter_stop` を通る。今回の変更が SendGate を抜ける道は見つからなかった。 | | スレッド（`_hold_alive` が `self.hold` を読む） | 問題なし（B を除く） | 送る仕事のスレッドは読むだけで、書くのは pygame のループ側だけ。参照の読み出しは一度に行われ、`h["id"]` は作ったあと変わらない。`tick` が書き換えるのは `n` と `last_req_at` だけ。壊れた値を読む道はない。残るのは、確かめてから送るまでの間の食い違いだけで、これは B として上に書いた。 | | 出発点が範囲の外のとき・HOME | 問題なし | 枠が固定になっただけで、判定は変わっていない。出発点の 6 関節のどれかが範囲の外なら送らない（L296-302）。長押しでもこれで送れなければ長押しを止める（L939-940）。
HOME `[0,0,0,0,0,-30]` は範囲の中にある。HOME を押すと十字キーの長押しは止まる（L703）。 | | ログに同じ行がたくさん出る・壊れる | 問題なし | 1 刻み = 1 行。busy の間は `tick` が仕事を作らないので「受付なし」の行は出ない。範囲の端・追いつかない・出発点が範囲の外では、1 行出したあと長押しを止める（L939-940、テストあり）。`hold_released` はログに 1 行だけ残り、画面には出ない。
小さな改善：送れたときにも `hold_lead_deg` を残すと、あとでアームの遅れを分析できる。 | | 6 関節すべての差で待つ | このまま | j1 の重さによる 2〜3° の不足が 3° を超えると、j0 の長押しも 3 秒で止まりやすい。それでも、動かす関節だけで判定すると、出発点が読んだ角度になったときに、ほかの関節（j1 の沈み）を毎回読んだ値で送り直して、ずり下がっていく道ができる。今のままが安全な側。初回のログの `hold_lead_deg` と `arm_not_following` の回数を見て決める。 | | テストが本当のスレッドを使っていない | このまま | `spawn` がその場で呼ぶ形なので、別スレッドとの食い違いは試されていない。A と B を直すときに、`read` に差し込んだ処理で離す・押す再現テストを足すとよい（今回スクラッチで同じやり方で確かめた）。 | **実機で試してよいか：** 必須 A を直してから、R1 なし（0.5°）の短い長押しで試してください。B〜F は、直す前でも動く量の上限はおおむね 1 刻みか 5° までです。ただし D（離した合図の取りこぼし）と E（机に当たる道）は、範囲を広げたことで影響が大きくなっているので、早めに直すのがよいです。 ``` 直すべき点は1つでした。動いている間に押した十字キーは受付なしと出るのに、押し続けるとあとから長押しとして動き出していました。HOME の長押しには、押し始めに受け付けられなければ押し続けても送らない、という決まりがあり、それと食い違っています。押し始めに受け付けられなかった押しは長押しにしない形に直しました。 推奨5つのうち、離したあとに1刻み出る道（B）、先へ出る量の説明（C）、離した合図の取りこぼし（D）、当たったときの表示（F）を直しました。机に当たる道（E）は、範囲を広げたのが決めたことなので、止めは足していません。 #### docs/review_result_20261103_gamepad_hold.md ```markdown # レビュー結果：gamepad_teleop.py の範囲を物理可動域にし、十字キーの長押しで動き続けるようにした（2026-11-03） 依頼文: docs/review_request_20261103_gamepad_hold.md。レビューは、実装した Claude とは別の Claude のエージェント（読み取りのみ。codex は Mac の外から呼べなかったので使っていない）。 | 指摘 | 分類 | 対応 | |---|---|---| | A. 動いている間・停止中に押した十字キーが、受付なしと出たあと押し続けると長押しとして動き出す | 必須 | 直した。押し始めに受け付けられなければ長押しにしない（HOME の長押しと同じ）。テスト 2 件 | | B. 離したあとに 1 刻み送られることがある | 推奨 | 直した。離したとき、長押しの 2 回目からの刻みをまだ送ると決めていなければ SendGate で取り消す。1 回目（短い押し）は取り消さない。テスト 2 件 | | C. 先へ出る量は 3° ではなく 3° + 1 刻み | 推奨 | 説明と定数の注記を直した | | D. 離した合図を取りこぼすと物理可動域の端まで動き続ける | 推奨 | 直した。長押しの最中は毎コマ js.get_button を見て、押されていなければ離したことにする。読めなければ停止。テスト 1 件 | | E. 物理可動域まで広げたので、j2・j4 を下げる向きで机に当たる道がある | 推奨 | 据え置き。範囲はエイイチの決定。初回は R1 なし（0.5°）の短い長押しで試す | | F. 当たって追いつかないとき最後の指令が残る | 推奨 | 表示に「逆向きを1回押すか HOME で戻してください」を足した | | 送れたときにも hold_lead_deg を残す | 小さな改善 | 足した | テスト: 69 件すべて通過（前からの 53 件・長押し 11 件・レビュー対応 5 件）。実機ではまだ流していない。 ``` - ねらい：離した合図を取りこぼしても、長押しが範囲の端まで走り続けないようにする - 変わったこと：長押しの間は、毎コマ（60回／秒）コントローラーのボタンの状態も見て、押されていなければ離したことにする。読めなければ停止 - 見込める効果：Bluetooth の乱れで離した合図が届かなくても止まる見込み。実機で合図を取りこぼした場面は、この回の記録にはまだない テストは69件すべて通り、Mac で36def3cとしてコミットしました。 ## 7:49：長押しが動かない。0.5°では関節が動かず、1回の送信に約1.6秒かかっていた ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts git add tools/gamepad_teleop.py tools/test_gamepad_teleop.py docs/review_request_20261103_gamepad_hold.md docs/review_result_20261103_gamepad_hold.md git commit -m "gamepad_teleop: 範囲を物理可動域に (j1 90.87・J4_SAFE は残す), 十字キーの長押しで送り続ける (0.4 秒から 0.2 秒おき・指令と読んだ角度の差 3° 超は 待つ・3 秒追いつかなければ止める・離したら未送信の刻みを取り消す・毎コマ ボタン の状態も見る). テスト 69 件 Co-Authored-By: Claude Opus 5.5 Claude-Session: https://claude.ai/code/session_01LevEXRnwfWWxYdvM8WRMgs" python3 tools/gamepad_teleop.py --execute [main 36def3c] gamepad_teleop: 範囲を物理可動域に (j1 90.87・J4_SAFE は残す), 十字キーの長押しで送り続ける (0.4 秒から 0.2 秒おき・指令と読んだ角度の差 3° 超は待つ・3 秒追いつかなければ止める・離したら未送信の刻みを取り消す・毎コマ ボタンの状態も見る). テスト 69 件 4 files changed, 1144 insertions(+), 61 deletions(-) create mode 100644 docs/review_request_20261103_gamepad_hold.md create mode 100644 docs/review_result_20261103_gamepad_hold.md /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. from pkg_resources import resource_stream, resource_exists objc[7735]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1020812c8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8890). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102081318) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db88e0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102081390) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8958). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1020813b8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8980). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102081408) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db89d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102081458) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8a20). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1020814d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8a98). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102081520) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8ae8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102081570) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8b38). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1020815c0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8b88). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1020815e8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8bb0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102081610) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8bd8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102081688) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8c50). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102081700) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8cc8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102081750) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8d18). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102081778) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8d40). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7735]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1020817c8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x112db8d90). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. [記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261103_074936 [実機] daemon に送ります。起動したときの姿勢: -0.43 +1.23 +1.31 -0.26 -0.17 -29.70 コントローラーを待っています（つないでいなければ、今つないでください） [接続] PS4 Controller GUID=03008fe54c050000cc09000000016800 軸=6 ボタン=16 [送信] j0 -0.5° → -0.93 +1.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.79°） 届いた角度 -0.43 +2.02 +2.02 -0.26 -0.17 -29.70 [送信] j1 -0.5° → -0.93 +0.73 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 1.29°） 届いた角度 -0.43 +2.02 +2.02 -0.17 -0.17 -29.70 [受付なし] 前の操作が終わっていません（ためません） [送信] j1 +0.5° → -0.93 +1.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.79°） 届いた角度 -0.43 +2.02 +2.02 -0.17 -0.17 -29.70 [送信] j0 +0.5° → -0.43 +1.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.79°） 届いた角度 -0.43 +2.02 +2.10 -0.17 -0.17 -29.70 [送信] j0 +0.5°（長押し 1） → +0.07 +1.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.79°） 届いた角度 -0.43 +2.02 +2.10 -0.17 -0.17 -29.70 [送信] j0 -0.5° → -0.43 +1.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.79°） 届いた角度 -0.43 +2.02 +2.10 -0.17 -0.17 -29.70 [関節] 上下で動かす関節を j2 にしました [関節] 上下で動かす関節を j3 にしました [関節] 上下で動かす関節を j4 にしました [関節] 上下で動かす関節を j5 にしました [Pi] GRIPPER: OPEN result= -1 [関節] 上下で動かす関節を j1 にしました [爪] 爪を開く（待ち 0.8 秒のあと受付） [受付なし] 前の操作が終わっていません（ためません） [送信] j1 -0.5° → -0.43 +0.73 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 1.29°） 届いた角度 -0.43 +2.02 +2.10 -0.17 -0.17 -29.70 [受付なし] 前の操作が終わっていません（ためません） [送信] j1 +2.0° → -0.43 +2.73 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.96°） 届いた角度 -0.43 +3.69 +2.10 -0.17 -0.17 -29.70 [受付なし] 前の操作が終わっていません（ためません） [送信] j1 +2.0° → -0.43 +4.73 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.8°） 届いた角度 -0.43 +5.53 +2.10 -0.17 -0.17 -29.70 [送信] j0 -0.5° → -0.93 +4.73 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.8°） 届いた角度 -0.43 +5.53 +2.10 -0.17 -0.17 -29.70 [送信] j0 +0.5° → -0.43 +4.73 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.8°） 届いた角度 -0.43 +5.53 +2.10 -0.17 -0.17 -29.70 [送信] j0 +0.5° → +0.07 +4.73 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.8°） 届いた角度 -0.43 +5.53 +2.10 -0.17 -0.17 -29.70 [送信] j1 +0.5° → +0.07 +5.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.83°） 届いた角度 -0.43 +6.06 +2.10 -0.17 -0.17 -29.79 [送信] j1 +0.5°（長押し 1） → +0.07 +5.73 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.86°） 届いた角度 -0.43 +6.59 +2.10 -0.17 -0.17 -29.79 [送信] j1 +0.5°（長押し 2） → +0.07 +6.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.8°） 届いた角度 -0.43 +7.03 +2.10 -0.17 -0.17 -29.79 [送信] j1 +0.5°（長押し 3） → +0.07 +6.73 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.82°） 届いた角度 -0.43 +7.55 +2.10 -0.17 -0.17 -29.79 [送信] j1 +0.5°（長押し 4） → +0.07 +7.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.94°） 届いた角度 -0.43 +8.17 +2.10 -0.17 -0.17 -29.79 [送信] j1 +0.5°（長押し 5） → +0.07 +7.73 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.79°） 届いた角度 -0.43 +8.52 +2.10 -0.17 -0.17 -29.79 [送信] j1 +0.5°（長押し 6） → +0.07 +8.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.82°） 届いた角度 -0.43 +9.05 +2.10 -0.17 -0.17 -29.79 [送信] j1 +2.0°（長押し 7） → +0.07 +10.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 1.02°） 届いた角度 -0.43 +11.25 +2.10 -0.17 -0.17 -29.79 [送信] j1 +2.0°（長押し 8） → +0.07 +12.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 1.04°） 届いた角度 -0.43 +13.27 +2.10 -0.08 -0.17 -29.79 [送信] j1 +2.0°（長押し 9） → +0.07 +14.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.97°） 届いた角度 -0.43 +15.20 +2.10 -0.08 -0.08 -29.79 [送信] j1 +2.0°（長押し 10） → +0.07 +16.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 0.99°） 届いた角度 -0.43 +17.22 +2.10 +0.00 -0.08 -29.79 [受付なし] 前の操作が終わっていません（ためません） [送信] j1 +2.0°（長押し 11） → +0.07 +18.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 1.1°） 届いた角度 -0.43 +19.33 +2.10 +0.00 -0.08 -29.79 [送信] j0 +0.5° → +0.57 +18.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 1.1°） 届いた角度 +0.43 +19.33 +2.10 +0.00 -0.08 -29.79 [送信] j0 +2.0°（長押し 1） → +2.57 +18.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 1.1°） 届いた角度 +2.63 +19.33 +2.10 +0.08 -0.08 -29.79 [送信] j0 +2.0°（長押し 2） → +4.57 +18.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 1.1°） 届いた角度 +4.74 +19.33 +2.10 +0.08 -0.08 -29.79 [送信] j0 +2.0°（長押し 3） → +6.57 +18.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 1.1°） 届いた角度 +6.67 +19.33 +2.10 +0.08 -0.08 -29.79 [送信] j0 +2.0°（長押し 4） → +8.57 +18.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 1.1°） 届いた角度 +8.52 +19.33 +2.10 +0.17 -0.08 -29.79 [送信] j0 +2.0°（長押し 5） → +10.57 +18.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 1.1°） 届いた角度 +10.63 +19.33 +2.10 +0.17 -0.08 -29.79 [送信] j0 +2.0°（長押し 6） → +12.57 +18.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 1.1°） 届いた角度 +12.83 +19.33 +2.10 +0.08 -0.08 -29.79 [送信] j0 +2.0°（長押し 7） → +14.57 +18.23 +1.31 -0.26 -0.17 -29.70 届いた（ずれ 1.1°） 届いた角度 +14.85 +19.33 +2.10 +0.08 -0.08 -29.88 [送信] HOME → +0.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 2.02°） 届いた角度 +0.00 +1.31 +2.02 +0.08 -0.08 -29.88 ^C [終了] Ctrl+C [終了] アームは動かしていません。記録: /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261103_074936 ``` > ちゃんと動いてなくない？ 記録を見ると、2つのことが重なっていました。 1つ目は、0.5°の押しではサーボが反応しないことです。0.5°の送信のうち、読んだ角度が0.2°以上動いたのは、7:14 の記録で7回中3回、7:49 の記録で18回中8回でした。2°の送信は毎回動いています。始めの1押しを左右に交互に押すと、指令だけが行ったり来たりして、アームは止まったままでした。 2つ目は、1回の仕事に約1.6秒かかっていたことです。長押しの2回目以降を送った間隔は、中央1.630秒でした。送る前の読み取りは約0.04秒、送ったあと届いたかの確かめは0.02秒前後で、残りは `daemon_send_angles` の返事を待つ時間です。長押しの速さは毎秒1.0°でした。 ゲームパッドの1押しは、次のように決めました。 | 決めたこと | 選んだもの | |---|---| | ふつうの1押し | 1°（R1 を押しながらは2°のまま）。7:14 の記録で、1°の差は動いていた | | 1.6秒の遅さ | daemon の遅さを調べて直す | ## 7:53：daemon の pymycobot 4.0.4 が、送るたびに返事を0.5秒×3回待っていた daemon（`mecharm_daemon.py`）は、`send_angles` の前後の時間を `daemon.log` に書いています。daemon は `from pymycobot.mycobot import MyCobot` で読み込み、`_mc.send_angles(angles, speed)` を呼ぶだけです。daemon のコードは変えていないので、変わったのはライブラリの側だと考え、pymycobot の 4.0.4 と 2.9.6 の中身を PyPI から取ってきて比べました。 #### pymycobot 4.0.4 と 2.9.6 の該当箇所（PyPI の配布物から） ```python === pymycobot 4.0.4 generate.py (send_angles) def send_angles(self, angles, speed, _async=False): """Send the angles of all joints to robot arm. Args: angles: a list of angle values(List[float]). len 6. speed : (int) 1 ~ 100 """ self.calibration_parameters(class_name=self.__class__.__name__, angles=angles, speed=speed) angles = [self._angle2int(angle) for angle in angles] return self._mesg(ProtocolCode.SEND_ANGLES, angles, speed, has_reply=True, _async=_async) === pymycobot 4.0.4 mycobot.py (MyCobot._mesg / _res) def _mesg(self, genre, *args, **kwargs): """ Args: genre: command type (Command) *args: other data. It is converted to octal by default. If the data needs to be encapsulated into hexadecimal, the array is used to include them. (Data cannot be nested) **kwargs: support `has_reply` has_reply: Whether there is a return value to accept. """ real_command, has_reply, _async = super( MyCobot, self)._mesg(genre, *args, **kwargs) if self.thread_lock: with self.lock: return self._res(real_command, has_reply, genre) else: return self._res(real_command, has_reply, genre) def _res(self, real_command, has_reply, genre): try_count = 0 while try_count < 3: self._write(self._flatten(real_command)) data = self._read(genre) if data is not None and data != b'': break try_count += 1 else: return -1 === pymycobot 4.0.4 common.py (read の待ち時間) def read(self, genre, method=None, command=None, _class=None, timeout=None, real_command=None): datas = b"" data_len = -1 k = 0 pre = 0 t = time.time() if platform.system() == "Windows": wait_time = 0.15 else: wait_time = 0.5 if method is not None: wait_time = 0.3 if timeout is not None: wait_time = timeout === pymycobot 2.9.6 generate.py (send_angles) def send_angles(self, degrees, speed): """Send the degrees of all joints to robot arm. Args: degrees: a list of degree values(List[float]).\n for mycobot: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0].\n for mypalletizer: [0.0, 0.0, 0.0, 0.0] for mypalletizer 340: [0.0, 0.0, 0.0] speed : (int) 0 ~ 100 """ # self.calibration_parameters(degrees=degrees, speed=speed) degrees = [self._angle2int(degree) for degree in degrees] return self._mesg(ProtocolCode.SEND_ANGLES, degrees, speed) === pymycobot 2.9.6 mycobot.py (_mesg) def _mesg(self, genre, *args, **kwargs): """ Args: genre: command type (Command) *args: other data. It is converted to octal by default. If the data needs to be encapsulated into hexadecimal, the array is used to include them. (Data cannot be nested) **kwargs: support `has_reply` has_reply: Whether there is a return value to accept. """ real_command, has_reply = super( MyCobot, self)._mesg(genre, *args, **kwargs) self._write(self._flatten(real_command)) if has_reply: data = self._read(genre) if genre == ProtocolCode.SET_SSID_PWD: return None res = self._process_received(data, genre) === pymycobot 2.9.6 common.py (read の待ち時間) def read(self, genre): datas = b"" data_len = -1 k = 0 pre = 0 t = time.time() wait_time = 0.1 if genre == ProtocolCode.GET_SSID_PWD: time.sleep(0.1) if self._serial_port.inWaiting()>0: datas = self._serial_port.read(self._serial_port.inWaiting()) return datas elif genre == ProtocolCode.GET_ACCEI_DATA: wait_time = 1 while True and time.time() - t < wait_time: data = self._serial_port.read() === pymycobot 2.9.6 generate.py (jog_angle / jog_stop) def jog_angle(self, joint_id, direction, speed): """Jog control angle. Args: joint_id: int For mycobot: int 1-6.\n For mypalletizer: int 1-4. For mypalletizer 340: int 1-3. direction: 0 - decrease, 1 - increase speed: int (0 - 100) """ return self._mesg(ProtocolCode.JOG_ANGLE, joint_id, direction, speed) def jog_stop(self): """Stop jog moving""" return self._mesg(ProtocolCode.JOG_STOP) ``` 4.0.4 は `send_angles` を `has_reply=True`（返事を受け取る）で送ります。古い `MyCobot` のクラスは、返事が来るまで、指令を書いて0.5秒待つことを3回まで繰り返し、来なければ −1 を返します。mechArm 270-Pi のファームウェア（get_system_version は11）は、この命令に返事を返さないので、毎回 0.5秒×3回 = 1.5秒待ち、同じ指令を3回書いていました。爪の命令も同じで、ずっと出ていた `result= -1` はこれでした。2.9.6 は返事を待たずに、書いたらすぐ返ります。 10月30日の夜（依頼36。コミットは10月31日の 3fa44b5）に、daemon を systemd で自動で起動する形にしました。起動スクリプト `mecharm_daemon_start.sh` は `/usr/bin/python3` を何も付けずに起動するので、`~/.bashrc` の PYTHONPATH が入らず、4.0.4 が読まれます。それより前は、対話のシェルで手で起動していて 2.9.6 でした。10月31日（LOG417）と11月1日（LOG422）の実機の推論も、この daemon を通っていました。11月1日の推論の作業の記録（依頼57）にも `送ってから rpc が返るまで（約 1.6 秒。daemon が着いたと判定するまで）` とあり、推論も同じ待ちを通っていたことになります。 起動スクリプトで 2.9.6 を読むように、`export PYTHONPATH=/usr/local/lib/python2.7/dist-packages` を足し、起動の行に読んだ pymycobot の版を書くようにしました。 #### tools/pi/mecharm_daemon_start.sh（直したあとの全文） ```bash #!/bin/bash # mecharm_daemon_start.sh (Pi 側, systemd mecharm-daemon.service から呼ぶ) # - シリアルの準備を待ってから mecharm_daemon.py を起動する # - すでに 5555 を受け付けている / デーモンのプロセスがいるときは起動しない (二重起動防止) # - ログは今までどおり /home/ubuntu/daemon.log に足していく # このファイルのコマンド行は「mecharm_daemon_start.sh」なので # 下の pgrep -f '[m]echarm_daemon\.py' は自分に当たらない。 LOG=/home/ubuntu/daemon.log DAEMON=/home/ubuntu/mecharm_daemon.py SERIAL=/dev/ttyAMA0 BOOT_WAIT_SEC=5 stamp() { echo "[START $(date '+%H:%M:%S')] $*" >> "$LOG"; } # シリアルの準備を待つ (最大 30 秒, その後さらに BOOT_WAIT_SEC 秒) for i in $(seq 1 30); do [ -e "$SERIAL" ] && break sleep 1 done sleep "$BOOT_WAIT_SEC" if ss -ltn | grep -q ':5555 '; then stamp "5555 はすでに LISTEN 中。起動しない" exit 0 fi if pgrep -f '[m]echarm_daemon\.py' > /dev/null; then stamp "mecharm_daemon.py のプロセスがすでにいる。起動しない" exit 0 fi # pymycobot は対話シェル (~/.bashrc) と同じ 2.9.6 を読む (2026-11-03). # 何も付けずに起動すると 4.0.4 を読み, send_angles・爪のたびに返事を 0.5 秒 × 3 回待って # 同じ指令を 3 回書き, -1 を返す (1 回の送信が約 1.6 秒. 10-31 に systemd で起動するようにしてから) export PYTHONPATH=/usr/local/lib/python2.7/dist-packages stamp "mecharm_daemon.py を起動する ($(/usr/bin/python3 -c 'import pymycobot; print("pymycobot", pymycobot.__version__, pymycobot.__file__)' 2>&1))" cd /home/ubuntu exec /usr/bin/python3 -u "$DAEMON" >> "$LOG" 2>&1 ``` ゲームパッドの1押しは 0.5° から 1° にしました（テストは0.5°の刻みで書いてあるので、テストの中だけ0.5°にし、実際の値が1°であることを別のテストで確かめる形にした）。 Pi のログで裏付けを取ってから、起動スクリプトを入れ替えて daemon を起動し直しました。 #### daemon.log の確かめと、起動スクリプトの入れ替え・daemon の起動し直し（300〜350行目） ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts ssh -i ~/.ssh/id_rsa_pi ubuntu@192.168.2.1 'grep "send_angles 呼び出し後" /home/ubuntu/daemon.log | tail -5' tools/daemon_ctl.sh install tools/daemon_ctl.sh restart tools/daemon_ctl.sh log 5 python3 tools/gamepad_teleop.py --execute [DAEMON 15:55:21] send_angles 呼び出し後: result=-1, elapsed_ms=1552.6 [DAEMON 15:55:27] send_angles 呼び出し後: result=-1, elapsed_ms=1564.2 [DAEMON 15:55:42] send_angles 呼び出し後: result=-1, elapsed_ms=1506.2 [DAEMON 16:58:01] send_angles 呼び出し後: result=-1, elapsed_ms=1503.3 Binary file /home/ubuntu/daemon.log matches mecharm_daemon_start.sh 100% 1742 674.0KB/s 00:00 mecharm-daemon.service 100% 636 553.6KB/s 00:00 --- process 31095 /usr/bin/python3 -u /home/ubuntu/mecharm_daemon.py --- 5555 LISTEN 0 1 0.0.0.0:5555 0.0.0.0:* --- systemd enabled: enabled active: active --- process 21541 /usr/bin/python3 -u /home/ubuntu/mecharm_daemon.py --- 5555 LISTEN 0 1 0.0.0.0:5555 0.0.0.0:* --- systemd enabled: enabled active: active [START 15:28:11] mecharm_daemon.py を起動する (pymycobot 2.9.6 /usr/local/lib/python2.7/dist-packages/pymycobot/__init__.py) [DAEMON 15:28:12] MyCobot 初期化中 (/dev/ttyAMA0, baud=1000000)... [DAEMON 15:28:12] ✓ MyCobot 初期化完了 [DAEMON 15:28:12] startup_warmup angles=[-0.26, 1.31, 2.02, 0.08, -0.08, -29.88] [DAEMON 15:28:12] ポート 5555 で待ち受け中... /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. from pkg_resources import resource_stream, resource_exists objc[7913]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b12c8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dc890). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b1318) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dc8e0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b1390) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dc958). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b13b8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dc980). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b1408) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dc9d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b1458) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dca20). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b14d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dca98). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b1520) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dcae8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b1570) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dcb38). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b15c0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dcb88). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b15e8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dcbb0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b1610) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dcbd8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b1688) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dcc50). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b1700) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dccc8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b1750) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dcd18). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b1778) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dcd40). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[7913]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1058b17c8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1170dcd90). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. ``` 直す前の送信はどれも `result=-1, elapsed_ms=1500` 前後でした。起動し直した daemon の行には `pymycobot 2.9.6` と出ています（Pi の時計は日本の時刻からずれていて、15:28 と出ている）。 - ねらい：アームに送る1回の指令を、返事を待たない 2.9.6 の形に戻す - 変わったこと：daemon の `send_angles` が約1.5秒から、すぐ返るようになった。ゲームパッドで押してから送り終わるまでの時間は、中央0.042秒から0.024秒、長押しの送る間隔は中央1.630秒から0.216秒（同じ刻みの形の長押しで比べた） - 見込める効果：daemon を使う推論・お手本の再生・点検も、1回の送信の待ちが短くなる見込み。推論での効き方は次の実機の推論で測る ## 7:57：2.9.6 に戻すと長押しが続いたが、無視された指令で8秒止まった 7:57 からの記録（`teleop_20261103_075657`）では、長押しの送る間隔は中央0.216秒、長押しの速さは中央毎秒5.9°になりました。 途中で3回、8秒止まりました。3回とも、指令は送れているのに、どの関節も送る前の角度のままでした。指令がアームにまるごと無視されています。ゲームパッドは送り直さない作りだったので、届くまでの待ちの上限の8秒、次の押しが受付なしになっていました。 | 時刻（記録の始めから） | 関節 | 指令 | 送る前 | 8秒後 | |---|---|---|---|---| | 48.94秒 | j2 | +6.02 | +9.58 | +9.49 | | 81.09秒 | j4 | −4.43 | −0.43 | −0.43 | | 94.32秒 | j5 | −21.88 | −26.19 | −26.10 | LOG422 にも `[RETRY] 1回目送信が無視された（pre→last max|Δ| 0.00°）` と出ていて、お手本の再生のスクリプト（`waypoint_replay.py`）のコメントにも `単発は無視されるが、0.1s 周期で打てば通る` とあります。4.0.4 が同じ指令を3回書いていたことで、無視が目立たなかった面もあるかもしれません。ゲームパッドにも送り直しを入れました。送ってから0.5秒たっても届いておらず、どの関節も0.3°動いていなければ、同じ目標を送り直します（3回まで）。送り直しも停止の鍵（SendGate）の中で送るので、L2+R2 のあとや長押しを離したあとは送りません。 #### 7:57 からのターミナルの出力と、2.9.6 の起動・1°の刻みのコミット（351〜760行目） ```text [記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261103_075657 [実機] daemon に送ります。起動したときの姿勢: -0.26 +1.31 +2.02 +0.08 -0.08 -29.88 コントローラーを待っています（つないでいなければ、今つないでください） [接続] PS4 Controller GUID=03008fe54c050000cc09000000016800 軸=6 ボタン=16 [送信] j0 -1.0° → -1.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.0°） 届いた角度 -0.26 +1.31 +2.02 +0.08 -0.08 -29.88 [送信] j0 -1.0°（長押し 1） → -2.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.21°） 届いた角度 -1.05 +2.19 +2.81 +0.08 -0.08 -29.88 [送信] j0 -1.0°（長押し 2） → -3.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.88°） 届いた角度 -2.54 +2.19 +2.81 +0.08 -0.08 -29.88 [送信] j0 -1.0°（長押し 3） → -4.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.88°） 届いた角度 -3.95 +2.19 +2.81 +0.08 -0.08 -29.88 [送信] j0 -1.0°（長押し 4） → -5.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.88°） 届いた角度 -4.57 +2.19 +2.81 +0.08 -0.08 -29.88 [送信] j0 -1.0°（長押し 5） → -6.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.88°） 届いた角度 -5.53 +2.19 +2.81 +0.08 -0.08 -29.88 [送信] j0 -1.0°（長押し 6） → -7.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.02°） 届いた角度 -6.24 +2.19 +2.81 +0.08 -0.08 -29.88 [送信] j0 -1.0°（長押し 7） → -8.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.88°） 届いた角度 -7.91 +2.19 +2.81 +0.08 -0.08 -29.88 [送信] j0 -1.0°（長押し 8） → -9.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.88°） 届いた角度 -8.52 +2.19 +2.81 +0.08 -0.08 -29.88 [送信] j0 -1.0°（長押し 9） → -10.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.88°） 届いた角度 -9.66 +2.19 +2.81 +0.08 -0.08 -29.88 [送信] j0 -1.0°（長押し 10） → -11.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.98°） 届いた角度 -10.28 +2.19 +2.81 +0.08 -0.08 -29.88 [送信] j0 -1.0°（長押し 11） → -12.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 2.25°） 届いた角度 -10.01 +2.19 +2.81 +0.08 -0.08 -29.88 [送信] j0 -1.0°（長押し 12） → -13.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.88°） 届いた角度 -12.65 +2.19 +2.81 +0.08 -0.08 -29.97 [送信] j0 -1.0°（長押し 13） → -14.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.88°） 届いた角度 -14.06 +2.19 +2.81 +0.08 -0.08 -29.97 [送信] j0 -1.0°（長押し 14） → -15.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.88°） 届いた角度 -14.50 +2.19 +2.81 +0.08 -0.08 -29.97 [送信] j0 -1.0°（長押し 15） → -16.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.68°） 届いた角度 -14.58 +2.19 +2.81 +0.08 -0.08 -29.97 [送信] j0 -1.0°（長押し 16） → -17.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.88°） 届いた角度 -16.78 +2.19 +2.81 +0.08 -0.08 -29.97 [送信] j0 -2.0° → -19.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.88°） 届いた角度 -19.07 +2.19 +2.81 +0.08 -0.08 -29.97 [送信] j0 -2.0°（長押し 1） → -21.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.58°） 届いた角度 -19.68 +2.19 +2.81 +0.08 -0.08 -29.97 [送信] j0 -2.0°（長押し 2） → -23.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.38°） 届いた角度 -21.88 +2.19 +2.81 +0.08 -0.08 -29.97 [送信] j0 -2.0°（長押し 3） → -25.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.36°） 届いた角度 -23.90 +2.19 +2.81 +0.08 -0.08 -30.05 [送信] j0 -2.0°（長押し 4） → -27.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.43°） 届いた角度 -25.83 +2.19 +2.81 +0.08 -0.08 -30.05 [送信] j0 -2.0°（長押し 5） → -29.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.32°） 届いた角度 -27.94 +2.19 +2.81 +0.08 -0.08 -30.14 [送信] j0 -2.0°（長押し 6） → -31.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.38°） 届いた角度 -29.88 +2.19 +2.81 +0.08 -0.08 -30.14 [送信] j0 -2.0°（長押し 7） → -33.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.45°） 届いた角度 -31.81 +2.19 +2.81 +0.08 -0.08 -30.14 [送信] j0 -2.0°（長押し 8） → -35.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.43°） 届いた角度 -33.83 +2.19 +2.81 +0.08 -0.08 -30.14 [送信] j0 -2.0°（長押し 9） → -37.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.41°） 届いた角度 -35.85 +2.19 +2.81 +0.08 -0.08 -30.14 [送信] j0 -2.0°（長押し 10） → -39.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.56°） 届いた角度 -37.70 +2.19 +2.81 +0.08 -0.08 -30.14 [送信] j0 -2.0°（長押し 11） → -41.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.36°） 届いた角度 -39.90 +2.19 +2.81 +0.08 -0.08 -30.14 [送信] j0 -2.0°（長押し 12） → -43.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.43°） 届いた角度 -41.83 +2.19 +2.81 +0.08 -0.08 -30.14 [送信] j0 -2.0°（長押し 13） → -45.26 +1.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.88°） 届いた角度 -45.00 +2.19 +2.81 +0.08 -0.08 -30.32 [送信] j1 -1.0° → -45.26 +0.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.88°） 届いた角度 -45.08 +2.19 +2.81 +0.08 -0.08 -30.32 [送信] j1 -2.0° → -45.26 -1.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.9°） 届いた角度 -45.35 -0.79 +2.81 +0.08 +0.00 -30.23 [送信] j1 -2.0°（長押し 1） → -45.26 -3.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 2.9°） 届いた角度 -45.43 -0.79 +2.81 +0.08 +0.00 -30.23 [送信] j1 -2.0°（長押し 2） → -45.26 -5.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.95°） 届いた角度 -45.35 -4.74 +2.81 +0.08 +0.26 -30.23 [送信] j1 -2.0°（長押し 3） → -45.26 -7.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 2.95°） 届いた角度 -45.35 -4.74 +2.81 +0.08 +0.26 -30.23 [送信] j1 -2.0°（長押し 4） → -45.26 -9.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.82°） 届いた角度 -45.35 -8.87 +2.81 +0.08 +0.35 -30.23 [送信] j1 -2.0°（長押し 5） → -45.26 -11.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.8°） 届いた角度 -45.43 -10.89 +2.81 +0.08 +0.35 -30.23 [送信] j1 -2.0°（長押し 6） → -45.26 -13.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 2.8°） 届いた角度 -45.43 -10.89 +2.81 +0.08 +0.35 -30.23 [送信] j1 -2.0°（長押し 7） → -45.26 -15.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 2.86°） 届いた角度 -45.52 -12.83 +2.81 +0.08 +0.35 -30.14 [送信] j1 -2.0°（長押し 8） → -45.26 -17.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.79°） 届いた角度 -45.17 -17.05 +2.81 +0.08 +0.35 -30.14 [送信] j1 -2.0°（長押し 9） → -45.26 -19.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.79°） 届いた角度 -45.26 -18.98 +2.81 +0.08 +0.35 -30.14 [送信] j1 -2.0°（長押し 10） → -45.26 -21.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.79°） 届いた角度 -45.43 -21.09 +2.81 +0.08 +0.35 -30.14 [送信] j1 -2.0°（長押し 11） → -45.26 -23.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.79°） 届いた角度 -45.43 -23.20 +2.81 +0.08 +0.35 -30.14 [送信] j1 -2.0°（長押し 12） → -45.26 -25.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 2.49°） 届いた角度 -45.43 -23.20 +2.81 +0.08 +0.35 -30.14 [送信] j1 -2.0°（長押し 13） → -45.26 -27.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.79°） 届いた角度 -45.17 -27.24 +2.81 +0.17 +0.35 -30.14 [送信] j1 -2.0°（長押し 14） → -45.26 -29.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 2.45°） 届いた角度 -45.17 -27.24 +2.81 +0.17 +0.35 -30.14 [送信] j1 +2.0° → -45.26 -27.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.57°） 届いた角度 -45.17 -29.26 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 1） → -45.26 -25.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.79°） 届いた角度 -45.17 -25.22 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 2） → -45.26 -23.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.53°） 届いた角度 -45.17 -25.22 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 3） → -45.26 -21.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.79°） 届いた角度 -45.52 -21.00 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 4） → -45.26 -19.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.31°） 届いた角度 -45.52 -21.00 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 5） → -45.26 -17.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.47°） 届いた角度 -45.52 -19.16 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 6） → -45.26 -15.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.53°） 届いた角度 -45.52 -17.22 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 7） → -45.26 -13.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.42°） 届いた角度 -45.61 -15.11 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 8） → -45.26 -11.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.31°） 届いた角度 -45.52 -13.00 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 9） → -45.26 -9.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.79°） 届いた角度 -45.61 -8.96 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 10） → -45.26 -7.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.27°） 届いた角度 -45.61 -8.96 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 11） → -45.26 -5.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.79°） 届いた角度 -45.52 -4.92 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 12） → -45.26 -3.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.23°） 届いた角度 -45.52 -4.92 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 13） → -45.26 -1.69 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.82°） 届いた角度 -45.52 -0.87 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 14） → -45.26 +0.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.18°） 届いた角度 -45.52 -0.87 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 15） → -45.26 +2.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.94°） 届いた角度 -45.52 +3.25 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 16） → -45.26 +4.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.06°） 届いた角度 -45.52 +3.25 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 17） → -45.26 +6.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.04°） 届いた角度 -45.61 +5.27 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 18） → -45.26 +8.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.09°） 届いた角度 -45.61 +9.40 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 19） → -45.26 +10.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.91°） 届いた角度 -45.61 +9.40 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 20） → -45.26 +12.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.06°） 届いた角度 -45.52 +11.25 +2.81 +0.17 +0.35 -30.05 [送信] j1 +2.0°（長押し 21） → -45.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.98°） 届いた角度 -45.52 +15.29 +2.81 +0.17 +0.35 -30.05 [送信] j0 +1.0° → -44.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.26°） 届いた角度 -45.52 +15.29 +2.81 +0.17 +0.35 -30.05 [送信] j0 +2.0°（長押し 1） → -42.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.98°） 届いた角度 -42.45 +15.29 +2.81 +0.17 +0.35 -30.05 [送信] j0 +2.0°（長押し 2） → -40.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.57°） 届いた角度 -41.83 +15.29 +2.81 +0.17 +0.35 -30.05 [送信] j0 +2.0°（長押し 3） → -38.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.98°） 届いた角度 -38.49 +15.29 +2.81 +0.17 +0.35 -30.05 [送信] j0 +2.0°（長押し 4） → -36.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.97°） 届いた角度 -38.23 +15.29 +2.81 +0.17 +0.35 -30.05 [送信] j0 +2.0°（長押し 5） → -34.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.51°） 届いた角度 -35.77 +15.29 +2.81 +0.17 +0.35 -30.05 [送信] j0 +2.0°（長押し 6） → -32.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.98°） 届いた角度 -32.69 +15.29 +2.81 +0.17 +0.35 -29.97 [送信] j0 +2.0°（長押し 7） → -30.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.46°） 届いた角度 -31.72 +15.29 +2.81 +0.17 +0.35 -29.97 [送信] j0 +2.0°（長押し 8） → -28.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.18°） 届いた角度 -29.44 +15.29 +2.81 +0.17 +0.35 -29.97 [送信] j0 +2.0°（長押し 9） → -26.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.24°） 届いた角度 -27.50 +15.29 +2.81 +0.17 +0.35 -30.05 [送信] j0 +2.0°（長押し 10） → -24.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.22°） 届いた角度 -25.48 +15.29 +2.81 +0.17 +0.35 -30.05 [送信] j0 +2.0°（長押し 11） → -22.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.98°） 届いた角度 -22.14 +15.29 +2.81 +0.17 +0.35 -29.97 [送信] j0 +2.0°（長押し 12） → -20.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.62°） 届いた角度 -21.88 +15.29 +2.81 +0.17 +0.35 -29.97 [送信] j0 +2.0°（長押し 13） → -18.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.98°） 届いた角度 -18.36 +15.29 +2.81 +0.17 +0.35 -29.97 [送信] j0 +2.0°（長押し 14） → -16.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.4°） 届いた角度 -17.66 +15.29 +2.81 +0.17 +0.35 -29.97 [送信] j0 +2.0°（長押し 15） → -14.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.2°） 届いた角度 -15.46 +15.29 +2.81 +0.17 +0.35 -29.97 [送信] j0 +2.0°（長押し 16） → -12.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.36°） 届いた角度 -13.62 +15.29 +2.81 +0.17 +0.35 -30.05 [送信] j0 +2.0°（長押し 17） → -10.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.25°） 届いた角度 -11.51 +15.29 +2.81 +0.17 +0.35 -30.05 [送信] j0 +2.0°（長押し 18） → -8.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.98°） 届いた角度 -8.08 +15.29 +2.81 +0.17 +0.35 -29.97 [送信] j0 +2.0°（長押し 19） → -6.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.98°） 届いた角度 -6.32 +15.29 +2.81 +0.17 +0.35 -29.97 [送信] j0 +2.0°（長押し 20） → -4.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.71°） 届いた角度 -5.97 +15.29 +2.81 +0.17 +0.35 -29.97 [送信] j0 +2.0°（長押し 21） → -2.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 2.04°） 届いた角度 -4.30 +15.29 +2.81 +0.17 +0.35 -29.97 [送信] j0 +2.0°（長押し 22） → -0.26 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.98°） 届いた角度 -0.35 +15.29 +2.81 +0.17 +0.35 -29.88 [送信] j0 +2.0°（長押し 23） → +1.74 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.98°） 届いた角度 +1.49 +15.29 +2.81 +0.17 +0.35 -29.88 [送信] j0 +2.0°（長押し 24） → +3.74 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.64°） 届いた角度 +2.10 +15.29 +2.81 +0.17 +0.35 -29.88 [送信] j0 +2.0°（長押し 25） → +5.74 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 1.35°） 届いた角度 +4.39 +15.29 +2.81 +0.17 +0.35 -29.97 [送信] j0 +2.0°（長押し 26） → +7.74 +14.31 +2.02 +0.08 -0.08 -29.88 届いた（ずれ 0.98°） 届いた角度 +7.82 +15.29 +2.81 +0.17 +0.35 -29.88 [関節] 上下で動かす関節を j2 にしました [送信] j2 +2.0° → +7.74 +14.31 +4.02 +0.08 -0.08 -29.88 届いた（ずれ 1.21°） 届いた角度 +7.82 +15.29 +2.81 +0.17 +0.35 -29.88 [送信] j2 +2.0°（長押し 1） → +7.74 +14.31 +6.02 +0.08 -0.08 -29.88 届いた（ずれ 1.19°） 届いた角度 +7.82 +15.29 +4.83 +0.17 +0.00 -29.88 [送信] j2 +2.0°（長押し 2） → +7.74 +14.31 +8.02 +0.08 -0.08 -29.88 届いた（ずれ 1.17°） 届いた角度 +7.82 +15.29 +6.85 +0.17 -0.08 -29.88 [送信] j2 +2.0°（長押し 3） → +7.74 +14.31 +10.02 +0.08 -0.08 -29.88 届いた（ずれ 1.06°） 届いた角度 +7.82 +15.29 +8.96 +0.17 -0.43 -29.88 [送信] j2 +2.0°（長押し 4） → +7.74 +14.31 +12.02 +0.08 -0.08 -29.88 届いた（ずれ 0.98°） 届いた角度 +7.82 +15.29 +12.91 +0.17 -0.96 -29.88 [送信] j2 +2.0°（長押し 5） → +7.74 +14.31 +14.02 +0.08 -0.08 -29.88 届いた（ずれ 1.02°） 届いた角度 +7.82 +15.29 +13.00 +0.17 -0.96 -29.88 [送信] j2 -2.0° → +7.74 +14.31 +12.02 +0.08 -0.08 -29.88 届いた（ずれ 1.77°） 届いた角度 +7.82 +15.29 +13.79 +0.17 -0.96 -29.88 [送信] j2 -2.0°（長押し 1） → +7.74 +14.31 +10.02 +0.08 -0.08 -29.88 届いた（ずれ 1.49°） 届いた角度 +7.82 +15.29 +11.51 +0.17 -0.96 -29.88 [送信] j2 -2.0°（長押し 2） → +7.74 +14.31 +8.02 +0.08 -0.08 -29.88 届いた（ずれ 1.56°） 届いた角度 +7.82 +15.29 +9.58 +0.17 -0.96 -29.88 [受付なし] 前の操作が終わっていません（ためません） [受付なし] 前の操作が終わっていません（ためません） [関節] 上下で動かす関節を j3 にしました [受付なし] 前の操作が終わっていません（ためません） [送信] j2 -2.0°（長押し 3） → +7.74 +14.31 +6.02 +0.08 -0.08 -29.88 届かなかった（ずれ 3.47°） 届いた角度 +7.82 +15.29 +9.49 +0.17 -0.52 -29.88 [送信] j0 +1.0° → +8.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.0°） 届いた角度 +7.82 +15.29 +9.49 +0.17 -0.43 -29.88 [送信] j0 +2.0°（長押し 1） → +10.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 2.21°） 届いた角度 +8.61 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 +2.0°（長押し 2） → +12.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.31°） 届いた角度 +11.51 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 +2.0°（長押し 3） → +14.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.91°） 届いた角度 +12.91 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 +2.0°（長押し 4） → +16.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.44°） 届いた角度 +15.38 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 +2.0°（長押し 5） → +18.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.42°） 届いた角度 +17.40 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 +2.0°（長押し 6） → +20.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.4°） 届いた角度 +19.42 +16.08 +10.19 +0.17 -0.43 -29.97 [送信] j0 +2.0°（長押し 7） → +22.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.91°） 届いた角度 +20.91 +16.08 +10.19 +0.17 -0.43 -29.97 [送信] j0 +2.0°（長押し 8） → +24.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 0.79°） 届いた角度 +24.69 +16.08 +10.19 +0.17 -0.43 -29.97 [送信] j0 -1.0° → +23.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.14°） 届いた角度 +24.96 +16.08 +10.19 +0.17 -0.43 -29.97 [送信] j0 -2.0°（長押し 1） → +21.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 0.79°） 届いた角度 +22.06 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 -2.0°（長押し 2） → +19.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.8°） 届いた角度 +21.62 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 -2.0°（長押し 3） → +17.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.42°） 届いた角度 +19.24 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 -2.0°（長押し 4） → +15.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.49°） 届いた角度 +17.31 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 -2.0°（長押し 5） → +13.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 0.79°） 届いた角度 +13.88 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 -2.0°（長押し 6） → +11.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 0.79°） 届いた角度 +12.04 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 -2.0°（長押し 7） → +9.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 0.79°） 届いた角度 +10.01 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 -2.0°（長押し 8） → +7.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.84°） 届いた角度 +9.66 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 -2.0°（長押し 9） → +5.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.65°） 届いた角度 +7.47 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 -2.0°（長押し 10） → +3.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.45°） 届いた角度 +5.27 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 -2.0°（長押し 11） → +1.82 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.43°） 届いた角度 +3.25 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 -2.0°（長押し 12） → -0.18 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 0.79°） 届いた角度 +0.08 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 -2.0°（長押し 13） → -2.18 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.75°） 届いた角度 -0.43 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 -2.0°（長押し 14） → -4.18 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.64°） 届いた角度 -2.54 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j0 -2.0°（長押し 15） → -6.18 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 1.35°） 届いた角度 -4.83 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j3 +2.0° → -6.18 +15.29 +9.49 +2.17 -0.43 -29.88 届いた（ずれ 2.0°） 届いた角度 -6.41 +16.08 +10.19 +0.17 -0.43 -29.88 [送信] j3 +2.0°（長押し 1） → -6.18 +15.29 +9.49 +4.17 -0.43 -29.88 届いた（ずれ 0.79°） 届いた角度 -6.41 +16.08 +10.19 +3.86 -0.43 -29.88 [送信] j3 +2.0°（長押し 2） → -6.18 +15.29 +9.49 +6.17 -0.43 -29.88 届いた（ずれ 2.31°） 届いた角度 -6.41 +16.08 +10.19 +3.86 -0.43 -29.88 [送信] j3 +2.0°（長押し 3） → -6.18 +15.29 +9.49 +8.17 -0.43 -29.88 届いた（ずれ 0.79°） 届いた角度 -6.41 +16.08 +10.19 +7.82 -0.43 -29.88 [送信] j3 -2.0° → -6.18 +15.29 +9.49 +6.17 -0.43 -29.88 届いた（ずれ 1.65°） 届いた角度 -6.41 +16.08 +10.19 +7.82 -0.43 -29.88 [送信] j3 -2.0°（長押し 1） → -6.18 +15.29 +9.49 +4.17 -0.43 -29.88 届いた（ずれ 0.83°） 届いた角度 -6.41 +16.08 +10.19 +5.00 -0.43 -29.88 [送信] j3 -2.0°（長押し 2） → -6.18 +15.29 +9.49 +2.17 -0.43 -29.88 届いた（ずれ 2.83°） 届いた角度 -6.41 +16.08 +10.19 +5.00 -0.43 -29.88 [送信] j3 -2.0°（長押し 3） → -6.18 +15.29 +9.49 +0.17 -0.43 -29.88 届いた（ずれ 2.73°） 届いた角度 -6.41 +16.08 +10.19 +2.90 -0.43 -29.88 [送信] j3 -2.0°（長押し 4） → -6.18 +15.29 +9.49 -1.83 -0.43 -29.88 届いた（ずれ 2.79°） 届いた角度 -6.41 +16.08 +10.19 +0.96 -0.43 -29.79 [送信] j3 -2.0°（長押し 5） → -6.18 +15.29 +9.49 -3.83 -0.43 -29.88 届いた（ずれ 1.02°） 届いた角度 -6.41 +16.08 +10.19 -2.81 -0.43 -29.88 [送信] j3 -2.0°（長押し 6） → -6.18 +15.29 +9.49 -5.83 -0.43 -29.88 届いた（ずれ 1.0°） 届いた角度 -6.41 +16.08 +10.19 -4.83 -0.43 -29.88 [送信] j3 -2.0°（長押し 7） → -6.18 +15.29 +9.49 -7.83 -0.43 -29.88 届いた（ずれ 2.83°） 届いた角度 -6.41 +16.08 +10.19 -5.00 -0.43 -29.88 [送信] j3 -2.0°（長押し 8） → -6.18 +15.29 +9.49 -9.83 -0.43 -29.88 届いた（ずれ 2.89°） 届いた角度 -6.41 +16.08 +10.19 -6.94 -0.43 -29.88 [送信] j3 -2.0°（長押し 9） → -6.18 +15.29 +9.49 -11.83 -0.43 -29.88 届いた（ずれ 0.85°） 届いた角度 -6.41 +16.08 +10.19 -10.98 -0.43 -29.88 [送信] j3 -2.0°（長押し 10） → -6.18 +15.29 +9.49 -13.83 -0.43 -29.88 届いた（ずれ 0.83°） 届いた角度 -6.41 +16.08 +10.19 -13.00 -0.43 -29.88 [送信] j3 -2.0°（長押し 11） → -6.18 +15.29 +9.49 -15.83 -0.43 -29.88 届いた（ずれ 0.81°） 届いた角度 -6.41 +16.08 +10.19 -15.02 -0.43 -29.88 [送信] j3 -2.0°（長押し 12） → -6.18 +15.29 +9.49 -17.83 -0.43 -29.88 届いた（ずれ 0.87°） 届いた角度 -6.41 +16.08 +10.19 -16.96 -0.43 -29.88 [送信] j3 -2.0°（長押し 13） → -6.18 +15.29 +9.49 -19.83 -0.43 -29.88 届いた（ずれ 2.78°） 届いた角度 -6.41 +16.08 +10.19 -17.05 -0.43 -29.88 [送信] j3 -2.0°（長押し 14） → -6.18 +15.29 +9.49 -21.83 -0.43 -29.88 届いた（ずれ 0.79°） 届いた角度 -6.41 +16.08 +10.19 -21.09 -0.43 -29.88 [送信] j3 +1.0° → -6.18 +15.29 +9.49 -20.83 -0.43 -29.88 届いた（ずれ 0.79°） 届いた角度 -6.41 +16.08 +10.19 -21.18 -0.43 -29.88 [送信] j3 +2.0°（長押し 1） → -6.18 +15.29 +9.49 -18.83 -0.43 -29.88 届いた（ずれ 2.35°） 届いた角度 -6.41 +16.08 +10.19 -21.18 -0.43 -29.88 [送信] j3 +2.0°（長押し 2） → -6.18 +15.29 +9.49 -16.83 -0.43 -29.88 届いた（ずれ 1.01°） 届いた角度 -6.41 +16.08 +10.19 -17.84 -0.43 -29.88 [送信] j3 +2.0°（長押し 3） → -6.18 +15.29 +9.49 -14.83 -0.43 -29.88 届いた（ずれ 0.81°） 届いた角度 -6.41 +16.08 +10.19 -15.64 -0.43 -29.88 [送信] j3 +2.0°（長押し 4） → -6.18 +15.29 +9.49 -12.83 -0.43 -29.88 届いた（ずれ 2.81°） 届いた角度 -6.41 +16.08 +10.19 -15.64 -0.43 -29.88 [送信] j3 +2.0°（長押し 5） → -6.18 +15.29 +9.49 -10.83 -0.43 -29.88 届いた（ずれ 0.85°） 届いた角度 -6.41 +16.08 +10.19 -11.68 -0.43 -29.88 [送信] j3 +2.0°（長押し 6） → -6.18 +15.29 +9.49 -8.83 -0.43 -29.88 届いた（ずれ 2.59°） 届いた角度 -6.41 +16.08 +10.19 -11.42 -0.43 -29.88 [送信] j3 +2.0°（長押し 7） → -6.18 +15.29 +9.49 -6.83 -0.43 -29.88 届いた（ずれ 2.66°） 届いた角度 -6.41 +16.08 +10.19 -9.49 -0.43 -29.88 [送信] j3 +2.0°（長押し 8） → -6.18 +15.29 +9.49 -4.83 -0.43 -29.88 届いた（ずれ 2.64°） 届いた角度 -6.41 +16.08 +10.19 -7.47 -0.43 -29.88 [送信] j3 +2.0°（長押し 9） → -6.18 +15.29 +9.49 -2.83 -0.43 -29.88 届いた（ずれ 2.61°） 届いた角度 -6.41 +16.08 +10.19 -5.44 -0.43 -29.88 [受付なし] 前の操作が終わっていません（ためません） [送信] j3 +2.0° → -6.18 +15.29 +9.49 -0.83 -0.43 -29.88 届いた（ずれ 0.79°） 届いた角度 -6.41 +16.08 +10.19 -1.31 -0.43 -29.79 [関節] 上下で動かす関節を j4 にしました [送信] j4 -2.0° → -6.18 +15.29 +9.49 -0.83 -2.43 -29.88 届いた（ずれ 2.0°） 届いた角度 -6.41 +16.08 +10.19 -1.23 -0.43 -29.88 [受付なし] 前の操作が終わっていません（ためません） [受付なし] 前の操作が終わっていません（ためません） [送信] j4 -2.0°（長押し 1） → -6.18 +15.29 +9.49 -0.83 -4.43 -29.88 届かなかった（ずれ 4.0°） 届いた角度 -6.41 +16.08 +10.19 -1.05 -0.43 -29.88 [関節] 上下で動かす関節を j5 にしました [送信] j0 +2.0° → -4.41 +16.08 +10.19 -1.05 -0.43 -29.88 届いた（ずれ 0.88°） 届いた角度 -4.65 +16.96 +10.89 -1.05 -0.43 -29.88 [送信] j0 +2.0°（長押し 1） → -2.41 +16.08 +10.19 -1.05 -0.43 -29.88 届いた（ずれ 1.72°） 届いた角度 -4.13 +16.96 +10.89 -1.05 -0.43 -29.88 [送信] j0 +2.0°（長押し 2） → -0.41 +16.08 +10.19 -1.05 -0.43 -29.88 届いた（ずれ 1.34°） 届いた角度 -1.75 +16.96 +10.89 -0.96 -0.43 -29.88 [送信] j0 +2.0°（長押し 3） → +1.59 +16.08 +10.19 -1.05 -0.43 -29.88 届いた（ずれ 1.85°） 届いた角度 -0.26 +16.96 +10.89 -0.96 -0.43 -29.88 [送信] j5 +2.0° → +1.59 +16.08 +10.19 -1.05 -0.43 -27.88 届いた（ずれ 2.0°） 届いた角度 +1.49 +16.96 +10.89 -0.87 -0.43 -29.88 [送信] j5 +2.0°（長押し 1） → +1.59 +16.08 +10.19 -1.05 -0.43 -25.88 届いた（ずれ 0.88°） 届いた角度 +1.49 +16.96 +10.89 -0.87 -0.43 -26.19 [送信] j5 +2.0°（長押し 2） → +1.59 +16.08 +10.19 -1.05 -0.43 -23.88 届いた（ずれ 2.31°） 届いた角度 +1.49 +16.96 +10.89 -0.87 -0.43 -26.19 [受付なし] 前の操作が終わっていません（ためません） [受付なし] 前の操作が終わっていません（ためません） [受付なし] 前の操作が終わっていません（ためません） [送信] j5 +2.0°（長押し 3） → +1.59 +16.08 +10.19 -1.05 -0.43 -21.88 届かなかった（ずれ 4.22°） 届いた角度 +1.49 +16.96 +10.89 -0.87 -0.43 -26.10 [送信] j5 -2.0° → +1.49 +16.96 +10.89 -0.87 -0.43 -28.10 届いた（ずれ 2.0°） 届いた角度 +1.49 +16.96 +10.89 -0.87 -0.43 -26.10 [送信] j5 -2.0°（長押し 1） → +1.49 +16.96 +10.89 -0.87 -0.43 -30.10 届いた（ずれ 1.28°） 届いた角度 +1.49 +17.84 +11.51 -0.79 -0.43 -28.82 [送信] j5 -2.0°（長押し 2） → +1.49 +16.96 +10.89 -0.87 -0.43 -32.10 届いた（ずれ 1.17°） 届いた角度 +1.49 +17.84 +11.51 -0.79 -0.43 -30.93 [送信] j5 -2.0°（長押し 3） → +1.49 +16.96 +10.89 -0.87 -0.43 -34.10 届いた（ずれ 1.15°） 届いた角度 +1.49 +17.84 +11.51 -0.79 -0.43 -32.95 [送信] j5 -2.0°（長押し 4） → +1.49 +16.96 +10.89 -0.87 -0.43 -36.10 届いた（ずれ 1.04°） 届いた角度 +1.49 +17.84 +11.51 -0.79 -0.43 -35.06 [送信] j5 -2.0°（長押し 5） → +1.49 +16.96 +10.89 -0.87 -0.43 -38.10 届いた（ずれ 0.93°） 届いた角度 +1.49 +17.84 +11.51 -0.79 -0.43 -37.17 [送信] j5 -2.0°（長押し 6） → +1.49 +16.96 +10.89 -0.87 -0.43 -40.10 届いた（ずれ 2.93°） 届いた角度 +1.49 +17.84 +11.51 -0.79 -0.43 -37.17 [送信] j5 -2.0°（長押し 7） → +1.49 +16.96 +10.89 -0.87 -0.43 -42.10 届いた（ずれ 2.91°） 届いた角度 +1.49 +17.84 +11.51 -0.79 -0.43 -39.19 [送信] j5 -2.0°（長押し 8） → +1.49 +16.96 +10.89 -0.87 -0.43 -44.10 届いた（ずれ 0.88°） 届いた角度 +1.49 +17.84 +11.51 -0.79 -0.43 -43.24 [送信] j5 +2.0° → +1.49 +16.96 +10.89 -0.87 -0.43 -42.10 届いた（ずれ 0.88°） 届いた角度 +1.49 +17.84 +11.51 -0.79 -0.43 -42.89 [送信] j5 +2.0°（長押し 1） → +1.49 +16.96 +10.89 -0.87 -0.43 -40.10 届いた（ずれ 2.79°） 届いた角度 +1.49 +17.84 +11.51 -0.79 -0.43 -42.89 [送信] j5 +2.0°（長押し 2） → +1.49 +16.96 +10.89 -0.87 -0.43 -38.10 届いた（ずれ 0.88°） 届いた角度 +1.49 +17.84 +11.51 -0.79 -0.43 -38.84 [送信] j5 +2.0°（長押し 3） → +1.49 +16.96 +10.89 -0.87 -0.43 -36.10 届いた（ずれ 0.88°） 届いた角度 +1.49 +17.84 +11.51 -0.79 -0.43 -36.73 [送信] j5 +2.0°（長押し 4） → +1.49 +16.96 +10.89 -0.87 -0.43 -34.10 届いた（ずれ 0.88°） 届いた角度 +1.49 +17.84 +11.51 -0.79 -0.43 -34.71 [送信] j5 +2.0°（長押し 5） → +1.49 +16.96 +10.89 -0.87 -0.43 -32.10 届いた（ずれ 0.88°） 届いた角度 +1.49 +17.84 +11.51 -0.70 -0.43 -32.60 [送信] j5 +2.0°（長押し 6） → +1.49 +16.96 +10.89 -0.87 -0.43 -30.10 届いた（ずれ 0.88°） 届いた角度 +1.49 +17.84 +11.51 -0.70 -0.43 -30.58 [送信] j5 +2.0°（長押し 7） → +1.49 +16.96 +10.89 -0.87 -0.43 -28.10 届いた（ずれ 2.48°） 届いた角度 +1.49 +17.84 +11.51 -0.70 -0.43 -30.58 [送信] j5 +2.0°（長押し 8） → +1.49 +16.96 +10.89 -0.87 -0.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +1.49 +17.84 +11.51 -0.70 -0.43 -26.54 [関節] 上下で動かす関節を j1 にしました [関節] 上下で動かす関節を j2 にしました [関節] 上下で動かす関節を j3 にしました [関節] 上下で動かす関節を j4 にしました [送信] j4 -2.0° → +1.49 +16.96 +10.89 -0.87 -2.43 -26.10 届いた（ずれ 2.0°） 届いた角度 +1.49 +17.84 +11.51 -0.70 -0.43 -26.45 [送信] j4 -2.0°（長押し 1） → +1.49 +16.96 +10.89 -0.87 -4.43 -26.10 届いた（ずれ 1.27°） 届いた角度 +1.49 +17.84 +11.51 -0.70 -3.16 -26.45 [送信] j4 -2.0°（長押し 2） → +1.49 +16.96 +10.89 -0.87 -6.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +1.49 +17.84 +11.51 -0.70 -5.36 -26.45 [送信] j4 -2.0°（長押し 3） → +1.49 +16.96 +10.89 -0.87 -8.43 -26.10 届いた（ずれ 1.14°） 届いた角度 +1.49 +17.84 +11.51 -0.70 -7.29 -26.45 [送信] j4 -2.0°（長押し 4） → +1.49 +16.96 +10.89 -0.87 -10.43 -26.10 届いた（ずれ 0.94°） 届いた角度 +1.49 +17.84 +11.51 -0.70 -9.49 -26.36 [送信] j4 -2.0°（長押し 5） → +1.49 +16.96 +10.89 -0.87 -12.43 -26.10 届いた（ずれ 2.94°） 届いた角度 +1.49 +17.84 +11.51 -0.70 -9.49 -26.36 [送信] j4 -2.0°（長押し 6） → +1.49 +16.96 +10.89 -0.87 -14.43 -26.10 届いた（ずれ 0.99°） 届いた角度 +1.49 +17.84 +11.51 -0.61 -13.44 -26.36 [送信] j4 -2.0°（長押し 7） → +1.49 +16.96 +10.89 -0.87 -16.43 -26.10 届いた（ずれ 2.99°） 届いた角度 +1.49 +17.84 +11.51 -0.61 -13.44 -26.36 [送信] j4 -2.0°（長押し 8） → +1.49 +16.96 +10.89 -0.87 -18.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +1.49 +17.84 +11.51 -0.61 -17.57 -26.36 [送信] j4 -2.0°（長押し 9） → +1.49 +16.96 +10.89 -0.87 -20.43 -26.10 届いた（ずれ 2.86°） 届いた角度 +1.49 +17.84 +11.51 -0.61 -17.57 -26.36 [送信] j4 -2.0°（長押し 10） → +1.49 +16.96 +10.89 -0.87 -22.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +1.49 +17.84 +11.51 -0.61 -21.62 -26.36 [送信] j4 -2.0°（長押し 11） → +1.49 +16.96 +10.89 -0.87 -24.43 -26.10 届いた（ずれ 2.81°） 届いた角度 +1.49 +17.84 +11.51 -0.61 -21.62 -26.36 [送信] j4 -2.0°（長押し 12） → +1.49 +16.96 +10.89 -0.87 -26.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +1.49 +17.84 +11.51 -0.52 -25.92 -26.27 [送信] j4 -2.0°（長押し 13） → +1.49 +16.96 +10.89 -0.87 -28.43 -26.10 届いた（ずれ 2.51°） 届いた角度 +1.49 +17.84 +11.51 -0.52 -25.92 -26.27 [送信] j4 -2.0°（長押し 14） → +1.49 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +1.49 +17.84 +11.51 -0.52 -29.79 -26.27 [送信] j0 -1.0° → +0.49 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 1.0°） 届いた角度 +1.49 +17.84 +11.51 -0.52 -30.58 -26.27 [送信] j0 -1.0°（長押し 1） → -0.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 1.12°） 届いた角度 +0.61 +17.84 +11.51 -0.17 -30.58 -26.27 [送信] j0 -1.0°（長押し 2） → -1.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.95°） 届いた角度 -1.40 +17.84 +11.51 +0.08 -30.58 -26.27 [送信] j0 -1.0°（長押し 3） → -2.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 1.11°） 届いた角度 -1.40 +17.84 +11.51 +0.00 -30.58 -26.19 [送信] j0 -1.0°（長押し 4） → -3.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 1.13°） 届いた角度 -2.72 +17.84 +11.51 +0.26 -30.58 -26.19 [送信] j0 -1.0°（長押し 5） → -4.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 2.23°） 届いた角度 -2.28 +17.84 +11.51 +0.17 -30.58 -26.19 [送信] j0 -1.0°（長押し 6） → -5.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 1.39°） 届いた角度 -5.00 +17.84 +11.51 +0.52 -30.58 -26.10 [送信] j0 -1.0°（長押し 7） → -6.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.95°） 届いた角度 -6.50 +17.84 +11.51 +0.08 -30.58 -25.83 [送信] j0 -1.0°（長押し 8） → -7.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 1.19°） 届いた角度 -6.32 +17.84 +11.51 +0.08 -30.58 -25.75 [送信] j0 -1.0°（長押し 9） → -8.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 1.04°） 届いた角度 -7.91 +17.84 +11.51 +0.17 -30.58 -25.75 [送信] j0 -1.0°（長押し 10） → -9.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.9°） 届いた角度 -8.61 +17.84 +11.51 -0.35 -30.58 -25.75 [送信] j0 -1.0°（長押し 11） → -10.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 1.37°） 届いた角度 -9.14 +17.84 +11.51 -0.43 -30.58 -25.75 [送信] j0 +1.0° → -9.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.88°） 届いた角度 -10.10 +17.84 +11.51 -0.26 -30.58 -25.75 [送信] j0 +1.0°（長押し 1） → -8.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.88°） 届いた角度 -9.31 +17.84 +11.51 -0.43 -30.58 -25.75 [送信] j0 +1.0°（長押し 2） → -7.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 1.8°） 届いた角度 -9.31 +17.84 +11.51 -0.43 -30.58 -25.66 [送信] j0 +1.0°（長押し 3） → -6.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.88°） 届いた角度 -6.94 +17.84 +11.51 -0.43 -30.58 -25.66 [送信] j0 +1.0°（長押し 4） → -5.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.88°） 届いた角度 -6.24 +17.84 +11.51 -0.70 -30.58 -25.66 [送信] j0 +1.0°（長押し 5） → -4.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.88°） 届いた角度 -5.09 +17.84 +11.51 -0.87 -30.58 -25.66 [送信] j0 +1.0°（長押し 6） → -3.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 2.29°） 届いた角度 -5.80 +17.84 +11.51 -0.96 -30.58 -25.66 [送信] j0 +1.0°（長押し 7） → -2.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.88°） 届いた角度 -2.90 +17.84 +11.51 -1.31 -30.58 -25.66 [送信] j0 +1.0°（長押し 8） → -1.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.88°） 届いた角度 -1.23 +17.84 +11.51 -1.05 -30.58 -25.57 [送信] j0 +1.0°（長押し 9） → -0.51 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 1.24°） 届いた角度 -1.75 +17.84 +11.51 -1.05 -30.58 -25.57 [送信] j0 +1.0°（長押し 10） → +0.49 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 2.24°） 届いた角度 -1.75 +17.84 +11.51 -1.05 -30.58 -25.57 [送信] j0 +1.0°（長押し 11） → +1.49 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +1.40 +17.84 +11.51 -1.05 -30.58 -25.66 [送信] j0 +1.0°（長押し 12） → +2.49 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +2.46 +17.84 +11.51 -1.14 -30.58 -25.66 [送信] j0 +1.0°（長押し 13） → +3.49 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 1.03°） 届いた角度 +2.46 +17.84 +11.51 -1.14 -30.58 -25.66 [送信] j0 +1.0°（長押し 14） → +4.49 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 2.12°） 届いた角度 +2.37 +17.84 +11.51 -1.14 -30.58 -25.66 [送信] j0 +1.0°（長押し 15） → +5.49 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +5.00 +17.84 +11.51 -1.31 -30.58 -25.66 [送信] j0 +1.0°（長押し 16） → +6.49 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +6.41 +17.84 +11.51 -1.14 -30.58 -25.75 [受付なし] 前の操作が終わっていません（ためません） [送信] j4 -1.0° → +6.49 +16.96 +10.89 -0.87 -31.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +6.24 +17.84 +11.51 -1.14 -30.58 -25.75 [送信] j0 +1.0° → +7.49 +16.96 +10.89 -0.87 -31.43 -26.10 届いた（ずれ 1.25°） 届いた角度 +6.24 +17.84 +11.51 -1.14 -30.58 -25.75 [送信] j4 -1.0° → +7.49 +16.96 +10.89 -0.87 -32.43 -26.10 届いた（ずれ 1.76°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -30.67 -25.75 [送信] j4 -1.0°（長押し 1） → +7.49 +16.96 +10.89 -0.87 -33.43 -26.10 届いた（ずれ 1.35°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -32.08 -25.75 [送信] j4 -1.0°（長押し 2） → +7.49 +16.96 +10.89 -0.87 -34.43 -26.10 届いた（ずれ 1.21°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -33.22 -25.75 [送信] j4 -1.0°（長押し 3） → +7.49 +16.96 +10.89 -0.87 -35.43 -26.10 届いた（ずれ 2.21°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -33.22 -25.75 [送信] j4 -1.0°（長押し 4） → +7.49 +16.96 +10.89 -0.87 -36.43 -26.10 届いた（ずれ 1.02°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -35.41 -25.75 [送信] j4 -1.0°（長押し 5） → +7.49 +16.96 +10.89 -0.87 -37.43 -26.10 届いた（ずれ 1.75°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -35.68 -25.75 [送信] j4 -1.0°（長押し 6） → +7.49 +16.96 +10.89 -0.87 -38.43 -26.10 届いた（ずれ 2.75°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -35.68 -25.75 [送信] j4 +2.0° → +7.49 +16.96 +10.89 -0.87 -36.43 -26.10 届いた（ずれ 1.36°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -37.79 -25.75 [送信] j4 +2.0°（長押し 1） → +7.49 +16.96 +10.89 -0.87 -34.43 -26.10 届いた（ずれ 1.34°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -35.77 -25.75 [送信] j4 +2.0°（長押し 2） → +7.49 +16.96 +10.89 -0.87 -32.43 -26.10 届いた（ずれ 2.9°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -35.33 -25.75 [送信] j4 +2.0°（長押し 3） → +7.49 +16.96 +10.89 -0.87 -30.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -31.02 -25.75 [送信] j4 +1.0° → +7.49 +16.96 +10.89 -0.87 -29.43 -26.10 届いた（ずれ 1.59°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -31.02 -25.75 [送信] j4 +2.0°（長押し 1） → +7.49 +16.96 +10.89 -0.87 -27.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -27.94 -25.75 [送信] j4 +2.0°（長押し 2） → +7.49 +16.96 +10.89 -0.87 -25.43 -26.10 届いた（ずれ 2.51°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -27.94 -25.75 [送信] j4 +2.0°（長押し 3） → +7.49 +16.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +7.47 +17.84 +11.51 -0.96 -23.90 -25.75 [関節] 上下で動かす関節を j5 にしました [送信] j0 +2.0° → +9.49 +16.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +9.22 +17.84 +11.51 -0.61 -23.90 -25.75 [送信] j0 +2.0°（長押し 1） → +11.49 +16.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.83°） 届いた角度 +9.66 +17.84 +11.51 -0.79 -23.90 -25.75 [送信] j0 +2.0°（長押し 2） → +13.49 +16.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 0.88°） 届いた角度 +13.44 +17.84 +11.51 -0.70 -23.90 -25.66 [送信] j0 +2.0°（長押し 3） → +15.49 +16.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.87°） 届いた角度 +13.62 +17.84 +11.51 -0.79 -23.90 -25.66 [送信] j0 -1.0° → +14.49 +16.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 0.96°） 届いた角度 +13.53 +17.84 +11.51 -0.79 -23.90 -25.66 [送信] j0 -2.0°（長押し 1） → +12.49 +16.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.04°） 届いた角度 +13.53 +17.84 +11.51 -0.79 -23.90 -25.66 [送信] j0 -2.0°（長押し 2） → +10.49 +16.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.81°） 届いた角度 +12.30 +17.84 +11.51 -0.52 -23.90 -25.66 [送信] j0 -2.0°（長押し 3） → +8.49 +16.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.44°） 届いた角度 +9.93 +17.84 +11.51 -0.26 -23.90 -25.66 [送信] j0 -2.0°（長押し 4） → +6.49 +16.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.5°） 届いた角度 +7.99 +17.84 +11.51 -0.17 -23.90 -25.66 [関節] 上下で動かす関節を j1 にしました [送信] j0 +2.0° → +8.49 +16.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 2.25°） 届いた角度 +6.24 +17.84 +11.51 -0.87 -23.73 -25.75 [送信] j0 +2.0°（長押し 1） → +10.49 +16.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.71°） 届いた角度 +8.78 +17.84 +11.51 -0.70 -23.73 -25.75 [送信] j1 -2.0° → +10.49 +14.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 2.88°） 届いた角度 +8.70 +17.84 +11.51 -0.70 -23.73 -25.75 [送信] j1 -2.0°（長押し 1） → +10.49 +12.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.27°） 届いた角度 +10.72 +14.23 +11.51 -0.79 -22.93 -25.75 [送信] j1 -2.0°（長押し 2） → +10.49 +10.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.25°） 届いた角度 +10.63 +12.21 +11.51 -0.79 -22.93 -25.75 [送信] j1 -2.0°（長押し 3） → +10.49 +8.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.23°） 届いた角度 +10.63 +10.19 +11.51 -0.79 -22.93 -25.75 [送信] j1 +2.0° → +10.49 +10.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 0.77°） 届いた角度 +10.63 +10.19 +11.51 -0.79 -22.93 -25.75 [送信] j1 +2.0°（長押し 1） → +10.49 +12.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.01°） 届いた角度 +10.63 +13.97 +11.51 -0.79 -22.93 -25.75 [送信] j1 +2.0°（長押し 2） → +10.49 +14.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 0.99°） 届いた角度 +10.63 +13.97 +11.51 -0.79 -22.93 -25.75 [送信] j1 +2.0°（長押し 3） → +10.49 +16.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 2.99°） 届いた角度 +10.63 +13.97 +11.51 -0.79 -22.93 -25.75 [送信] j1 +2.0°（長押し 4） → +10.49 +18.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 0.95°） 届いた角度 +10.63 +18.01 +11.51 -0.79 -22.85 -25.75 [関節] 上下で動かす関節を j2 にしました [送信] j0 +2.0° → +12.49 +18.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.86°） 届いた角度 +10.63 +20.03 +11.51 -0.87 -22.85 -25.75 [送信] j0 +2.0°（長押し 1） → +14.49 +18.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.66°） 届いた角度 +12.83 +20.03 +11.51 -0.70 -22.85 -25.75 [送信] j0 +2.0°（長押し 2） → +16.49 +18.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +16.34 +20.03 +11.51 -0.79 -22.85 -25.75 [送信] j2 -2.0° → +16.49 +18.96 +8.89 -0.87 -23.43 -26.10 届いた（ずれ 1.83°） 届いた角度 +16.52 +20.03 +10.72 -0.87 -22.85 -25.75 [送信] j2 -2.0°（長押し 1） → +16.49 +18.96 +6.89 -0.87 -23.43 -26.10 届いた（ずれ 1.45°） 届いた角度 +16.52 +20.03 +8.34 -0.87 -22.85 -25.75 [送信] j2 -2.0°（長押し 2） → +16.49 +18.96 +4.89 -0.87 -23.43 -26.10 届いた（ずれ 1.43°） 届いた角度 +16.52 +20.03 +6.32 -0.87 -22.85 -25.75 [送信] j2 +1.0° → +16.49 +18.96 +5.89 -0.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +16.52 +20.03 +6.32 -0.87 -22.85 -25.75 [送信] j2 +1.0°（長押し 1） → +16.49 +18.96 +6.89 -0.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +16.52 +20.03 +6.41 -0.87 -22.85 -25.75 [送信] j2 +1.0°（長押し 2） → +16.49 +18.96 +7.89 -0.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +16.52 +20.03 +8.61 -0.87 -22.85 -25.75 [送信] j2 +1.0°（長押し 3） → +16.49 +18.96 +8.89 -0.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +16.52 +20.03 +9.66 -0.87 -22.85 -25.75 [送信] j2 +1.0°（長押し 4） → +16.49 +18.96 +9.89 -0.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +16.52 +20.03 +9.66 -0.87 -22.85 -25.75 [送信] j2 +1.0°（長押し 5） → +16.49 +18.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.23°） 届いた角度 +16.52 +20.03 +9.66 -0.87 -22.85 -25.75 [関節] 上下で動かす関節を j3 にしました [送信] j0 -2.0° → +14.49 +18.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +14.67 +20.03 +11.60 -0.87 -22.93 -25.75 [送信] j0 -2.0°（長押し 1） → +12.49 +18.96 +10.89 -0.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.74 +20.03 +11.60 -0.87 -22.93 -25.66 [送信] j3 -2.0° → +12.49 +18.96 +10.89 -2.87 -23.43 -26.10 届いた（ずれ 2.0°） 届いた角度 +12.30 +20.03 +11.60 -0.87 -22.93 -25.66 [送信] j3 -2.0°（長押し 1） → +12.49 +18.96 +10.89 -4.87 -23.43 -26.10 届いた（ずれ 2.94°） 届いた角度 +12.39 +20.03 +11.60 -1.93 -22.93 -25.75 [送信] j3 -2.0°（長押し 2） → +12.49 +18.96 +10.89 -6.87 -23.43 -26.10 届いた（ずれ 2.92°） 届いた角度 +12.39 +20.03 +11.60 -3.95 -22.93 -25.75 [送信] j3 -2.0°（長押し 3） → +12.49 +18.96 +10.89 -8.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.48 +20.03 +11.60 -8.43 -22.93 -25.75 [送信] j3 -2.0°（長押し 4） → +12.49 +18.96 +10.89 -10.87 -23.43 -26.10 届いた（ずれ 2.44°） 届いた角度 +12.48 +20.03 +11.60 -8.43 -22.93 -25.75 [送信] j3 -2.0°（長押し 5） → +12.49 +18.96 +10.89 -12.87 -23.43 -26.10 届いた（ずれ 2.59°） 届いた角度 +12.48 +20.03 +11.60 -10.28 -22.93 -25.75 [送信] j3 -1.0°（長押し 6） → +12.49 +18.96 +10.89 -13.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.65 +20.03 +11.60 -13.18 -23.11 -25.75 [送信] j3 -1.0° → +12.49 +18.96 +10.89 -14.87 -23.43 -26.10 届いた（ずれ 1.6°） 届いた角度 +12.56 +20.03 +11.60 -13.27 -23.11 -25.75 [送信] j3 -2.0°（長押し 1） → +12.49 +18.96 +10.89 -16.87 -23.43 -26.10 届いた（ずれ 2.55°） 届いた角度 +12.56 +20.03 +11.60 -14.32 -23.11 -25.75 [送信] j3 -2.0°（長押し 2） → +12.49 +18.96 +10.89 -18.87 -23.43 -26.10 届いた（ずれ 2.62°） 届いた角度 +12.48 +20.03 +11.60 -16.25 -23.11 -25.75 [送信] j3 -2.0°（長押し 3） → +12.49 +18.96 +10.89 -20.87 -23.43 -26.10 届いた（ずれ 2.51°） 届いた角度 +12.39 +20.03 +11.60 -18.36 -23.11 -25.75 [送信] j3 -2.0°（長押し 4） → +12.49 +18.96 +10.89 -22.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.56 +20.03 +11.60 -22.67 -23.11 -25.75 [送信] j3 -2.0°（長押し 5） → +12.49 +18.96 +10.89 -24.87 -23.43 -26.10 届いた（ずれ 2.2°） 届いた角度 +12.56 +20.03 +11.60 -22.67 -23.11 -25.75 [送信] j3 -2.0°（長押し 6） → +12.49 +18.96 +10.89 -26.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.56 +20.03 +11.60 -26.54 -24.16 -25.75 [送信] j3 -2.0°（長押し 7） → +12.49 +18.96 +10.89 -28.87 -23.43 -26.10 届いた（ずれ 2.33°） 届いた角度 +12.56 +20.03 +11.60 -26.54 -24.16 -25.75 [送信] j3 -2.0°（長押し 8） → +12.49 +18.96 +10.89 -30.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 -30.58 -24.16 -25.75 [送信] j3 -2.0°（長押し 9） → +12.49 +18.96 +10.89 -32.87 -23.43 -26.10 届いた（ずれ 2.29°） 届いた角度 +12.39 +20.03 +11.60 -30.58 -24.16 -25.75 [送信] j3 +1.0° → +12.49 +18.96 +10.89 -31.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 -32.51 -24.16 -25.75 [送信] j3 +2.0°（長押し 1） → +12.49 +18.96 +10.89 -29.87 -23.43 -26.10 届いた（ずれ 2.64°） 届いた角度 +12.39 +20.03 +11.60 -32.51 -24.16 -25.75 [送信] j3 +2.0°（長押し 2） → +12.49 +18.96 +10.89 -27.87 -23.43 -26.10 届いた（ずれ 1.3°） 届いた角度 +12.39 +20.03 +11.60 -29.17 -24.16 -25.75 [送信] j3 +2.0°（長押し 3） → +12.49 +18.96 +10.89 -25.87 -23.43 -26.10 届いた（ずれ 1.11°） 届いた角度 +12.39 +20.03 +11.60 -26.98 -24.16 -25.75 [送信] j3 +2.0°（長押し 4） → +12.49 +18.96 +10.89 -23.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 -24.87 -24.16 -25.75 [送信] j3 +2.0°（長押し 5） → +12.49 +18.96 +10.89 -21.87 -23.43 -26.10 届いた（ずれ 3.0°） 届いた角度 +12.39 +20.03 +11.60 -24.87 -24.16 -25.75 [送信] j3 +2.0°（長押し 6） → +12.49 +18.96 +10.89 -19.87 -23.43 -26.10 届いた（ずれ 2.8°） 届いた角度 +12.30 +20.03 +11.60 -22.67 -24.16 -25.75 [送信] j3 +2.0°（長押し 7） → +12.49 +18.96 +10.89 -17.87 -23.43 -26.10 届いた（ずれ 2.69°） 届いた角度 +12.39 +20.03 +11.60 -20.56 -24.16 -25.75 [送信] j3 +2.0°（長押し 8） → +12.49 +18.96 +10.89 -15.87 -23.43 -26.10 届いた（ずれ 2.76°） 届いた角度 +12.39 +20.03 +11.60 -18.63 -24.16 -25.75 [送信] j3 +2.0°（長押し 9） → +12.49 +18.96 +10.89 -13.87 -23.43 -26.10 届いた（ずれ 2.74°） 届いた角度 +12.39 +20.03 +11.60 -16.61 -24.16 -25.75 [送信] j3 +2.0°（長押し 10） → +12.49 +18.96 +10.89 -11.87 -23.43 -26.10 届いた（ずれ 2.63°） 届いた角度 +12.39 +20.03 +11.60 -14.50 -24.16 -25.75 [送信] j3 +2.0°（長押し 11） → +12.49 +18.96 +10.89 -9.87 -23.43 -26.10 届いた（ずれ 2.61°） 届いた角度 +12.48 +20.03 +11.60 -12.48 -24.16 -25.75 [送信] j3 +2.0°（長押し 12） → +12.49 +18.96 +10.89 -7.87 -23.43 -26.10 届いた（ずれ 2.67°） 届いた角度 +12.39 +20.03 +11.60 -10.54 -24.16 -25.75 [送信] j3 +2.0°（長押し 13） → +12.49 +18.96 +10.89 -5.87 -23.43 -26.10 届いた（ずれ 2.56°） 届いた角度 +12.48 +20.03 +11.60 -8.43 -24.16 -25.75 [送信] j3 +2.0°（長押し 14） → +12.49 +18.96 +10.89 -3.87 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.48 +20.03 +11.60 -4.39 -24.16 -25.75 [送信] j3 +2.0°（長押し 15） → +12.49 +18.96 +10.89 -1.87 -23.43 -26.10 届いた（ずれ 2.52°） 届いた角度 +12.48 +20.03 +11.60 -4.39 -24.16 -25.75 [送信] j3 +2.0°（長押し 16） → +12.49 +18.96 +10.89 +0.13 -23.43 -26.10 届いた（ずれ 2.41°） 届いた角度 +12.48 +20.03 +11.60 -2.28 -24.16 -25.75 [送信] j3 +2.0°（長押し 17） → +12.49 +18.96 +10.89 +2.13 -23.43 -26.10 届いた（ずれ 2.39°） 届いた角度 +12.39 +20.03 +11.60 -0.26 -24.16 -25.75 [送信] j3 +2.0°（長押し 18） → +12.49 +18.96 +10.89 +4.13 -23.43 -26.10 届いた（ずれ 2.29°） 届いた角度 +12.48 +20.03 +11.60 +1.84 -24.16 -25.75 [送信] j3 +2.0°（長押し 19） → +12.49 +18.96 +10.89 +6.13 -23.43 -26.10 届いた（ずれ 2.44°） 届いた角度 +12.48 +20.03 +11.60 +3.69 -24.16 -25.75 [送信] j3 -2.0° → +12.49 +18.96 +10.89 +4.13 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +5.09 -24.16 -25.75 [送信] j3 -2.0°（長押し 1） → +12.49 +18.96 +10.89 +2.13 -23.43 -26.10 届いた（ずれ 2.96°） 届いた角度 +12.39 +20.03 +11.60 +5.09 -24.16 -25.75 [送信] j3 -2.0°（長押し 2） → +12.49 +18.96 +10.89 +0.13 -23.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.48 +20.03 +11.60 +1.14 -24.16 -25.75 [関節] 上下で動かす関節を j4 にしました [送信] j4 -2.0° → +12.49 +18.96 +10.89 +0.13 -25.43 -26.10 届いた（ずれ 1.27°） 届いた角度 +12.39 +20.03 +11.60 +0.79 -24.16 -25.75 [送信] j4 -2.0°（長押し 1） → +12.49 +18.96 +10.89 +0.13 -27.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.70 -26.63 -25.75 [送信] j4 -2.0°（長押し 2） → +12.49 +18.96 +10.89 +0.13 -29.43 -26.10 届いた（ずれ 2.8°） 届いた角度 +12.39 +20.03 +11.60 +0.70 -26.63 -25.75 [送信] j4 -2.0°（長押し 3） → +12.49 +18.96 +10.89 +0.13 -31.43 -26.10 届いた（ずれ 2.87°） 届いた角度 +12.39 +20.03 +11.60 +0.70 -28.56 -25.75 [送信] j4 -2.0°（長押し 4） → +12.49 +18.96 +10.89 +0.13 -33.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.61 -32.69 -25.75 [送信] j4 +1.0° → +12.49 +18.96 +10.89 +0.13 -32.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.61 -32.69 -25.75 [送信] j4 +2.0°（長押し 1） → +12.49 +18.96 +10.89 +0.13 -30.43 -26.10 届いた（ずれ 2.26°） 届いた角度 +12.39 +20.03 +11.60 +0.61 -32.69 -25.75 [送信] j4 +2.0°（長押し 2） → +12.49 +18.96 +10.89 +0.13 -28.43 -26.10 届いた（ずれ 1.1°） 届いた角度 +12.39 +20.03 +11.60 +0.52 -29.53 -25.75 [送信] j4 +2.0°（長押し 3） → +12.49 +18.96 +10.89 +0.13 -26.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.52 -27.42 -25.75 [送信] j4 +2.0°（長押し 4） → +12.49 +18.96 +10.89 +0.13 -24.43 -26.10 届いた（ずれ 2.99°） 届いた角度 +12.39 +20.03 +11.60 +0.52 -27.42 -25.75 [送信] j4 +2.0°（長押し 5） → +12.49 +18.96 +10.89 +0.13 -22.43 -26.10 届いた（ずれ 2.97°） 届いた角度 +12.39 +20.03 +11.60 +0.52 -25.40 -25.75 [送信] j4 +2.0°（長押し 6） → +12.49 +18.96 +10.89 +0.13 -20.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.52 -21.26 -25.75 [送信] j4 +2.0°（長押し 7） → +12.49 +18.96 +10.89 +0.13 -18.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.52 -19.24 -25.75 [送信] j4 +2.0°（長押し 8） → +12.49 +18.96 +10.89 +0.13 -16.43 -26.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -17.22 -25.75 [関節] 上下で動かす関節を j5 にしました [送信] j5 -2.0° → +12.49 +18.96 +10.89 +0.13 -16.43 -28.10 届いた（ずれ 1.21°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.96 -26.89 [送信] j5 -2.0°（長押し 1） → +12.49 +18.96 +10.89 +0.13 -16.43 -30.10 届いた（ずれ 2.95°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.87 -27.15 [送信] j5 -1.0° → +12.49 +18.96 +10.89 +0.13 -16.43 -31.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.87 -30.32 [送信] j5 -2.0°（長押し 1） → +12.49 +18.96 +10.89 +0.13 -16.43 -33.10 届いた（ずれ 2.78°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.87 -30.32 [送信] j5 -2.0°（長押し 2） → +12.49 +18.96 +10.89 +0.13 -16.43 -35.10 届いた（ずれ 2.41°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.78 -32.69 [送信] j5 -2.0°（長押し 3） → +12.49 +18.96 +10.89 +0.13 -16.43 -37.10 届いた（ずれ 2.39°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.78 -34.71 [送信] j5 -2.0°（長押し 4） → +12.49 +18.96 +10.89 +0.13 -16.43 -39.10 届いた（ずれ 2.72°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.78 -36.38 [送信] j5 -2.0°（長押し 5） → +12.49 +18.96 +10.89 +0.13 -16.43 -41.10 届いた（ずれ 2.78°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.78 -38.32 [送信] j5 -2.0°（長押し 6） → +12.49 +18.96 +10.89 +0.13 -16.43 -43.10 届いた（ずれ 2.68°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.78 -40.42 [送信] j5 -2.0°（長押し 7） → +12.49 +18.96 +10.89 +0.13 -16.43 -45.10 届いた（ずれ 2.65°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.78 -42.45 [送信] j5 -2.0°（長押し 8） → +12.49 +18.96 +10.89 +0.13 -16.43 -47.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.78 -46.49 [送信] j5 -2.0°（長押し 9） → +12.49 +18.96 +10.89 +0.13 -16.43 -49.10 届いた（ずれ 2.61°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.78 -46.49 [送信] j5 -2.0°（長押し 10） → +12.49 +18.96 +10.89 +0.13 -16.43 -51.10 届いた（ずれ 2.59°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.78 -48.51 [送信] j5 -2.0°（長押し 11） → +12.49 +18.96 +10.89 +0.13 -16.43 -53.10 届いた（ずれ 2.66°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.78 -50.44 [送信] j5 -2.0°（長押し 12） → +12.49 +18.96 +10.89 +0.13 -16.43 -55.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.78 -54.49 [送信] j5 +1.0° → +12.49 +18.96 +10.89 +0.13 -16.43 -54.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -54.49 [送信] j5 +2.0°（長押し 1） → +12.49 +18.96 +10.89 +0.13 -16.43 -52.10 届いた（ずれ 2.39°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -54.49 [送信] j5 +2.0°（長押し 2） → +12.49 +18.96 +10.89 +0.13 -16.43 -50.10 届いた（ずれ 2.98°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -53.08 [送信] j5 +2.0°（長押し 3） → +12.49 +18.96 +10.89 +0.13 -16.43 -48.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -49.04 [送信] j5 +2.0°（長押し 4） → +12.49 +18.96 +10.89 +0.13 -16.43 -46.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -46.93 [送信] j5 +2.0°（長押し 5） → +12.49 +18.96 +10.89 +0.13 -16.43 -44.10 届いた（ずれ 2.65°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -46.75 [送信] j5 +2.0°（長押し 6） → +12.49 +18.96 +10.89 +0.13 -16.43 -42.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -42.80 [送信] j5 +2.0°（長押し 7） → +12.49 +18.96 +10.89 +0.13 -16.43 -40.10 届いた（ずれ 2.52°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -42.62 [送信] j5 +2.0°（長押し 8） → +12.49 +18.96 +10.89 +0.13 -16.43 -38.10 届いた（ずれ 2.76°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -40.86 [送信] j5 +2.0°（長押し 9） → +12.49 +18.96 +10.89 +0.13 -16.43 -36.10 届いた（ずれ 2.74°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -38.84 [送信] j5 +2.0°（長押し 10） → +12.49 +18.96 +10.89 +0.13 -16.43 -34.10 届いた（ずれ 2.28°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -36.38 [送信] j5 +2.0°（長押し 11） → +12.49 +18.96 +10.89 +0.13 -16.43 -32.10 届いた（ずれ 2.61°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -34.71 [送信] j5 +2.0°（長押し 12） → +12.49 +18.96 +10.89 +0.13 -16.43 -30.10 届いた（ずれ 2.59°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -32.69 [送信] j5 +2.0°（長押し 13） → +12.49 +18.96 +10.89 +0.13 -16.43 -28.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -28.65 [送信] j5 +2.0°（長押し 14） → +12.49 +18.96 +10.89 +0.13 -16.43 -26.10 届いた（ずれ 2.55°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -28.65 [送信] j5 +2.0°（長押し 15） → +12.49 +18.96 +10.89 +0.13 -16.43 -24.10 届いた（ずれ 2.53°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -26.63 [送信] j5 +2.0°（長押し 16） → +12.49 +18.96 +10.89 +0.13 -16.43 -22.10 届いた（ずれ 1.07°） 届いた角度 +12.39 +20.03 +11.60 +0.43 -16.69 -22.58 [送信] HOME → +0.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 1.4°） 届いた角度 +0.70 +1.14 +1.40 +0.00 +0.08 -28.82 ^C [終了] Ctrl+C [終了] アームは動かしていません。記録: /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261103_075657 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts git add tools/gamepad_teleop.py tools/test_gamepad_teleop.py tools/pi/mecharm_daemon_start.sh git commit -m "daemon を pymycobot 2.9.6 で起動する (4.0.4 は送るたびに 0.5 秒 × 3 回返事を待ち 1 回 1.6 秒). gamepad_teleop: 1 押し 1° (0.5° はサーボが反応しない), 無視された指令は 0.5 秒後に送り直す (3 回まで・停止のあとは送らない). テス ト 73 件 Co-Authored-By: Claude Opus 5.5 Claude-Session: https://claude.ai/code/session_01LevEXRnwfWWxYdvM8WRMgs" python3 tools/gamepad_teleop.py --execute [main 15ca6a4] daemon を pymycobot 2.9.6 で起動する (4.0.4 は送るたびに 0.5 秒 × 3 回返事を待ち 1 回 1.6 秒). gamepad_teleop: 1 押し 1° (0.5° はサーボが反応しない), 無視された指令は 0.5 秒後に送り直す (3 回まで・停止のあとは送らない). テスト 73 件 ``` > 動きがぎこちないけどよく動くようにはなった 【動画】LOG436_01_hold_step.mp4 2.9.6 に戻したあと、十字キーの長押しで関節を動かしているところ。0.2秒おきに1〜2°の刻みを送る形で、刻みごとに止まりながら動く ## 8:03：長押しは、読んだ角度から3°先を0.1秒おきに送る形にした ぎこちない理由は、1刻み（1〜2°）ごとにアームが目標に着いて止まり、次の指令（0.2〜0.4秒後）でまた動き出していたことです。記録では、送る前の読んだ角度と直前の指令の差は、毎回1°前後まで詰まっていました。 長押しの間だけ、読んだ角度から3°先を0.1秒おきに送り直す形を提案し、speed 20 のまま止めずに動かすと決めました。 | 長押しの作り | 前（刻み） | 後（3°先） | |---|---|---| | 送る目標 | 直前の指令 + 1刻み | 動かす関節は、いま読んだ角度 + 3°。ほかの関節は直前の指令のまま | | 送る間隔 | 0.2秒（差が3°を超えたら待つ） | 0.1秒。届くのを待たない | | 目標が戻るとき | ― | 前の目標より後ろへは戻さない（読んだ角度が古いと引き戻すため） | | 止まる条件 | 3秒追いつかない | 1秒進まない（当たっているなど） | | ターミナル | 1刻みごとに1行 | 離したときに `[長押し] j0 を ○° → ○° まで` の1行 | | R1 | 長押しの刻みも2°になる | 短い押しの刻み（2°）にだけ効く。長押しの速さは speed で決まる | ほかの関節を直前の指令のまま送るのは、読んだ角度で送り直すと、j1 が重さで沈んだ分（記録では1°前後）を毎回なぞって、ずり下がっていくからです。テストは73件すべて通り、15ca6a4・413f7e1 としてコミットしました。 #### 3°先の形で動かしたターミナルの出力（761〜822行目） ```text 3 files changed, 278 insertions(+), 154 deletions(-) /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. from pkg_resources import resource_stream, resource_exists objc[8239]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f152c8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106c890). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15318) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106c8e0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15390) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106c958). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f153b8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106c980). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15408) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106c9d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15458) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106ca20). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f154d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106ca98). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15520) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cae8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15570) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cb38). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f155c0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cb88). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f155e8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cbb0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15610) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cbd8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15688) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cc50). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15700) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106ccc8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15750) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cd18). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f15778) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cd40). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8239]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x106f157c8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x12106cd90). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. [記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261103_080648 [実機] daemon に送ります。起動したときの姿勢: -0.26 +1.14 +1.40 +0.00 +0.17 -29.70 コントローラーを待っています（つないでいなければ、今つないでください） [接続] PS4 Controller GUID=03008fe54c050000cc09000000016800 軸=6 ボタン=16 [送信] j0 -1.0° → -1.26 +1.14 +1.40 +0.00 +0.17 -29.70 届いた（ずれ 1.0°） 届いた角度 -0.26 +1.14 +1.40 +0.00 +0.17 -29.70 [長押し] j0 を -0.96° → -19.86° まで（13 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j0 +1.0° → -24.50 +1.14 +1.40 +0.00 +0.17 -29.70 届いた（ずれ 1.33°） 届いた角度 -25.83 +1.93 +2.10 -0.26 +0.17 -29.97 [長押し] j0 を -24.52° → +5.44° まで（14 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j1 -1.0° → +9.06 +0.14 +1.40 +0.00 +0.17 -29.70 届いた（ずれ 1.79°） 届いた角度 +8.78 +1.93 +2.10 -0.43 +0.17 -29.88 [長押し] j1 を +1.66° → -0.35° まで（2 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j1 +1.0° → +9.06 -3.23 +1.40 +0.00 +0.17 -29.70 届いた（ずれ 0.7°） 届いた角度 +8.78 -2.98 +2.10 -0.43 +0.52 -29.88 [長押し] j1 を -2.54° → +25.40° まで（16 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j1 -1.0° → +9.06 +27.40 +1.40 +0.00 +0.17 -29.70 届いた（ずれ 2.13°） 届いた角度 +8.78 +29.53 +2.10 -0.43 +0.52 -29.88 [長押し] j1 を +29.53° → +14.58° まで（15 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j0 -2.0° → +7.06 +11.58 +1.40 +0.00 +0.17 -29.70 届いた（ずれ 1.6°） 届いた角度 +7.47 +13.18 +2.10 -0.43 +0.52 -29.88 [長押し] j0 を +7.03° → +0.79° まで（4 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j0 -1.0° → -3.21 +11.58 +1.40 +0.00 +0.17 -29.70 届いた（ずれ 1.6°） 届いた角度 -1.75 +13.18 +2.10 -0.35 +0.52 -29.88 [長押し] j0 を -3.07° → -15.11° まで（8 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j0 +1.0° → -17.11 +11.58 +1.40 +0.00 +0.17 -29.70 届いた（ずれ 1.6°） 届いた角度 -17.75 +13.18 +2.10 -0.26 +0.52 -29.88 [長押し] j0 を -16.69° → +14.58° まで（17 回送信。離したあと最大 3° 先まで動いて止まります） [関節] 上下で動かす関節を j2 にしました [関節] 上下で動かす関節を j3 にしました [送信] j3 -2.0° → +20.31 +11.58 +1.40 -2.00 +0.17 -29.70 届いた（ずれ 1.6°） 届いた角度 +20.56 +13.18 +2.10 -0.79 +0.52 -29.88 [長押し] j3 を -0.79° → -12.48° まで（8 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j3 +1.0° → +20.31 +11.58 +1.40 -14.48 +0.17 -29.70 届いた（ずれ 1.6°） 届いた角度 +20.56 +13.18 +2.10 -14.50 +0.52 -29.88 [長押し] j3 を -14.50° → -7.47° まで（6 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j3 +2.0° → +20.31 +11.58 +1.40 -2.47 +0.17 -29.70 届いた（ずれ 1.6°） 届いた角度 +20.56 +13.18 +2.10 -2.90 +0.52 -29.88 [関節] 上下で動かす関節を j4 にしました [送信] j4 -2.0° → +20.31 +11.58 +1.40 +0.10 -1.83 -29.70 届いた（ずれ 1.6°） 届いた角度 +20.56 +13.18 +2.10 -0.17 -2.28 -29.88 [長押し] j4 を -2.28° → -14.32° まで（8 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j4 +2.0° → +20.31 +11.58 +1.40 +0.10 -17.69 -29.70 届いた（ずれ 2.52°） 届いた角度 +20.47 +13.18 +2.10 -0.08 -20.21 -29.79 [長押し] j4 を -19.59° → +11.51° まで（25 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j4 -1.0° → +20.31 +11.58 +1.40 +0.10 +15.53 -29.70 届いた（ずれ 1.6°） 届いた角度 +20.39 +13.18 +2.10 +0.08 +15.55 -29.79 [長押し] j4 を +15.55° → +3.60° まで（8 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j0 -1.0° → +19.31 +11.58 +1.40 +0.10 +0.60 -29.70 届いた（ずれ 1.6°） 届いた角度 +20.39 +13.18 +2.10 +0.17 +1.23 -29.79 [長押し] j0 を +19.51° → -21.79° まで（22 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j0 +1.0° → -26.60 +11.58 +1.40 +0.10 +0.60 -29.70 届いた（ずれ 1.6°） 届いた角度 -28.03 +13.18 +2.10 +0.43 +1.23 -29.79 [長押し] j0 を -26.80° → +3.16° まで（19 回送信。離したあと最大 3° 先まで動いて止まります） [送信] HOME → +0.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 2.1°） 届いた角度 -0.35 +1.49 +2.10 +0.43 -0.52 -29.79 ^C [終了] Ctrl+C [終了] アームは動かしていません。記録: /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261103_080648 ``` #### 目標を戻さない形をコミットしたあとのターミナルの出力（823〜917行目） ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts git add tools/gamepad_teleop.py tools/test_gamepad_teleop.py tools/pi/mecharm_daemon_start.sh git commit -m "gamepad_teleop: 長押しは 0.1 秒おきに読んだ角度 + 3° 先を送り, 届くのを待たずに止めずに動かす (ほかの関節は指令のまま・目標は戻さない・1 秒進まなければ止める). 無視された指令は送り直す. 1 押し 1°. daemon を pymycobot 2.9.6 で起動. テスト 73 件 Co-Authored-By: Claude Opus 5.5 Claude-Session: https://claude.ai/code/session_01LevEXRnwfWWxYdvM8WRMgs" python3 tools/gamepad_teleop.py --execute [main 413f7e1] gamepad_teleop: 長押しは 0.1 秒おきに読んだ角度 + 3° 先を送り, 届くのを待たずに止めずに動かす (ほかの関節は指令のまま・目標は戻さない・1 秒進まなければ止める). 無視された指令は送り直す. 1 押し 1°. daemon を pymycobot 2.9.6 で起動. テスト 73 件 2 files changed, 18 insertions(+) /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. from pkg_resources import resource_stream, resource_exists objc[8310]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d2c8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175ec890). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d318) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175ec8e0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d390) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175ec958). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d3b8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175ec980). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d408) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175ec9d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d458) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175eca20). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d4d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175eca98). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d520) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175ecae8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d570) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175ecb38). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d5c0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175ecb88). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d5e8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175ecbb0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d610) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175ecbd8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d688) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175ecc50). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d700) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175eccc8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d750) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175ecd18). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d778) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175ecd40). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[8310]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10694d7c8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1175ecd90). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. [記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261103_080930 [実機] daemon に送ります。起動したときの姿勢: -0.26 +1.49 +2.10 +0.26 -0.26 -29.79 コントローラーを待っています（つないでいなければ、今つないでください） [接続] PS4 Controller GUID=03008fe54c050000cc09000000016800 軸=6 ボタン=16 [送信] j0 -1.0° → -1.26 +1.49 +2.10 +0.26 -0.26 -29.79 届いた（ずれ 1.0°） 届いた角度 -0.26 +1.49 +2.10 +0.26 -0.26 -29.79 [長押し] j0 を -1.05° → -17.13° まで（12 回送信。離したあと最大 3° 先まで動いて止まります） [受付なし] 前の操作が終わっていません（ためません） [受付なし] 前の操作が終わっていません（ためません） [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [関節] 上下で動かす関節を j2 にしました [受付なし] 前の操作が終わっていません（ためません） [受付なし] 前の操作が終わっていません（ためません） [受付なし] 前の操作が終わっていません（ためません） [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [受付なし] 前の操作が終わっていません（ためません） [受付なし] 前の操作が終わっていません（ためません） [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [受付なし] 前の操作が終わっていません（ためません） [送信] j0 +1.0° → -22.21 +1.49 +2.10 +0.26 -0.26 -29.79 届いた（ずれ 0.79°） 届いた角度 -22.32 +2.28 +2.81 -0.08 -0.26 -29.79 [送信] j2 -1.0° → -22.21 +1.49 +1.10 +0.26 -0.26 -29.79 届いた（ずれ 1.71°） 届いた角度 -21.88 +2.28 +2.81 -0.08 -0.26 -29.79 [送信] j2 -1.0° → -22.21 +1.49 +0.10 +0.26 -0.26 -29.79 届いた（ずれ 2.0°） 届いた角度 -21.88 +2.28 +2.10 -0.08 -0.26 -29.79 [長押し] j2 を +2.10° → -1.93° まで（5 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j2 +1.0° → -22.21 +1.49 -4.02 +0.26 -0.26 -29.79 届いた（ずれ 0.88°） 届いた角度 -21.88 +2.37 -3.33 +0.00 +0.08 -29.79 [長押し] j2 を -3.25° → +0.79° まで（2 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j2 +1.0° → -22.21 +1.49 +4.87 +0.26 -0.26 -29.79 届いた（ずれ 0.88°） 届いた角度 -21.88 +2.37 +4.92 +0.00 +0.08 -29.79 [長押し] j2 を +5.71° → +5.71° まで（1 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j2 -1.0° → -22.21 +1.49 +7.71 +0.26 -0.26 -29.79 届いた（ずれ 2.04°） 届いた角度 -21.88 +2.37 +9.75 +0.00 +0.08 -29.79 [長押し] j2 を +9.66° → -3.42° まで（16 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j2 +1.0° → -22.21 +1.49 -5.60 +0.26 -0.26 -29.79 届いた（ずれ 0.88°） 届いた角度 -21.88 +2.37 -4.83 +0.08 +0.08 -29.79 [長押し] j2 を -4.83° → +24.34° まで（15 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j2 -1.0° → -22.21 +1.49 +26.34 +0.26 -0.26 -29.79 届いた（ずれ 1.6°） 届いた角度 -21.88 +2.37 +27.94 +0.26 +0.08 -29.79 [長押し] j2 を +27.94° → +24.34° まで（6 回送信。離したあと最大 3° 先まで動いて止まります） [関節] 上下で動かす関節を j3 にしました [送信] j3 -1.0° → -22.21 +1.49 +20.11 -0.74 -0.26 -29.79 届いた（ずれ 1.77°） 届いた角度 -21.88 +2.37 +21.88 +0.26 +0.08 -29.79 [長押し] j3 を +0.26° → -5.88° まで（5 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j3 +1.0° → -22.21 +1.49 +20.11 -9.38 -0.26 -29.79 届いた（ずれ 1.77°） 届いた角度 -21.88 +2.37 +21.88 -9.40 +0.08 -29.79 [長押し] j3 を -9.40° → +0.35° まで（5 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j3 -1.0° → -22.21 +1.49 +20.11 +2.35 -0.26 -29.79 届いた（ずれ 1.77°） 届いた角度 -21.88 +2.37 +21.88 +2.81 +0.08 -29.79 [長押し] j3 を +2.81° → +0.96° まで（3 回送信。離したあと最大 3° 先まで動いて止まります） [関節] 上下で動かす関節を j4 にしました [送信] j4 -1.0° → -22.21 +1.49 +20.11 -2.21 -1.26 -29.79 届いた（ずれ 1.77°） 届いた角度 -21.88 +2.37 +21.88 -1.49 +0.08 -29.79 [長押し] j4 を +0.08° → -48.77° まで（32 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j4 +1.0° → -22.21 +1.49 +20.11 -2.21 -50.77 -29.79 届いた（ずれ 1.77°） 届いた角度 -21.88 +2.37 +21.88 -1.93 -51.50 -29.79 [長押し] j4 を -51.50° → -2.19° まで（40 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j0 -1.0° → -23.21 +1.49 +20.11 -2.21 +2.21 -29.79 届いた（ずれ 1.77°） 届いた角度 -21.88 +2.37 +21.88 -1.93 +1.40 -29.79 [長押し] j0 を -23.02° → -32.25° まで（7 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j0 +1.0° → -34.60 +1.49 +20.11 -2.21 +2.21 -29.79 届いた（ずれ 1.77°） 届いた角度 -34.45 +2.37 +21.88 -2.10 +1.58 -29.79 [長押し] j0 を -34.54° → +28.91° まで（34 回送信。離したあと最大 3° 先まで動いて止まります） [関節] 上下で動かす関節を j5 にしました [送信] j5 +2.0° → +31.91 +1.49 +20.11 -2.21 +2.21 -27.79 届いた（ずれ 2.0°） 届いた角度 +31.99 +2.37 +21.88 -2.37 +2.10 -29.79 [送信] j0 -1.0° → +30.91 +1.49 +20.11 -2.21 +2.21 -27.79 届いた（ずれ 2.0°） 届いた角度 +31.99 +2.37 +21.88 -2.37 +2.10 -29.79 [送信] j5 +1.0° → +30.91 +1.49 +20.11 -2.21 +2.21 -26.79 届いた（ずれ 1.77°） 届いた角度 +30.84 +2.37 +21.88 -2.37 +2.10 -27.68 [長押し] j5 を -27.68° → -27.68° まで（1 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j5 -1.0° → +30.91 +1.49 +20.11 -2.21 +2.21 -23.48 届いた（ずれ 1.77°） 届いた角度 +30.84 +2.37 +21.88 -2.37 +2.10 -23.20 [長押し] j5 を -23.20° → -25.40° まで（2 回送信。離したあと最大 3° 先まで動いて止まります） [関節] 上下で動かす関節を j1 にしました [送信] j1 -1.0° → +30.91 +0.49 +20.11 -2.21 +2.21 -29.01 届いた（ずれ 1.88°） 届いた角度 +30.84 +2.37 +21.88 -2.37 +2.10 -28.38 [長押し] j1 を +1.75° → -23.20° まで（19 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j1 +2.0° → +30.91 -24.20 +20.11 -2.21 +2.21 -29.01 届いた（ずれ 1.77°） 届いた角度 +30.76 -23.73 +21.88 -2.37 +2.72 -28.65 [長押し] j1 を -23.73° → +7.55° まで（13 回送信。離したあと最大 3° 先まで動いて止まります） [送信] j1 -1.0° → +30.91 +13.33 +20.11 -2.21 +2.21 -29.01 届いた（ずれ 1.87°） 届いた角度 +30.76 +15.20 +21.88 -2.37 +2.72 -28.74 [長押し] j1 を +15.20° → -9.40° まで（19 回送信。離したあと最大 3° 先まで動いて止まります） [送信] HOME → +0.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 1.84°） 届いた角度 +0.08 +0.70 +1.84 -1.14 +1.14 -29.70 ^C [終了] Ctrl+C [終了] アームは動かしていません。記録: /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261103_080930 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % ``` - ねらい：長押しの間、アームを目標に着かせずに動かし続け、刻みごとに止まらないようにする - 変わったこと：長押しの送る間隔は中央0.216秒から0.119〜0.126秒、長押しの速さは中央毎秒5.9°から8.3°・7.7°（記録2本） - 見込める効果：ブロックの上まで運ぶ時間が縮む見込み。止まらずに動くかは、下の通りまだ足りない ## 8:13：3°先の形でも、なめらかにはならなかった > 動きの滑らかさはないね。R1押しても押さなくても動く角度変わらなくない？ R1 はその通りで、長押しの速さは R1 があってもなくても同じにしていました。R1 が効くのは短い押しの刻み（1°と2°）だけで、0.4秒以上押すと長押しに切り替わるので、R1 の差はほとんど感じられません。 なめらかにならない理由は、記録から2つ見えています。 1. speed 20 のアームは、3°先の目標に0.15秒ほどで着いて止まる。0.1秒おきに送っても、ときどき1回の仕事が0.4秒かかり（長押しの送る間隔の90%の値は0.406〜0.417秒）、そのたびに止まる 2. 角度の読み取りが続けて失敗し、13秒止まった場面があった。8.57秒に押した右が、送れたのは21.45秒。ターミナルにも `daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries` が3回出ている。指令を細かく送り続けると、アームからの返事が混ざって読み取りに失敗しやすくなると見ている（確かめてはいない） ### 5本の記録から数えた、送る間隔と長押しの速さ ```python #!/usr/bin/env python3 """analyze_gamepad_runs.py — 2026-11-03 のゲームパッドの実機の記録 (log.jsonl) 5 本を読み, 送る間隔・長押しの速さ・止まった所を数える (LOG436) python3 analyze_gamepad_runs.py """ import json import os import statistics as st import sys RUNS = ["teleop_20261103_071424", "teleop_20261103_074936", "teleop_20261103_075657", "teleop_20261103_080648", "teleop_20261103_080930"] def load(root, run): rows = [json.loads(l) for l in open(os.path.join(root, run, "log.jsonl"), encoding="utf-8")] meta = json.load(open(os.path.join(root, run, "meta.json"), encoding="utf-8")) return rows, meta def fmt(a): return " ".join("{:+7.2f}".format(x) for x in a) def main(root): print("## 1. 記録ごとのまとめ") print("| 記録 | コミット | 1押しの刻み | 行 | 送った | 受付なし(busy) | 長押しの送る間隔 中央/90% (秒) | 届くまで1秒超 | 押してから送るまで 中央/最大 (秒) |") print("|---|---|---|---|---|---|---|---|---|") for run in RUNS: rows, meta = load(root, run) mv = [r for r in rows if r["kind"] == "move"] sent = [r for r in mv if r.get("sent") is True] busy = sum(1 for r in mv if r.get("reason") == "busy") by = {} for r in sent: if r.get("hold_id") is not None: by.setdefault(r["hold_id"], []).append(r) gaps = [] for rs in by.values(): ts = sorted(x["t_send"] for x in rs if x.get("t_send")) gaps += [b - a for a, b in zip(ts, ts[1:])] lat = [r["t_send"] - r["t_unix"] for r in sent if r.get("t_send")] long_ = sum(1 for r in sent if (r.get("elapsed_sec") or 0) > 1) g = "{:.3f} / {:.3f}".format(st.median(gaps), sorted(gaps)[int(len(gaps) * 0.9)]) if gaps else "-" print("| {} | {} {} | {}° | {} | {} | {} | {} | {} | {:.3f} / {:.2f} |".format( run, meta["git"]["commit"][:7], "" if meta["git"]["script_status"] == "clean" else "(変更あり)", meta["motion"]["step_fine_deg"], len(rows), len(sent), busy, g, long_, st.median(lat), max(lat))) print("\n## 2. 長押し (5 回以上送ったもの) の速さ = 動かした関節の進んだ角度 ÷ かかった時間") for run in RUNS[1:]: rows, _ = load(root, run) by = {} for r in rows: if (r["kind"] == "move" and r.get("sent") is True and r.get("hold_id") is not None and (r.get("hold_n") or 0) >= 1 and r.get("measured_before")): by.setdefault(r["hold_id"], []).append(r) sp = [] for rs in by.values(): if len(rs) < 5: continue j = rs[0]["joint"] d = abs(rs[-1]["measured_before"][j] - rs[0]["measured_before"][j]) t = rs[-1]["t_send"] - rs[0]["t_send"] if t > 0: sp.append(d / t) if sp: print("- {}: 長押し {} 回・中央 {:.1f}°/秒・最小 {:.1f}・最大 {:.1f}".format(run, len(sp), st.median(sp), min(sp), max(sp))) else: print("- {}: 5 回以上の長押しなし".format(run)) print("\n## 3. 届くまで 1 秒を超えた送信 (指令が無視されたもの)") for run in RUNS: rows, _ = load(root, run) t0 = rows[0]["t_unix"] for r in rows: if r["kind"] == "move" and r.get("sent") is True and (r.get("elapsed_sec") or 0) > 1: print("- {} {:7.2f}秒 j{} {:+.1f}° 長押し {}/{} 届くまで {} 秒 ずれ {}°".format( run, r["t_unix"] - t0, r["joint"], r["delta"], r.get("hold_id"), r.get("hold_n"), r["elapsed_sec"], r.get("reach_err"))) print(" 送る前 " + fmt(r["measured_before_send"])) print(" 指令 " + fmt(r["command"])) print(" 届いた " + fmt(r["reached_angles"])) print("\n## 4. 押してから送るまで 1 秒を超えたもの (角度の読み取りが続けて失敗した)") for run in RUNS: rows, _ = load(root, run) t0 = rows[0]["t_unix"] for r in rows: if r["kind"] == "move" and r.get("t_send") and r["t_send"] - r["t_unix"] > 1: print("- {} {:7.2f}秒に押した j{} → 送ったのは {:.2f}秒 ({:.2f} 秒あと)".format( run, r["t_unix"] - t0, r["joint"], r["t_send"] - t0, r["t_send"] - r["t_unix"])) print("\n## 5. 0.5° の押しで, 送る前と届いた角度が変わったか (1 押し 0.5° の 2 本)") for run in RUNS[:2]: rows, _ = load(root, run) moved = same = 0 for r in rows: if r["kind"] == "move" and r.get("sent") is True and abs(r["delta"]) == 0.5 and r.get("reached_angles"): j = r["joint"] if abs(r["reached_angles"][j] - r["measured_before_send"][j]) < 0.2: same += 1 else: moved += 1 print("- {}: 0.5° の送信 {} 回のうち, 読んだ角度が 0.2° 以上動いたのは {} 回".format(run, moved + same, moved)) if __name__ == "__main__": main(sys.argv[1]) ``` #### analyze_gamepad_runs.py の出力 ```text ## 1. 記録ごとのまとめ | 記録 | コミット | 1押しの刻み | 行 | 送った | 受付なし(busy) | 長押しの送る間隔 中央/90% (秒) | 届くまで1秒超 | 押してから送るまで 中央/最大 (秒) | |---|---|---|---|---|---|---|---|---| | teleop_20261103_071424 | f061d54 | 0.5° | 121 | 46 | 13 | - | 0 | 0.040 / 0.31 | | teleop_20261103_074936 | 36def3c | 0.5° | 50 | 32 | 5 | 1.630 / 1.658 | 0 | 0.042 / 0.08 | | teleop_20261103_075657 | 36def3c (変更あり) | 1.0° | 437 | 370 | 10 | 0.216 / 0.443 | 5 | 0.042 / 0.08 | | teleop_20261103_080648 | 15ca6a4 | 1.0° | 228 | 209 | 0 | 0.126 / 0.406 | 0 | 0.024 / 0.44 | | teleop_20261103_080930 | 413f7e1 | 1.0° | 307 | 274 | 8 | 0.119 / 0.417 | 0 | 0.024 / 12.89 | ## 2. 長押し (5 回以上送ったもの) の速さ = 動かした関節の進んだ角度 ÷ かかった時間 - teleop_20261103_074936: 長押し 2 回・中央 1.0°/秒・最小 0.7・最大 1.3 - teleop_20261103_075657: 長押し 23 回・中央 5.9°/秒・最小 2.6・最大 9.4 - teleop_20261103_080648: 長押し 13 回・中央 8.3°/秒・最小 4.7・最大 12.6 - teleop_20261103_080930: 長押し 14 回・中央 7.7°/秒・最小 3.8・最大 10.3 ## 3. 届くまで 1 秒を超えた送信 (指令が無視されたもの) - teleop_20261103_075657 48.94秒 j2 -2.0° 長押し 8/3 届くまで 8.08 秒 ずれ 3.47° 送る前 +7.82 +15.29 +9.58 +0.17 -0.96 -29.88 指令 +7.74 +14.31 +6.02 +0.08 -0.08 -29.88 届いた +7.82 +15.29 +9.49 +0.17 -0.52 -29.88 - teleop_20261103_075657 81.09秒 j4 -2.0° 長押し 19/1 届くまで 8.09 秒 ずれ 4.0° 送る前 -6.41 +16.08 +10.19 -1.23 -0.43 -29.88 指令 -6.18 +15.29 +9.49 -0.83 -4.43 -29.88 届いた -6.41 +16.08 +10.19 -1.05 -0.43 -29.88 - teleop_20261103_075657 94.32秒 j5 +2.0° 長押し 23/3 届くまで 8.12 秒 ずれ 4.22° 送る前 +1.49 +16.96 +10.89 -0.87 -0.43 -26.19 指令 +1.59 +16.08 +10.19 -1.05 -0.43 -21.88 届いた +1.49 +16.96 +10.89 -0.87 -0.43 -26.10 - teleop_20261103_075657 286.46秒 j4 +2.0° 長押し 36/2 届くまで 1.66 秒 ずれ 2.9° 送る前 +7.47 +17.84 +11.51 -0.96 -35.77 -25.75 指令 +7.49 +16.96 +10.89 -0.87 -32.43 -26.10 届いた +7.47 +17.84 +11.51 -0.96 -35.33 -25.75 - teleop_20261103_075657 343.03秒 j5 -2.0° 長押し 53/1 届くまで 1.36 秒 ずれ 2.95° 送る前 +12.39 +20.03 +11.60 +0.43 -16.96 -26.89 指令 +12.49 +18.96 +10.89 +0.13 -16.43 -30.10 届いた +12.39 +20.03 +11.60 +0.43 -16.87 -27.15 ## 4. 押してから送るまで 1 秒を超えたもの (角度の読み取りが続けて失敗した) - teleop_20261103_080930 8.57秒に押した j0 → 送ったのは 21.45秒 (12.89 秒あと) ## 5. 0.5° の押しで, 送る前と届いた角度が変わったか (1 押し 0.5° の 2 本) - teleop_20261103_071424: 0.5° の送信 7 回のうち, 読んだ角度が 0.2° 以上動いたのは 3 回 - teleop_20261103_074936: 0.5° の送信 18 回のうち, 読んだ角度が 0.2° 以上動いたのは 8 回 ``` | 記録 | daemon の pymycobot | 長押しの形 | 長押しの送る間隔（中央） | 長押しの速さ（中央） | |---|---|---|---|---| | 7:49（074936） | 4.0.4 | 刻み（0.5°・2°） | 1.630秒 | 毎秒1.0° | | 7:57（075657） | 2.9.6 | 刻み（1°・2°） | 0.216秒 | 毎秒5.9° | | 8:06（080648） | 2.9.6 | 3°先を0.1秒おき | 0.126秒 | 毎秒8.3° | | 8:09（080930） | 2.9.6 | 3°先を0.1秒おき（目標を戻さない） | 0.119秒 | 毎秒7.7° | 【図解】LOG436_hold_modes.html ## 8:20：今の長押しをタグで残し、jog と fresh_mode を測る試しを用意した 指令を何度も送り直すやり方では、mechArm でなめらかに動かすのは難しいと見ています。アームには jog という、押している間だけ一定の速さで動き続ける命令があり、Pi の pymycobot 2.9.6 にも `jog_angle` と `jog_stop` が入っています。jog に変えるなら、押したら動かし始め、離したら止め、R1 で jog の速さを変え、L2+R2 で本当に動きを止められます。ただし daemon に jog と停止の命令と、通信が切れたら止める見張りを足す必要があり、mechArm のファームウェアが jog に応えるかもまだ分かりません。 > 今の仕様を暫定で保管（今の動きでも大方の問題は解決はできている）しつつ、jogの修正も進めてください。 > どこまでmecharmの動きを改善できるのか限界もまた知りたいです。 今の長押しは commit 413f7e1 にあり、`gamepad-stream-v1` のタグで残します。jog 版は別に作り、今の `gamepad_teleop.py` はそのまま使えるようにします。 前のシリーズ（mechArm 270 Pi 動的追従の限界を探る Log#1〜#2、LOG182・LOG183）では、fresh_mode を有効にすると Pi 上で毎秒91回まで指令を送れることと、アームの物理応答は振幅10°で約0.5秒かかることを測っています。その続きとして、同じ根元 j0 で4つの動かし方を並べて測る試し `jog_probe` を作りました。daemon を一時止めて Pi で直接 pymycobot を使う形で、手首の点検（`servo_check.sh`）と同じ流れです。 | テスト | 動かし方 | 見るもの | |---|---|---| | 0 | 読むだけ（get_angles を40回） | 1回の読み取りの時間と、空で返る割合 | | A | 1回だけ send_angles（+10°、speed 20） | 着くまでの時間と最高速度（アームそのものの速さ） | | B | 0.1秒おきに、読んだ角度 + 3° を send_angles（1秒） | 今の長押しのなめらかさ | | C | B と同じに fresh_mode(1) を足す | 上書きでなめらかになるか | | D | jog_angle を speed 10 と 30 で1秒ずつ → jog_stop | jog に応えるか・速さ・止める命令のあとの行きすぎ | どのテストも、始めの角度から25°離れたら止め、終わるたびに始めの角度へ戻します。0.1秒ごとの速さを並べて出すので、数字がそろっていればなめらか、0が混ざっていれば止まりながら動いている、と読めます。 #### tools/jog_probe.sh ```bash #!/bin/bash # jog_probe.sh — Mac から, Pi の mechArm で根元 j0 を 4 つの動かし方で動かし, なめらかさと限界を測る (2026-11-03) # # tools/jog_probe.sh A 1 回の send_angles / B 送り直し (今の長押し) / C 送り直し + fresh_mode / D jog (speed 10・30) # テストごとに Enter で進む。q と Enter で止める # # 流れ (tools/servo_check.sh と同じ): # 0. KIOXIA のマウントを確かめ, diag/jog_probe_{日時}/ を作る # 1. tools/pi/jog_probe_pi.py を Pi へ送る # 2. デーモンを止める (シリアルを直接使うため). 止まったこと・5555 とシリアルが空いたことを確かめる # 3. Pi で jog_probe_pi.py を流す (PYTHONPATH に 2.9.6 の置き場所を入れる) # 4. 終わったら (途中で止めても) 測るプロセスが残っていれば止め, 結果の JSON を持ち帰り, デーモンを元の起動のしかたで戻す # 画面の出力は全部 console.txt に残す。 set -u PI=ubuntu@192.168.2.1 KEY="$HOME/.ssh/id_rsa_pi" SSH_OPTS=(-i "$KEY" -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=3) # 切れたら約 15 秒で返る SSH=(ssh "${SSH_OPTS[@]}" "$PI") # 標準入力を使うもの (heredoc) SSHN=(ssh -n "${SSH_OPTS[@]}" "$PI") # 端末の入力を読まないもの UNIT=mecharm-daemon.service DATA_ROOT="${SERVO_CHECK_DATA_ROOT:-/Volumes/KIOXIA/r2r2r-data}" PI_SCRIPT=/home/ubuntu/jog_probe_pi.py PI_PYTHONPATH=/usr/local/lib/python2.7/dist-packages # 対話シェルの ~/.bashrc と同じ (pymycobot 2.9.6) DAEMON_UP_WAIT=${SERVO_CHECK_UP_WAIT:-60} # 戻したデーモンが 5555 を開くまで待つ上限 (秒) HERE="$(cd "$(dirname "$0")" && pwd)" case "${1:-}" in "") ;; *) echo "使い方: $0" >&2; exit 2 ;; esac if [ ! -d "$DATA_ROOT/diag" ]; then echo "ABORT: $DATA_ROOT/diag がない (KIOXIA がマウントされていない?)" >&2 exit 1 fi STAMP=$(date +%Y%m%d_%H%M%S) OUT="$DATA_ROOT/diag/jog_probe_$STAMP" if [ -e "$OUT" ]; then echo "ABORT: $OUT がすでにある" >&2 exit 1 fi mkdir "$OUT" || exit 1 PI_OUT=/tmp/jog_probe_$STAMP.json # Pi のデーモンの状態を key=value で出す remote_state() { "${SSH[@]}" 'bash -s' <<'REMOTE' pid=$(pgrep -f '[m]echarm_daemon\.py' | head -n 1) if [ "$(systemctl is-active mecharm-daemon.service 2>/dev/null)" = active ]; then mode=systemd elif [ -n "$pid" ]; then mode=manual else mode=none; fi echo "mode=$mode" echo "pid=${pid:-なし}" if ss -ltn | grep -q ':5555 '; then echo "listen=yes"; else echo "listen=no"; fi if [ -n "$pid" ]; then pp=$(tr '\0' '\n' < /proc/$pid/environ 2>/dev/null | sed -n 's/^PYTHONPATH=//p') echo "daemon_pythonpath=${pp:-(なし)}" fi # /dev/ttyAMA0 を開いているプロセス (root のものも見るため sudo。読めなければ「不明」) if sudo -n true 2>/dev/null; then u=$(sudo -n find /proc/[0-9]*/fd -lname /dev/ttyAMA0 2>/dev/null | cut -d/ -f3 | sort -u | tr '\n' ' ') u=${u% } echo "serial_users=${u:-(なし)}" else echo "serial_users=不明" fi if pgrep -f '[j]og_probe_pi\.py' > /dev/null; then echo "checker=yes"; else echo "checker=no"; fi REMOTE } state_val() { sed -n "s/^$1=//p" <<<"$2" | head -n 1; } MODE="" RESTORED=0 restore() { # デーモンを元に戻す (MODE が決まる前に終わったときは何もしない) [ "$RESTORED" = 1 ] && return RESTORED=1 [ -n "$MODE" ] || return # 点検のプロセスが残っていれば止めてから戻す (シリアルを二重に開かない) "${SSHN[@]}" "pkill -INT -f '[j]og_probe_pi\.py'; for i in 1 2 3 4 5; do pgrep -f '[j]og_probe_pi\.py' > /dev/null || exit 0; sleep 1; done; pkill -KILL -f '[j]og_probe_pi\.py'; sleep 1" scp -i "$KEY" -q -o ConnectTimeout=5 "$PI:$PI_OUT" "$OUT/result.json" 2>/dev/null && echo "結果の JSON: $OUT/result.json" || echo "結果の JSON は持ち帰れなかった" case "$MODE" in systemd) echo "--- デーモンを戻す (systemctl start)" "${SSHN[@]}" "sudo systemctl start $UNIT" ;; manual) echo "--- デーモンを戻す (対話シェルで手で起動)" "${SSHN[@]}" 'bash -ic "nohup python3 /home/ubuntu/mecharm_daemon.py >> /home/ubuntu/daemon.log 2>&1 &"' ;; *) return ;; esac local i st for ((i = 0; i < DAEMON_UP_WAIT; i += 5)); do st=$(remote_state) [ "$(state_val listen "$st")" = yes ] && break sleep 5 done echo "$st" if [ "$(state_val listen "$st")" = yes ]; then echo "デーモンは戻った (5555 LISTEN)" case "$(state_val daemon_pythonpath "$st")" in *python2.7*) ;; *) echo "注意: デーモンの PYTHONPATH に python2.7 がない (pymycobot 4.0.4 を読んでいるかもしれない)" ;; esac else echo "注意: デーモンが 5555 を開いていない。tools/daemon_ctl.sh status で確かめる" fi } main() { echo "jog_probe $STAMP (結果: $OUT)" trap 'restore' EXIT trap 'exit 130' INT TERM scp -i "$KEY" -q -o ConnectTimeout=5 "$HERE/pi/jog_probe_pi.py" "$PI:$PI_SCRIPT" || { echo "ABORT: Pi へ送れなかった"; exit 1; } echo "--- デーモンの状態 (止める前)" local st st=$(remote_state) || { echo "ABORT: Pi につながらない"; exit 1; } echo "$st" MODE=$(state_val mode "$st") case "$MODE" in systemd) "${SSHN[@]}" "sudo systemctl stop $UNIT" ;; manual) "${SSHN[@]}" "pkill -TERM -f '[m]echarm_daemon\.py'" ;; none) echo "デーモンは動いていない (終わったあとも起動しない)" ;; *) echo "ABORT: デーモンの状態が読めない"; MODE=""; exit 1 ;; esac local i for ((i = 0; i < 10; i++)); do st=$(remote_state) [ "$(state_val pid "$st")" = なし ] && [ "$(state_val listen "$st")" = no ] && break sleep 1 done echo "--- デーモンの状態 (止めたあと)" echo "$st" if [ "$(state_val pid "$st")" != なし ]; then echo "ABORT: デーモンが止まらない" exit 1 fi if [ "$(state_val listen "$st")" != no ]; then echo "ABORT: 5555 がまだ開いている" exit 1 fi if [ "$(state_val serial_users "$st")" != "(なし)" ]; then echo "ABORT: /dev/ttyAMA0 を開いているプロセスがある・確かめられない ($(state_val serial_users "$st"))" exit 1 fi ssh -tt "${SSH_OPTS[@]}" "$PI" "PYTHONPATH=$PI_PYTHONPATH python3 -u $PI_SCRIPT --out $PI_OUT" local rc=$? echo "--- jog_probe_pi.py の終了コード: $rc" exit "$rc" } main 2>&1 | tee -i "$OUT/console.txt" exit "${PIPESTATUS[0]}" ``` #### tools/pi/jog_probe_pi.py ```python #!/usr/bin/env python3 # -*- coding: utf-8 -*- """jog_probe_pi.py — 根元 j0 で 4 つの動かし方を測り, mechArm がどこまでなめらかに動くかを見る (2026-11-03) Mac の tools/jog_probe.sh から呼ぶ (デーモンを止めてから, シリアルに直接つなぐ)。 Pi の python3 は 3.6, pymycobot 2.9.6 (PYTHONPATH=/usr/local/lib/python2.7/dist-packages)。 測るもの (どれも j0 だけを動かす. 始める前に HOME 近くにいること. 各テストのあと始めの角度へ戻す): 0. 読み取り: get_angles を 40 回. 1 回の時間と, 空で返る割合 A. 1 回の send_angles (+10°, speed 20): 着くまでの時間と最高速度 (アーム自体の速さ) B. 送り直し (今のゲームパッドの長押しと同じ): 0.1 秒おきに「読んだ角度 + 3°」を send_angles. 1 秒 C. B と同じ. ただし set_fresh_mode(1) (前の動きを待たずに上書き) D. jog_angle(1, 向き, speed) を 1 秒 → jog_stop. speed 10 と 30 各テストで: 進んだ角度・平均の速さ・0.1 秒ごとの速さのばらつき (なめらかさ)・止まった区間の割合・ 止める命令のあとに進んだ角度 (行きすぎ) を出す。生の記録 (時刻と角度) は --out の JSON に入る。 守り: j0 が始めの角度から JOG_GUARD_DEG (25°) 離れたらそのテストを止める (jog_stop・stop)。 q と Enter (または Ctrl-C・ssh が切れたとき) で止める。終わるとき (止めたときも) jog_stop と set_fresh_mode(0)。 send_coords() は使わない。release 系は呼ばない。 """ from __future__ import print_function import argparse import json import select import signal import statistics import sys import time SERIAL_PORT = "/dev/ttyAMA0" BAUDRATE = 1000000 HOME = [0, 0, 0, 0, 0, -30] SPEED = 20 HOME_TOL_DEG = 5.0 JOG_GUARD_DEG = 25.0 STEP_A_DEG = 10.0 STREAM_SEC = 1.0 STREAM_INTERVAL_SEC = 0.1 STREAM_AHEAD_DEG = 3.0 JOG_SEC = 1.0 JOG_SPEEDS = (10, 30) AFTER_STOP_SEC = 1.0 RETURN_TIMEOUT_SEC = 10.0 BIN_SEC = 0.1 GET_ANGLES_RETRIES = 12 class Quit(Exception): pass def now(): return time.time() def stdin_quit(): r, _w, _x = select.select([sys.stdin], [], [], 0) if r: line = sys.stdin.readline() if line.strip().lower() == "q": raise Quit() def ask(msg): print(msg + " (Enter で進む / q と Enter で終わる)", flush=True) line = sys.stdin.readline() if not line or line.strip().lower() == "q": raise Quit() def read_angles(mc, tries=GET_ANGLES_RETRIES): for _ in range(tries): a = mc.get_angles() if a and len(a) == 6: return [float(x) for x in a] time.sleep(0.02) return None def wait_arrive(mc, target, timeout): t0 = now() a = None while now() - t0 < timeout: stdin_quit() a = read_angles(mc) if a is not None and max(abs(x - y) for x, y in zip(a, target)) <= 2.0: return a, True time.sleep(0.1) return a, False def summarize(samples, t_cmd0, t_stop, sign): """samples: [(t, j0)]. t_cmd0 = 動かし始めた時刻, t_stop = 止める命令 (なければ None).""" act = [(t, q) for t, q in samples if t >= t_cmd0 and (t_stop is None or t <= t_stop)] out = {"n_samples": len(samples)} if len(act) < 2: return out travel = (act[-1][1] - act[0][1]) * sign dur = act[-1][0] - act[0][0] out.update(travel_deg=round(travel, 2), active_sec=round(dur, 2), mean_speed=round(travel / dur, 2) if dur > 0 else None) # 0.1 秒ごとの速さ (最初の 0.2 秒は加速として除く) bins = [] t = act[0][0] + 0.2 while t + BIN_SEC <= act[-1][0]: seg = [(ts, q) for ts, q in act if t <= ts <= t + BIN_SEC] if len(seg) >= 2: bins.append((seg[-1][1] - seg[0][1]) * sign / (seg[-1][0] - seg[0][0]) if seg[-1][0] > seg[0][0] else 0.0) t += BIN_SEC if bins: med = statistics.median(bins) out.update(bin_speeds=[round(b, 1) for b in bins], median_speed=round(med, 2), max_speed=round(max(bins), 2), speed_cv=round(statistics.pstdev(bins) / med, 2) if med > 0.5 else None, stall_ratio=round(sum(1 for b in bins if b < 0.25 * med) / len(bins), 2) if med > 0.5 else None) if t_stop is not None: before = [q for ts, q in samples if ts <= t_stop] after = [(ts, q) for ts, q in samples if ts > t_stop] if before and after: q_stop = before[-1] out["overshoot_deg"] = round((after[-1][1] - q_stop) * sign, 2) moving = [ts for (ts, q), (ts2, q2) in zip(after, after[1:]) if abs(q2 - q) > 0.1] out["stop_latency_sec"] = round(moving[-1] - t_stop, 2) if moving else 0.0 return out def run_sampling(mc, start, sec, sign, on_tick=None, label=""): """sec 秒, できるだけ速く j0 を読む. on_tick(t, angles) を毎回呼ぶ. 守りを超えたら止める.""" samples = [] t0 = now() while now() - t0 < sec: stdin_quit() a = mc.get_angles() t = now() if a and len(a) == 6: samples.append((t, float(a[0]))) if abs(float(a[0]) - start[0]) > JOG_GUARD_DEG: print(" 守り: j0 が始めから {:.1f}° 離れたので止めます".format(float(a[0]) - start[0]), flush=True) return samples, True if on_tick is not None: on_tick(t, [float(x) for x in a]) return samples, False def back_to_start(mc, start): mc.send_angles(start, SPEED) a, ok = wait_arrive(mc, start, RETURN_TIMEOUT_SEC) print(" 始めの角度へ戻した: " + ("着いた" if ok else "着かない") + " j0={}".format(None if a is None else round(a[0], 2)), flush=True) time.sleep(0.5) def test_read(mc): lat, empty = [], 0 for _ in range(40): t = now() a = mc.get_angles() lat.append(now() - t) if not (a and len(a) == 6): empty += 1 r = {"median_ms": round(statistics.median(lat) * 1000, 1), "max_ms": round(max(lat) * 1000, 1), "empty_ratio": round(empty / 40.0, 2)} print(" 読み取り 1 回: 中央 {median_ms} ms / 最大 {max_ms} ms / 空で返った割合 {empty_ratio}".format(**r), flush=True) return r def test_step(mc, start): target = list(start) target[0] = start[0] + STEP_A_DEG t_cmd = now() mc.send_angles(target, SPEED) samples, guard = run_sampling(mc, start, 2.0, +1) s = summarize(samples, t_cmd, None, +1) reached = [t for t, q in samples if abs(q - target[0]) <= 1.0] s["arrive_sec"] = round(reached[0] - t_cmd, 2) if reached else None return s, samples, t_cmd, None def test_stream(mc, start, sign, fresh): if fresh: mc.set_fresh_mode(1) st = {"last": 0.0, "n": 0} t_cmd = now() def tick(t, a): if t - st["last"] >= STREAM_INTERVAL_SEC: target = list(start) target[0] = a[0] + sign * STREAM_AHEAD_DEG mc.send_angles(target, SPEED) st["last"] = t st["n"] += 1 try: samples, guard = run_sampling(mc, start, STREAM_SEC, sign, on_tick=tick) t_stop = now() after, _ = run_sampling(mc, start, AFTER_STOP_SEC, sign) finally: if fresh: mc.set_fresh_mode(0) s = summarize(samples + after, t_cmd, t_stop, sign) s["n_sends"] = st["n"] return s, samples + after, t_cmd, t_stop def test_jog(mc, start, sign, speed): direction = 1 if sign > 0 else 0 t_cmd = now() try: mc.jog_angle(1, direction, speed) samples, guard = run_sampling(mc, start, JOG_SEC, sign) finally: mc.jog_stop() t_stop = now() after, _ = run_sampling(mc, start, AFTER_STOP_SEC, sign) s = summarize(samples + after, t_cmd, t_stop, sign) moved = abs(samples[-1][1] - samples[0][1]) if len(samples) >= 2 else 0.0 s["jog_moved"] = moved > 1.0 return s, samples + after, t_cmd, t_stop def show(name, s): keys = ["travel_deg", "mean_speed", "median_speed", "max_speed", "speed_cv", "stall_ratio", "overshoot_deg", "stop_latency_sec", "arrive_sec", "n_sends", "jog_moved"] print(" [{}] ".format(name) + " ".join("{}={}".format(k, s[k]) for k in keys if k in s), flush=True) if "bin_speeds" in s: print(" 0.1 秒ごとの速さ (°/秒): " + " ".join(str(v) for v in s["bin_speeds"]), flush=True) def main(argv=None): ap = argparse.ArgumentParser() ap.add_argument("--out", required=True) args = ap.parse_args(argv) def on_hup(signum, frame): raise Quit() signal.signal(signal.SIGHUP, on_hup) import pymycobot from pymycobot.mycobot import MyCobot print("pymycobot {} ({})".format(getattr(pymycobot, "__version__", "?"), pymycobot.__file__), flush=True) mc = MyCobot(SERIAL_PORT, BAUDRATE) time.sleep(0.5) result = {"started_at": time.strftime("%Y-%m-%d %H:%M:%S"), "pymycobot": getattr(pymycobot, "__version__", "?"), "params": {"speed": SPEED, "stream_interval": STREAM_INTERVAL_SEC, "stream_ahead": STREAM_AHEAD_DEG, "jog_speeds": list(JOG_SPEEDS), "guard_deg": JOG_GUARD_DEG}, "tests": {}} try: start = read_angles(mc) print("始めの角度: {}".format(start), flush=True) if start is None: print("角度が読めないので終わります", flush=True) return 1 if max(abs(x - y) for x, y in zip(start, HOME)) > HOME_TOL_DEG: ask("HOME から離れています。HOME [0,0,0,0,0,-30] へ送ります") mc.send_angles(HOME, SPEED) start, ok = wait_arrive(mc, HOME, 15.0) if not ok: print("HOME に着かないので終わります", flush=True) return 1 time.sleep(0.5) start = read_angles(mc) result["start"] = start print("根元 j0 だけを、始めの角度から 25° 以内で動かします。毎回始めの角度へ戻します。", flush=True) print("\n0. 読み取りの速さ (動かさない)", flush=True) result["tests"]["read"] = test_read(mc) plan = [("A_step_10deg", lambda: test_step(mc, start)), ("B_stream", lambda: test_stream(mc, start, +1, False)), ("C_stream_fresh", lambda: test_stream(mc, start, -1, True)), ("D_jog_speed{}".format(JOG_SPEEDS[0]), lambda: test_jog(mc, start, +1, JOG_SPEEDS[0])), ("D_jog_speed{}".format(JOG_SPEEDS[1]), lambda: test_jog(mc, start, -1, JOG_SPEEDS[1]))] for name, fn in plan: ask("\n{} を始めます".format(name)) s, samples, t_cmd, t_stop = fn() show(name, s) result["tests"][name] = dict(s, samples=[[round(t - t_cmd, 4), round(q, 2)] for t, q in samples], t_stop=None if t_stop is None else round(t_stop - t_cmd, 4)) back_to_start(mc, start) except Quit: print("\n止めました (このあとは動かす命令を送りません)", flush=True) result["quit"] = True finally: for f in (getattr(mc, "jog_stop", None),): try: if f is not None: f() except Exception: pass try: mc.set_fresh_mode(0) except Exception: pass with open(args.out, "w") as fp: json.dump(result, fp, ensure_ascii=False) print("結果: " + args.out, flush=True) return 0 if __name__ == "__main__": sys.exit(main()) ``` 実機の代わりに、0.1秒で目標へ寄る偽の MyCobot（毎秒25°で動き、jog は speed の0.6倍の速さ）で一通り流し、テストの流れと数え方が動くことを確かめました。偽物の数字なので、mechArm の値ではありません。 #### 偽の pymycobot.mycobot（確かめ用） ```python import time class MyCobot: def __init__(s,*a): s.q=[0.3,0,0,0,0,-30.0]; s.t=time.time(); s.tgt=None; s.v=0; s.calls=[] def _upd(s): t=time.time(); dt=t-s.t; s.t=t if s.v: s.q[0]+=s.v*dt elif s.tgt is not None: d=s.tgt-s.q[0]; step=25*dt s.q[0]+= max(-step,min(step,d)) def get_angles(s): time.sleep(0.01); s._upd(); return list(s.q) def send_angles(s,a,sp): s._upd(); s.tgt=a[0]; s.v=0; s.calls.append(("send",a[0])) def jog_angle(s,j,d,sp): s._upd(); s.v=(sp*0.6)*(1 if d==1 else -1); s.calls.append(("jog",j,d,sp)) def jog_stop(s): s._upd(); s.v=0; s.tgt=s.q[0] def set_fresh_mode(s,v): pass ``` #### 偽の MyCobot で jog_probe_pi.py を流した出力 ```text pymycobot fake (/sessions/rcw-01levexrnwfwwxydvm8wrmgs/work/fakepmc/pymycobot/__init__.py) 始めの角度: [0.3, 0.0, 0.0, 0.0, 0.0, -30.0] 根元 j0 だけを、始めの角度から 25° 以内で動かします。毎回始めの角度へ戻します。 0. 読み取りの速さ (動かさない) 読み取り 1 回: 中央 12.4 ms / 最大 15.4 ms / 空で返った割合 0.0 A_step_10deg を始めます (Enter で進む / q と Enter で終わる) [A_step_10deg] travel_deg=9.7 mean_speed=4.87 median_speed=0.0 max_speed=29.42 speed_cv=None stall_ratio=None arrive_sec=0.36 0.1 秒ごとの速さ (°/秒): 25.0 29.4 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 始めの角度へ戻した: 着いた j0=1.1 B_stream を始めます (Enter で進む / q と Enter で終わる) 守り: j0 が始めから 25.2° 離れたので止めます [B_stream] travel_deg=24.93 mean_speed=24.99 median_speed=24.99 max_speed=25.01 speed_cv=0.0 stall_ratio=0.0 overshoot_deg=0.31 stop_latency_sec=0.0 n_sends=10 0.1 秒ごとの速さ (°/秒): 25.0 25.0 25.0 24.9 25.0 25.0 25.0 始めの角度へ戻した: 着いた j0=2.18 C_stream_fresh を始めます (Enter で進む / q と Enter で終わる) 守り: j0 が始めから -25.3° 離れたので止めます [C_stream_fresh] travel_deg=24.65 mean_speed=24.99 median_speed=25.0 max_speed=25.03 speed_cv=0.0 stall_ratio=0.0 overshoot_deg=0.61 stop_latency_sec=0.01 n_sends=10 0.1 秒ごとの速さ (°/秒): 25.0 25.0 25.0 25.0 25.0 25.0 25.0 始めの角度へ戻した: 着いた j0=0.3 D_jog_speed10 を始めます (Enter で進む / q と Enter で終わる) [D_jog_speed10] travel_deg=5.97 mean_speed=6.0 median_speed=6.0 max_speed=6.0 speed_cv=0.0 stall_ratio=0.0 overshoot_deg=0.01 stop_latency_sec=0.0 jog_moved=True 0.1 秒ごとの速さ (°/秒): 6.0 6.0 6.0 6.0 6.0 6.0 6.0 始めの角度へ戻した: 着いた j0=0.3 D_jog_speed30 を始めます (Enter で進む / q と Enter で終わる) [D_jog_speed30] travel_deg=17.77 mean_speed=18.0 median_speed=18.0 max_speed=18.05 speed_cv=0.01 stall_ratio=0.0 overshoot_deg=0.05 stop_latency_sec=0.0 jog_moved=True 0.1 秒ごとの速さ (°/秒): 17.7 18.0 18.0 18.0 18.0 18.0 18.0 始めの角度へ戻した: 着いた j0=-0.45 結果: /tmp/jp.json ``` 実機の jog_probe は、アームを止めたので次の回で流します。 ## 次に実機で確かめること | 順番 | 確かめること | 見る数字 | |---|---|---| | 1 | `git tag gamepad-stream-v1 413f7e1` で今の長押しを残し、`tools/jog_probe.sh` を流す | テストごとの0.1秒ごとの速さ・止まった区間の割合・jog の行きすぎ | | 2 | jog に応えれば、jog 版のゲームパッドを作る（daemon に jog と停止と見張り） | 長押しの速さのばらつき・離してから止まるまでの角度 | | 3 | 十字キーの右で根元がどちらに回るかを決める（今は右 = +） | ― | | 4 | AI（π0.5）の動きを、ゲームパッドで直す | 1回の直しにかかる時間・2.9.6 に戻した daemon での推論の送る待ち | | 5 | 手首の点検のスクリプト（servo_check.sh）の2回目のレビューを通してコミットする | ― | ## この回のコード（全文） ### gamepad_teleop.py（commit 413f7e1） ```python #!/usr/bin/env python3 """gamepad_teleop.py — ゲームパッドで mechArm 270 を手で動かす (依頼 68. 2026-11-02) PICK で爪の位置がずれたときに, エイイチがゲームパッドで左右・上げ下げ・爪の開閉を直す. 押した分だけそのまま動く. 自動で動く要素は入れない (自動の握り直し・失敗時の自動 HOME などはない). 押した操作と, 送った角度・届いた角度をすべて log.jsonl に残す (あとで「人が直した記録」として使う). 操作 (エイイチが決めた. 変えない): 十字キー 左 / 右 (13 / 14) j0 を 1° ずつ (2026-11-03 に 0.5° から変えた. 0.5° ではサーボが反応しなかった). どの関節を選んでいても いつも j0 (向き: 左 = J0_LEFT_SIGN. 依頼に向きの指定がないので, 右 = +, 左 = − にしてある) 十字キー 上 / 下 (11 / 12) 選んでいる関節を 1° ずつ. 上 = −, 下 = +. 始めは j1 十字キーの長押し 押している間, 止めずに動かし続ける (2026-11-03). 短く押せば 1 刻み. 押して HOLD_START_SEC (0.4 秒) たっても押していれば, HOLD_INTERVAL_SEC (0.1 秒) おきに 「いま読んだ角度から HOLD_AHEAD_DEG (3°) 先」を送り直す. アームは目標に着く前に次の目標を 受け取るので止まらず, speed 20 の速さで動き続ける (刻みごとに着いて止まるとぎこちなかった). 長押しの送信では届いたかを待たない. 先へ出るのは最大 3° (離すと, そこまで動いて止まる). R1 は短い押しの刻み (2°) にだけ効く. 長押しの速さは speed で決まる (20 のまま). 離したら, 送ると決める前の送信は取り消す. 押し始めに受け付けられなかった押し (動いている間・停止中) は, 押し続けても長押しにしない. 離した合図を取りこぼしても止まるよう, 毎コマ コントローラーのボタンの状態も見る. HOLD_STALL_SEC (1 秒) のあいだ動かした関節が進んでいなければ, その長押しは止める (当たっているなど). 離す・L2+R2・範囲の端・△・ほかのボタン・接続が切れる で長押しは止まる △ (3) 上下で動かす関節を切り替える: j1 → j2 → j3 → j4 → j5 → j1 R1 (10) を押しながら 1 回 2° ずつ (十字キーの左右・上下とも) × (0) / ○ (1) 爪を閉じる / 開く HOME (5) を 1 秒長押し HOME [0, 0, 0, 0, 0, -30] に戻る. 1 秒続けて押したときに 1 回だけ送る L2 と R2 (軸 4・5) の両方が 0.0 を超えたとき 停止. 以後の動く操作を受け付けない. OPTIONS (6) で再開 L2+R2 は新しい指令を送らないだけで, 送った 1 回分 (HOME を含む) は最後まで動く ほかのボタン (□・SHARE・L1・L3・R3・タッチパッド・スティック) は何もしない 守り: - j1 は 90.87 (arm_kinematics.md の PICK_J1_FIXED) を超える指令を送らない (fk_lookup.J1_SAFE_MAX = 88.0 は別の用途の値なので, ここでは使わない) - 各関節は物理可動域 (wr.JOINT_LIMITS) まで. j4 は J4_SAFE (−90〜+60) (基準の姿勢から j0 ±15°・j1〜j5 ±10° の枠は 2026-11-03 にやめた. HOME から手でブロックの上まで運ぶため) - 範囲で切られたら理由を画面とログに出す. 別の関節で補わない - HOME だけは範囲の検査を通さずに送れる (run_policy_client.py の h と同じ扱い) 送り方: - send_angles だけ (send_coords は使わない). speed 20 (j0_sweep_scan.SPEED) - 1 回押すごとに目標を 1 つ作って送り, 3° 以内に届いたかを読んで確かめる. 送った指令が無視されることがある (どの関節も動かない. 2026-11-03 の実機で 3 回, 8 秒止まった. waypoint_replay.py の「単発は無視されるが, 打ち直せば通る」と同じ). 送ってから IGNORED_CHECK_SEC (0.5 秒) たっても, 届いておらず, どの関節も IGNORED_MOVE_DEG (0.3°) 動いていなければ, 同じ目標を 送り直す (IGNORED_MAX_RESENDS 回まで). 送り直しも SendGate の中で行うので, 停止のあとは送らない - 送ってから届くまで (または待ちの上限まで) と, 爪のあとの GRIPPER_SLEEP の間は 次の動く操作を受け付けない (ためない). 停止はいつでも受け付ける (送る仕事は別のスレッドで行い, 画面とコントローラーの読み取りは止めない) - 停止が入ったあとは新しい指令を送らない. **動いている途中の動きは止められない** (daemon に止める命令がない. 依頼 68 の報告を参照) 1 回の出発点: 直前に送った目標に届いていて, 送る前に読んだ角度とも 3° 以内なら その目標. そうでなければ 読んだ角度. (j1 の重さによる 2〜3° の不足があっても, 0.5° の刻みが読んだ値に引きずられないように. 手で動かされたなど 3° を超えて離れていたら, 古い目標から大きく動かさない) 出発点の 6 関節のどれかが範囲の外なら送らない (範囲の端へ切って 1 回で大きく動かさない). 停止と送信の順番 (codex R1): 「送ると決める」と「停止・終了の取り消し」を 仕事ごとの鍵 (SendGate) で並べる (codex R1・R2). 停止のあとに送ると決める指令はない. 停止は待たされない (画面も止まらない). 停止より前に決めた送信は 通信の上限 SEND_RPC_TIMEOUT_SEC (8 秒) の中で終わる. 止める前に作った仕事は OPTIONS で再開しても生き返らない. 1 コマの中では L2+R2 と読み取りの失敗を ボタンより先に見る. 送ったあと確かめる途中で関節角を 読めなければ停止にする. log.jsonl に書けなくなったら停止し, 再開させない. 終わり方: Ctrl+C / ウィンドウを閉じる. 新しい指令は送らずに終わる. アームは動かさない (HOME 復帰もサーボ解放もしない. run_policy_client.py の finally と同じ) Usage: python3 tools/gamepad_teleop.py # ドライラン (daemon にもアームにも触らない. HOME から始まる仮の姿勢) python3 tools/gamepad_teleop.py --execute # daemon に送る 記録 (--execute のときだけ): /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/{run_stem}/ log.jsonl (押した操作 1 つにつき 1 行) / meta.json / gamepad_teleop.py (使ったスクリプトの写し) 通しの完走ではないので台帳には書かない. ドライランは記録しない (KIOXIA に何も書かない・フォルダも作らない. KIOXIA がなくても動く. 依頼 69) 読み込み (依頼 69): run_policy_client・j0_sweep_scan・visual_servo_pick は cv2 を読み, cv2 は自分の libSDL2 (site-packages/cv2/.dylibs/) を持っている. pygame の libSDL2 と 2 つ入ると objc の 「Class SDLApplication is implemented in both ...」が十数行出る. なのでこの 3 つは --execute のときだけ load_daemon_modules() で読む (ドライランでは cv2 も daemon の送り口も読まない). ドライランでも要る値 (HOME・J4_SAFE・GRIPPER_SLEEP・物理可動域) は, 読み込まずに元のファイルの 代入から読む (二重に書かない). --execute で読んだあと, 読み込んだ値と同じかを確かめる. --execute では cv2 を読むので 警告は今までどおり出る (動きには影響なし). """ import argparse import ast import hashlib import json import os import platform import queue import shutil import subprocess import sys import threading import time from datetime import datetime from pathlib import Path # ウィンドウが手前にないときもコントローラーの入力を受け取る (gamepad_check.py と同じ) os.environ.setdefault("SDL_JOYSTICK_ALLOW_BACKGROUND_EVENTS", "1") os.environ.setdefault("PYGAME_HIDE_SUPPORT_PROMPT", "1") import numpy as np # noqa: E402 import pygame # noqa: E402 _HERE = Path(__file__).resolve().parent _ROOT = _HERE.parent sys.path.insert(0, str(_ROOT / "pi05")) _RPC_PATH = _ROOT / "pi05" / "run_policy_client.py" _WR_PATH = _ROOT / "dynamic_tracking_limits" / "drag_teaching" / "waypoint_replay.py" def read_constants(path, names): """path を読み込まずに (実行せずに), 一番外の `名前 = 値` の値を読む. 1 回だけ代入されている名前に限る. ファイルのどこかで ほかの形 (+= ・型注釈つき・連鎖・for・global の中など) で同じ名前に代入していれば止める (--execute では読み込んだ値とも比べる).""" found = {} tree = ast.parse(Path(path).read_text(encoding="utf-8")) simple = set() for node in tree.body: if isinstance(node, ast.Assign) and len(node.targets) == 1 and isinstance(node.targets[0], ast.Name): name = node.targets[0].id if name in names: if name in found: raise RuntimeError(f"{path} で {name} が 2 回代入されています") found[name] = ast.literal_eval(node.value) simple.add(id(node.targets[0])) for node in ast.walk(tree): if (isinstance(node, ast.Name) and node.id in names and isinstance(node.ctx, (ast.Store, ast.Del)) and id(node) not in simple): raise RuntimeError(f"{path} で {node.id} がほかの形でも代入されています (行 {node.lineno})") missing = [n for n in names if n not in found] if missing: raise RuntimeError(f"{path} に {missing} が見つかりません") return found # 爪 (gripper_cmd)・HOME・J4_SAFE・関節角の読み方 (read_angles) は run_policy_client と同じものを使う. # daemon の送り口と run_policy_client は --execute のときだけ load_daemon_modules() で読む (cv2 の SDL を避ける) _RPC_CONST = read_constants(_RPC_PATH, ("HOME", "J4_SAFE", "GRIPPER_SLEEP")) _WR_CONST = read_constants(_WR_PATH, ("JOINT_LIMITS",)) rpc = None wr = None SPEED = POLL_SLEEP = REACH_TIMEOUT_SEC = None # j0_sweep_scan の 20 / 0.3 / 8.0 (--execute で読む) close_daemon_socket = daemon_send_angles = daemon_set_gripper = daemon_set_gripper_value = get_daemon_socket = None def load_daemon_modules(): """--execute のときだけ呼ぶ. run_policy_client (パスと pymycobot のスタブも入る)・j0_sweep_scan・ visual_servo_pick の daemon の送り口を読む. 2 回目からは何もしない. 読み込まずに読んだ値 (HOME・J4_SAFE・GRIPPER_SLEEP・JOINT_LIMITS) と違えば止める.""" global rpc, wr, SPEED, POLL_SLEEP, REACH_TIMEOUT_SEC global close_daemon_socket, daemon_send_angles, daemon_set_gripper, daemon_set_gripper_value, get_daemon_socket if rpc is not None: return import run_policy_client as _rpc import j0_sweep_scan as _j0 import visual_servo_pick as _vsp pairs = (("HOME", _rpc.HOME, HOME), ("J4_SAFE", _rpc.J4_SAFE, J4_SAFE), ("GRIPPER_SLEEP", _rpc.GRIPPER_SLEEP, GRIPPER_SLEEP), ("JOINT_LIMITS", _rpc.wr.JOINT_LIMITS, JOINT_LIMITS)) diff = [n for n, loaded, read in pairs if _norm(loaded) != _norm(read)] if diff: raise RuntimeError(f"読み込んだ値がファイルから読んだ値と違います: {diff}") SPEED, POLL_SLEEP, REACH_TIMEOUT_SEC = _j0.SPEED, _j0.POLL_SLEEP, _j0.REACH_TIMEOUT_SEC close_daemon_socket, daemon_send_angles = _vsp.close_daemon_socket, _vsp.daemon_send_angles daemon_set_gripper, daemon_set_gripper_value = _vsp.daemon_set_gripper, _vsp.daemon_set_gripper_value get_daemon_socket = _vsp.get_daemon_socket wr = _rpc.wr rpc = _rpc def _norm(v): if isinstance(v, (list, tuple)): return [_norm(x) for x in v] return float(v) # ---- ボタンと軸 (/Volumes/KIOXIA/r2r2r-data/diag/gamepad_check_20261102/ で確かめた番号) ---- BTN_CROSS = 0 BTN_CIRCLE = 1 BTN_SQUARE = 2 BTN_TRIANGLE = 3 BTN_SHARE = 4 BTN_HOME = 5 BTN_OPTIONS = 6 BTN_L3 = 7 BTN_R3 = 8 BTN_L1 = 9 BTN_R1 = 10 BTN_UP = 11 BTN_DOWN = 12 BTN_LEFT = 13 BTN_RIGHT = 14 BTN_TOUCHPAD = 15 BUTTON_NAMES = { BTN_CROSS: "cross", BTN_CIRCLE: "circle", BTN_SQUARE: "square", BTN_TRIANGLE: "triangle", BTN_SHARE: "share", BTN_HOME: "home", BTN_OPTIONS: "options", BTN_L3: "l3", BTN_R3: "r3", BTN_L1: "l1", BTN_R1: "r1", BTN_UP: "dpad_up", BTN_DOWN: "dpad_down", BTN_LEFT: "dpad_left", BTN_RIGHT: "dpad_right", BTN_TOUCHPAD: "touchpad", } AXIS_L2 = 4 AXIS_R2 = 5 TRIGGER_STOP_ABOVE = 0.0 # L2 と R2 の両方がこれを超えたら停止 (離して -1.0, 押し込んで +1.0) # ---- 動かし方 ---- STEP_FINE_DEG = 1.0 # 2026-11-03: 0.5° はサーボが反応しなかった (読んだ角度が変わらない). 1° にした STEP_COARSE_DEG = 2.0 # R1 を押しながら J0_LEFT_SIGN = -1.0 # 十字キー左で j0 を動かす向き (右はその逆). 依頼に向きの指定がない UP_SIGN = -1.0 # 十字キー上 = −, 下 = + (PICK の上空 → 床で j1・j2・j4 が増える向き) SELECT_ORDER = (1, 2, 3, 4, 5) # △ で回す順. 始めは j1 HOME_HOLD_SEC = 1.0 HOME = [float(v) for v in _RPC_CONST["HOME"]] # [0, 0, 0, 0, 0, -30] # ---- 守り ---- J1_MAX_DEG = 90.87 # arm_kinematics.md の PICK_J1_FIXED (エイイチと決めた. J1_SAFE_MAX 88 は使わない) J4_SAFE = tuple(float(v) for v in _RPC_CONST["J4_SAFE"]) # (-90, 60) JOINT_LIMITS = [tuple(float(v) for v in lim) for lim in _WR_CONST["JOINT_LIMITS"]] # 物理可動域 (wr.JOINT_LIMITS) GRIPPER_SLEEP = float(_RPC_CONST["GRIPPER_SLEEP"]) # 爪のあとの待ち (rpc.GRIPPER_SLEEP. ドライランと画面の表示で使う) LIMIT_EPS_DEG = 1e-6 REACH_TOL_DEG = 3.0 # 届いたかの判定 (推論の到着確認と同じ 3°) # ---- 長押し (2026-11-03) ---- HOLD_START_SEC = 0.4 # 押してからこれだけたっても押していれば, 長押しとして送り続ける HOLD_INTERVAL_SEC = 0.1 # 長押しで目標を送り直す間隔 HOLD_AHEAD_DEG = 3.0 # 長押しの目標 = 読んだ角度からこれだけ先 (アームが着く前に次を送る. 離すとこれだけ先で止まる) HOLD_STALL_SEC = 1.0 # このあいだ動かした関節が HOLD_STALL_DEG 進んでいなければ, 長押しを止める HOLD_STALL_DEG = 0.3 DRY_HOLD_MAX_DEG = 1.5 # ドライランの長押しで 1 回に動かす量 (0.1 秒で 1.5° = 15°/秒 のつもり) # ---- 無視された指令の送り直し (2026-11-03) ---- IGNORED_CHECK_SEC = 0.5 # 送ってからこれだけたっても動いていなければ, 無視されたとみなす IGNORED_MOVE_DEG = 0.3 # どの関節もこれより動いていなければ「動いていない」 IGNORED_MAX_RESENDS = 3 # 送り直す回数の上限 DRY_MOVE_SEC = 0.3 # ドライランで「動いている」状態を見せる時間 SEND_RPC_TIMEOUT_SEC = 8.0 # send_angles 1 回の通信 (接続・ping・送信・返事) の上限. 通信が詰まった # 送信が 停止のずっとあとに届かないように (daemon の返事は送信後の読み直し込みで最長 3.7 秒. LOG352) WORKER_JOIN_SEC = 12.0 # 終わるとき, 送っている途中の仕事が戻るのを待つ上限 (読み取り 1 回は最長 3.7 秒) DATA_ROOT = Path("/Volumes/KIOXIA/r2r2r-data") LOG_ROOT = DATA_ROOT / "runs" / "experiments" / "gamepad_teleop" SSD_MOUNT = "/Volumes/KIOXIA" STATE_IDLE = "IDLE" STATE_MOVING = "MOVING" STATE_STOPPED = "STOPPED" def ensure_ssd_mounted(): if not os.path.ismount(SSD_MOUNT): sys.exit("[ABORT] KIOXIA がマウントされていません。記録をローカルには逃がさず、ここで止めます。") def _r(a): return None if a is None else [round(float(v), 2) for v in a] def _fmt(a): return "None" if a is None else " ".join(f"{float(v):+.2f}" for v in a) # ============================================================================= # 守り (純関数. テストで直接呼ぶ) # ============================================================================= def joint_window(): """各関節に送ってよい範囲 (lo, hi, 各端の出どころ) を作る. 出どころ: PHYS (物理可動域) / J4_SAFE / J1_MAX. 狭い方が勝つ.""" lo, hi, lo_src, hi_src = [], [], [], [] for k in range(6): cands_lo = [(JOINT_LIMITS[k][0], "PHYS")] cands_hi = [(JOINT_LIMITS[k][1], "PHYS")] if k == 4: cands_lo.append((J4_SAFE[0], "J4_SAFE")) cands_hi.append((J4_SAFE[1], "J4_SAFE")) if k == 1: cands_hi.append((J1_MAX_DEG, "J1_MAX")) v_lo, s_lo = max(cands_lo, key=lambda c: c[0]) v_hi, s_hi = min(cands_hi, key=lambda c: c[0]) lo.append(v_lo); hi.append(v_hi); lo_src.append(s_lo); hi_src.append(s_hi) return np.array(lo), np.array(hi), lo_src, hi_src LIMIT_JA = {"PHYS": "物理可動域", "J4_SAFE": "J4_SAFE", "J1_MAX": "j1 の上限 90.87 (PICK_J1_FIXED)"} def plan_step(start, joint, delta): """start (今回の出発点) の joint を delta 動かした目標を作り, 範囲を通す. 戻り値 dict: target 送る目標 (6) or None (送らない) clip 切られた中身 [{joint, want, cmd, limit, bound}] (切られて端まで送るとき) refused 送らない理由 [{joint, value, limit, lo, hi, ...}] (空なら送ってよい) 動かした関節は範囲の端で切る (端までは送る). 端にいて押した向きに 1 ° も進めないときは送らない. ほかの関節は変えない (補わない). 6 関節のどれかが範囲の外なら送らない. """ lo, hi, lo_src, hi_src = joint_window() want = np.asarray(start, dtype=float)[:6].copy() out = {"target": None, "clip": [], "refused": []} if not np.all(np.isfinite(want)): out["refused"].append({"joint": None, "why": "nonfinite_start", "value": _r(want)}) return out # 出発点の 6 関節がどれか範囲の外なら送らない (切ってから送ると, 範囲の外から 1 回で # 刻みより大きく動く. 例: j1=100 から −0.5 を押すと 90.87 へ −9.13° になる. codex 必須 2) for k in range(6): if want[k] < lo[k] - LIMIT_EPS_DEG or want[k] > hi[k] + LIMIT_EPS_DEG: src = hi_src[k] if want[k] > hi[k] else lo_src[k] out["refused"].append({"joint": k, "why": "start_out_of_window", "value": round(want[k], 2), "lo": round(lo[k], 2), "hi": round(hi[k], 2), "limit": src}) if out["refused"]: return out v = want[joint] + delta if lo[joint] > hi[joint]: out["refused"].append({"joint": joint, "why": "empty_window", "value": round(v, 2), "lo": round(lo[joint], 2), "hi": round(hi[joint], 2), "limit": f"{lo_src[joint]}/{hi_src[joint]}"}) return out c = min(max(v, lo[joint]), hi[joint]) if abs(c - v) > LIMIT_EPS_DEG: src = hi_src[joint] if v > hi[joint] else lo_src[joint] bound = hi[joint] if v > hi[joint] else lo[joint] out["clip"].append({"joint": joint, "want": round(v, 2), "cmd": round(c, 2), "limit": src, "bound": round(float(bound), 2)}) if (c - want[joint]) * np.sign(delta) <= LIMIT_EPS_DEG: # 端にいる (または出発点が範囲の外で, 押した向きに進めない) src = hi_src[joint] if delta > 0 else lo_src[joint] out["refused"].append({"joint": joint, "why": "at_limit", "value": round(v, 2), "lo": round(lo[joint], 2), "hi": round(hi[joint], 2), "limit": src}) return out want[joint] = c for k in range(6): if want[k] < lo[k] - LIMIT_EPS_DEG or want[k] > hi[k] + LIMIT_EPS_DEG: src = hi_src[k] if want[k] > hi[k] else lo_src[k] out["refused"].append({"joint": k, "why": "out_of_window", "value": round(want[k], 2), "lo": round(lo[k], 2), "hi": round(hi[k], 2), "limit": src}) if not out["refused"]: out["target"] = want return out def limit_text_ascii(plan): """画面用 (英数字だけ).""" parts = [] for c in plan.get("clip", []): parts.append(f"j{c['joint']} clipped {c['want']:+.2f}->{c['cmd']:+.2f} ({c['limit']} {c['bound']:+.2f})") for r in plan.get("refused", []): if r.get("joint") is None: parts.append(f"refused: {r['why']}") else: parts.append(f"j{r['joint']} refused {r['why']} {r['value']:+.2f} " f"[{r['lo']:+.2f}, {r['hi']:+.2f}] ({r['limit']})") return " / ".join(parts) def limit_text_ja(plan): """ターミナル用 (日本語).""" parts = [] for c in plan.get("clip", []): parts.append(f"j{c['joint']} を {c['want']:+.2f}° → {c['cmd']:+.2f}° に切った" f"（{LIMIT_JA.get(c['limit'], c['limit'])} {c['bound']:+.2f}°）") for r in plan.get("refused", []): if r.get("joint") is None: parts.append(f"送らない: {r['why']}") continue why = {"at_limit": "範囲の端にいて、押した向きに進めない", "out_of_window": "範囲の外", "start_out_of_window": "出発点が範囲の外（HOME の長押しで戻せます）", "empty_window": "範囲が空"}.get(r["why"], r["why"]) parts.append(f"j{r['joint']} {r['value']:+.2f}° は送らない：{why}" f"（範囲 [{r['lo']:+.2f}, {r['hi']:+.2f}]・{LIMIT_JA.get(r['limit'], r['limit'])}）") return " / ".join(parts) # ============================================================================= # アームへの送り口 # ============================================================================= class SendGate: """1 つの仕事の「送ると決める」と「停止・終了の取り消し」を順番に並べる鍵 (codex R1 必須 1 / R2). 送る側は 鍵の中で取り消しを確かめて「送ると決めた」(committed) を立て, 鍵の外で送る. 停止・終了は 鍵の中で取り消しを立て, そのときに送ると決めていたかを受け取る. 鍵を持つのは確かめる一瞬だけなので, 停止は待たされない (画面も止まらない). なので「停止のあとに送ると決めた指令」はない. 停止より前に決めた送信は, 通信が遅れても daemon_send_angles の timeout_override (SEND_RPC_TIMEOUT_SEC) の中で終わる. 取り消しは仕事ごとに作り, OPTIONS で再開しても戻さない (止める前の仕事が生き返らない). """ def __init__(self): self.lock = threading.Lock() self.cancel = threading.Event() self.committed = False def run(self, fn): """取り消されていなければ「送ると決めた」を立ててから fn() を呼ぶ. 戻り値: 呼んだか.""" with self.lock: if self.cancel.is_set(): return False self.committed = True fn() return True def cancel_now(self): """取り消しを立てる. 戻り値: それより前に送ると決めていたか (送信中・送信済み).""" with self.lock: self.cancel.set() return self.committed class DaemonArm: """--execute: daemon に送る. 送り方・読み方は visual_servo_pick / run_policy_client と同じ.""" execute = True def read(self): return rpc.read_angles() # 5 回まで読み直す. 読めなければ None def send_and_check(self, target, gate, quitting, check=True): """target を send_angles (speed 20) で送り, 3° 以内に届くかを読んで確かめる. gate が取り消されていれば送らない. 無視されたら送り直す (IGNORED_*). 確かめる途中で読めなければ error. check=False (長押し): 送るだけで, 届いたかは待たない (0.1 秒後に次の目標を送るため).""" target = np.asarray(target, dtype=float) if not check: t_send = time.time() try: sent = gate.run(lambda: daemon_send_angles([float(v) for v in target], speed=SPEED, wait=rpc.SEND_WAIT, timeout_override=SEND_RPC_TIMEOUT_SEC)) except Exception as e: return {"sent": "unknown", "error": f"send_failed: {type(e).__name__}: {e}", "t_send": t_send} if not sent: return {"sent": False, "why": "halted_before_send"} return {"sent": True, "reached": None, "no_check": True, "t_send": t_send} pre = self.read() if pre is None: return {"sent": False, "error": "read_failed_before_send"} pre_max = float(np.max(np.abs(target - pre))) timeout = max(REACH_TIMEOUT_SEC, wr._compute_arrival_timeout(pre_max)) t_send = time.time() try: sent = gate.run(lambda: daemon_send_angles([float(v) for v in target], speed=SPEED, wait=rpc.SEND_WAIT, timeout_override=SEND_RPC_TIMEOUT_SEC)) except Exception as e: # 届いたかどうか分からない. 呼び出し側で停止にする return {"sent": "unknown", "error": f"send_failed: {type(e).__name__}: {e}", "measured_before_send": _r(pre), "t_send": t_send} if not sent: return {"sent": False, "why": "halted_before_send", "measured_before_send": _r(pre)} t0 = time.monotonic() t_last_send = t0 last, err = None, None resends = [] # 送り直した時刻 (送ってからの秒) base = {"sent": True, "timeout_sec": round(timeout, 2), "t_send": t_send, "measured_before_send": _r(pre), "resends": resends} while time.monotonic() - t0 < timeout: if quitting.is_set(): return dict(base, reached=None, interrupted=True, reached_angles=_r(last), reach_err=None if err is None else round(err, 3)) a = self.read() if a is None: # 動いているはずの間に読めない: 届いたか分からないまま次を受け付けない (codex 必須 6) return dict(base, reached=None, reached_angles=_r(last), reach_err=None if err is None else round(err, 3), error="read_failed_during_check", elapsed_sec=round(time.monotonic() - t0, 2)) last = a err = float(np.max(np.abs(a - target))) # 丸める前の値で判定する (codex 推奨 3) if err <= REACH_TOL_DEG: return dict(base, reached=True, reached_angles=_r(a), reach_err=round(err, 3), elapsed_sec=round(time.monotonic() - t0, 2)) moved = float(np.max(np.abs(a - pre))) if (len(resends) < IGNORED_MAX_RESENDS and moved < IGNORED_MOVE_DEG and time.monotonic() - t_last_send >= IGNORED_CHECK_SEC): # 無視された: 同じ目標を送り直す (停止・離したあとなら送らない) try: again = gate.run(lambda: daemon_send_angles([float(v) for v in target], speed=SPEED, wait=rpc.SEND_WAIT, timeout_override=SEND_RPC_TIMEOUT_SEC)) except Exception as e: return dict(base, reached=None, reached_angles=_r(a), reach_err=round(err, 3), error=f"resend_failed: {type(e).__name__}: {e}", elapsed_sec=round(time.monotonic() - t0, 2)) if not again: return dict(base, reached=None, halted_during_check=True, reached_angles=_r(a), reach_err=round(err, 3), elapsed_sec=round(time.monotonic() - t0, 2)) t_last_send = time.monotonic() resends.append(round(t_last_send - t0, 2)) continue time.sleep(POLL_SLEEP) return dict(base, reached=False, reached_angles=_r(last), reach_err=None if err is None else round(err, 3), elapsed_sec=round(time.monotonic() - t0, 2)) def gripper(self, state, gate): """run_policy_client.gripper_cmd と同じ中身 (閉 = daemon_set_gripper_value(GRIP_VALUE) / 開 = daemon_set_gripper(0, wait=GRIP_OPEN_DAEMON_WAIT). そのあと GRIPPER_SLEEP 待つ). 指令だけを gate の中で送り, 待ちは gate の外で行う (停止の受け付けを待ちの分だけ遅らせない). 戻り値: 送ったか.""" if state == 1: sent = gate.run(lambda: daemon_set_gripper_value(rpc.GRIP_VALUE)) else: sent = gate.run(lambda: daemon_set_gripper(0, wait=rpc.GRIP_OPEN_DAEMON_WAIT)) if sent: time.sleep(rpc.GRIPPER_SLEEP) return sent class DryArm: """ドライラン: daemon にもアームにも触らない. HOME から始まる仮の姿勢を動かす.""" execute = False def __init__(self, start=HOME): self.q = np.asarray(start, dtype=float).copy() def read(self): return self.q.copy() def send_and_check(self, target, gate, quitting, check=True): t_send = time.time() if not gate.run(lambda: None): return {"sent": False, "why": "halted_before_send", "measured_before_send": _r(self.q)} if not check: # 長押し: 少しずつ目標へ寄せる (待たない) self.q = self.q + np.clip(np.asarray(target, dtype=float) - self.q, -DRY_HOLD_MAX_DEG, DRY_HOLD_MAX_DEG) return {"sent": True, "reached": None, "no_check": True, "t_send": t_send, "dry": True} time.sleep(DRY_MOVE_SEC) self.q = np.asarray(target, dtype=float).copy() return {"sent": True, "reached": True, "reached_angles": _r(self.q), "reach_err": 0.0, "t_send": t_send, "dry": True} def gripper(self, state, gate): if not gate.run(lambda: None): return False time.sleep(GRIPPER_SLEEP) # 実機と同じ間だけ受け付けない return True # ============================================================================= # 記録 # ============================================================================= class JsonlLog: def __init__(self, path): self.path = Path(path) self.f = open(self.path, "x", encoding="utf-8") def write(self, rec): self.f.write(json.dumps(rec, ensure_ascii=False) + "\n") self.f.flush() # 途中で止まっても残るように 1 行ごとに def close(self): if not self.f.closed: self.f.close() class NullLog: """ドライラン: 何も書かない (依頼 69).""" def write(self, rec): pass def close(self): pass def write_json_atomic(path, obj): tmp = Path(str(path) + ".tmp") with open(tmp, "w", encoding="utf-8") as f: json.dump(obj, f, ensure_ascii=False, indent=2) f.flush() os.fsync(f.fileno()) os.replace(tmp, path) # ============================================================================= # 操作の状態 (pygame に依存しない. テストで直接呼ぶ) # ============================================================================= class Teleop: """押したボタンを受けて, 送る仕事を別のスレッドで 1 つずつ行う. 送っている間 (busy) の動く操作は受け付けない (ためない). 停止はいつでも受け付ける. 状態を書き換えるのは呼び出し側のスレッド (pygame のループ) だけ. 送る仕事の結果は results に入り, poll() で受け取って状態とログに反映する. 送る直前の確かめは 仕事ごとの SendGate で行い, 停止・終了はその鍵を取ってから取り消す. """ def __init__(self, arm, start_pose, log, out=print, spawn=None): self.arm = arm self.log = log self.out = out self.spawn = spawn or self._spawn_thread self.cmd = np.asarray(start_pose, dtype=float).copy() # 直前の目標 (始めは起動時の姿勢) self.cmd_reached = True self.measured = np.asarray(start_pose, dtype=float).copy() # 最後に読めた角度 self.sel = 0 # SELECT_ORDER の何番目 (始めは j1) self.r1 = False self.stopped = False self.stop_reason = None self.busy = False self.pending = None # 送っている操作のログ行 self.thread = None self.grip = "unknown" self.last_limit = "" # 直前に範囲で切られた理由 (画面用. 英数字) self.last_msg = "" self.gate = None # 今の仕事の SendGate (停止・終了で取り消す) self.log_failed = False # log.jsonl に書けなくなったら 再開させない (終わらせる) self.quitting = threading.Event() self.results = queue.Queue() self.home_down_at = None self.home_handled = False self.triggers = [-1.0, -1.0] self.both_triggers = False self.read_error = False self.seq = 0 self.n_sent = 0 self.hold = None # 十字キーの長押し {id, button, joint, sign, down_at, n, last_req_at} self.hold_seq = 0 # ---- 見せる値 ---- @property def joint(self): return SELECT_ORDER[self.sel] @property def step(self): return STEP_COARSE_DEG if self.r1 else STEP_FINE_DEG @property def state(self): if self.stopped: return STATE_STOPPED return STATE_MOVING if self.busy else STATE_IDLE # ---- 記録 ---- def _entry(self, button, kind, **kw): self.seq += 1 e = {"seq": self.seq, "t": datetime.now().isoformat(timespec="milliseconds"), "t_unix": round(time.time(), 3), "button": button, "button_name": BUTTON_NAMES.get(button) if isinstance(button, int) else button, "kind": kind, "selected_joint": self.joint, "step_deg": self.step, "execute": bool(self.arm.execute)} e.update(kw) return e def _finish(self, e): e.update({"grip_state": self.grip, "stopped": self.stopped, "stop_reason": self.stop_reason}) try: self.log.write(e) except Exception as ex: # SSD が外れたなど. ローカルには逃がさない first = not self.log_failed self.log_failed = True if first: self.out(f"[記録エラー] log.jsonl に書けません: {ex}。停止にします" "（再開はできません。終わらせて KIOXIA を確かめてください）") if not self.stopped: self.stop_reason = "log_write_failed" self.stopped = True self._cancel_gate() self._drop_home_hold() # ---- 停止 ---- def _cancel_gate(self): """今の仕事をまだ送ると決めていなければ, もう送らせない (待たない). 戻り値: 停止より前に送ると決めていたか (None = 仕事なし).""" if self.gate is None: return None return self.gate.cancel_now() def _drop_home_hold(self): """HOME の長押しを無効にする (押し直しを求める. codex 必須 4).""" if self.home_down_at is not None and not self.home_handled: self.home_handled = True self.out("[HOME] 長押しの途中で受け付けられなくなったので取り消しました（押し直してください）") self._finish(self._entry(BTN_HOME, "home", accepted=False, reason="hold_cancelled")) def _end_hold(self, msg=None): h = self.hold if h is not None: if h.get("q0") is not None: self.out(f"[長押し] j{h['joint']} を {h['q0']:+.2f}° → {h['q_last']:+.2f}° まで" f"（{h['n_sent']} 回送信。離したあと最大 {HOLD_AHEAD_DEG:.0f}° 先まで動いて止まります）") if msg: self.out(msg) self.hold = None def _hold_progress(self, e, job): """長押しの 1 回の送信のあと: 進み具合を覚え, HOLD_STALL_SEC 進んでいなければ止める.""" h = self.hold if h is None or h["id"] != e.get("hold_id") or not e.get("measured_before"): return qj = float(e["measured_before"][job[1]]) t = h["last_req_at"] if h.get("q0") is None: h.update(q0=qj, n_sent=0, prog_q=qj, prog_t=t) h["q_last"] = qj h["n_sent"] += 1 if abs(qj - h["prog_q"]) >= HOLD_STALL_DEG: h["prog_q"], h["prog_t"] = qj, t elif t - h["prog_t"] >= HOLD_STALL_SEC: self._end_hold(f"[長押し] j{job[1]} が {HOLD_STALL_SEC:.0f} 秒進まないので止めました" "（どこかに当たっていれば、逆向きを1回押すか HOME で戻してください）") def enter_stop(self, reason, button=None, kind="stop"): was = self.stopped self.stopped = True self._end_hold() committed = self._cancel_gate() if not was: self.stop_reason = reason self.out(f"[停止] {reason}。新しい指令は送りません（OPTIONS で再開）" + ("。止める前に送った動きは止まらずに最後まで行きます" if committed else "") + ("。まだ送っていなかった操作は送りません" if committed is False else "")) self._finish(self._entry(button, kind, accepted=True, reason=reason, already_stopped=was, busy=self.busy, send_committed_before_stop=committed, triggers=[round(v, 3) for v in self.triggers])) self._drop_home_hold() def set_triggers(self, l2, r2): self.triggers = [float(l2), float(r2)] both = l2 > TRIGGER_STOP_ABOVE and r2 > TRIGGER_STOP_ABOVE if both and not self.both_triggers: self.both_triggers = True self.enter_stop("L2+R2", button="L2+R2") self.both_triggers = both def controller_lost(self, reason): self.enter_stop(reason, button=None, kind="controller_lost") self.r1 = False # 押しっぱなしの状態を持ち越さない self.home_down_at = None self.home_handled = False self.both_triggers = False def controller_read_failed(self, msg): if not self.read_error: self.read_error = True self.enter_stop(f"read_error: {msg}", button=None, kind="read_error") def controller_read_ok(self): self.read_error = False def _resume(self, e): if not self.stopped: e.update(accepted=False, reason="not_stopped") self.out("[再開] 止まっていないので何もしません") elif self.both_triggers: e.update(accepted=False, reason="triggers_still_pressed") self.out("[再開] L2 と R2 を離してから OPTIONS を押してください") elif self.read_error: e.update(accepted=False, reason="controller_read_error") self.out("[再開] コントローラーを読めていないので再開しません") elif self.log_failed: e.update(accepted=False, reason="log_write_failed") self.out("[再開] 記録が書けないので再開しません（終わらせて KIOXIA を確かめてください）") else: # 止める前に作った仕事の取り消しは戻さない (仕事ごとの SendGate. 再開で生き返らない) self.stopped = False self.stop_reason = None e.update(accepted=True) self.out("[再開] 操作を受け付けます") self._finish(e) # ---- ボタン ---- def press(self, button, now): if button == BTN_R1: self.r1 = True self._finish(self._entry(button, "modifier", accepted=True)) return self._end_hold() # 十字キーの長押しは, ほかのボタン (R1 以外) で止まる if button == BTN_TRIANGLE: self.sel = (self.sel + 1) % len(SELECT_ORDER) self.out(f"[関節] 上下で動かす関節を j{self.joint} にしました") self._finish(self._entry(button, "select_joint", accepted=True)) return if button == BTN_OPTIONS: self._resume(self._entry(button, "resume")) return if button == BTN_HOME: self.home_down_at = now self.home_handled = False if self.stopped or self.busy: # 押し始めに受け付けられないなら, 長押しを続けても送らない (押し直しを求める) self.home_handled = True why = "stopped" if self.stopped else "busy" self.out("[受付なし] HOME: " + ("停止中です" if self.stopped else "前の操作が終わっていません") + "（押し直してください）") self._finish(self._entry(button, "home", accepted=False, reason=why)) return # 1 秒続いたとき (tick) か 離したとき (release) に 1 行書く if button in (BTN_LEFT, BTN_RIGHT, BTN_UP, BTN_DOWN): if button in (BTN_LEFT, BTN_RIGHT): sign = J0_LEFT_SIGN if button == BTN_LEFT else -J0_LEFT_SIGN j = 0 else: sign = UP_SIGN if button == BTN_UP else -UP_SIGN j = self.joint self.hold_seq += 1 self.hold = {"id": self.hold_seq, "button": button, "joint": j, "sign": sign, "down_at": now, "n": 0, "last_req_at": now} e = self._entry(button, "move", joint=j, delta=sign * self.step, hold_id=self.hold_seq, hold_n=0) self._request(e, ("move", j, sign * self.step, None)) if not e.get("accepted"): # 押し始めに受け付けられない (動いている間・停止中) なら, 押し続けても長押しにしない (HOME と同じ) self.hold = None return if button in (BTN_CROSS, BTN_CIRCLE): state = 1 if button == BTN_CROSS else 0 self._request(self._entry(button, "grip_close" if state else "grip_open", grip_cmd=state), ("grip", state)) return self._finish(self._entry(button, "ignored", accepted=False, reason="unassigned")) def release(self, button, now): if self.hold is not None and button == self.hold["button"]: hid = self.hold["id"] self._end_hold() # 離したら長押しを止める p = self.pending if (self.busy and self.gate is not None and p is not None and p.get("hold_id") == hid and (p.get("hold_n") or 0) >= 1): # 長押しの 2 回目からの刻みを, まだ送ると決めていなければ送らない (1 回目 = 短い押しは取り消さない) p["released_during_job"] = True self.gate.cancel_now() if button == BTN_R1: self.r1 = False elif button == BTN_HOME: if self.home_down_at is not None and not self.home_handled: held = now - self.home_down_at self.out(f"[HOME] {held:.2f} 秒で離したので送りません（{HOME_HOLD_SEC:.0f} 秒の長押しで送ります）") self._finish(self._entry(button, "home_short", accepted=False, reason="held_too_short", held_sec=round(held, 3))) self.home_down_at = None self.home_handled = False def tick(self, now): if self.home_down_at is not None and not self.home_handled and (self.busy or self.stopped): self._drop_home_hold() # 長押しの途中で別の操作が動いた・止まった if (self.home_down_at is not None and not self.home_handled and now - self.home_down_at >= HOME_HOLD_SEC): self.home_handled = True self._request(self._entry(BTN_HOME, "home", held_sec=round(now - self.home_down_at, 3)), ("home",)) h = self.hold if (h is not None and not self.stopped and not self.busy and now - h["down_at"] >= HOLD_START_SEC - 1e-6 and now - h["last_req_at"] >= HOLD_INTERVAL_SEC - 1e-6): h["n"] += 1 h["last_req_at"] = now d = h["sign"] * HOLD_AHEAD_DEG self._request(self._entry(h["button"], "move", joint=h["joint"], delta=d, hold_id=h["id"], hold_n=h["n"], held_sec=round(now - h["down_at"], 3)), ("move", h["joint"], d, h["id"])) def _hold_alive(self, hold_id): h = self.hold return h is not None and h["id"] == hold_id # ---- 送る仕事 ---- def _request(self, e, job): if self.stopped: e.update(accepted=False, reason="stopped") self.out("[受付なし] 停止中です（OPTIONS で再開）") self._finish(e) return if self.busy: e.update(accepted=False, reason="busy") self.out("[受付なし] 前の操作が終わっていません（ためません）") self._finish(e) return e["accepted"] = True self.busy = True self.pending = e gate = SendGate() self.gate = gate snap = {"cmd": self.cmd.copy(), "cmd_reached": self.cmd_reached} self.spawn(lambda: self._run_job(job, snap, gate)) def _spawn_thread(self, fn): self.thread = threading.Thread(target=fn, daemon=True) self.thread.start() def _run_job(self, job, snap, gate): res = {} try: if job[0] == "move": _, j, d, hold_id = job q = self.arm.read() res["measured_before"] = _r(q) if q is None: res["error"] = "read_failed" return if hold_id is not None: # 長押しの 2 回目から: 動かす関節は「いま読んだ角度 + 3° 先」. ほかの関節は直前の指令のまま # (読んだ角度で送り直すと, 重さで沈んだ分を毎回なぞって j1 などがずり下がる) cmd = np.asarray(snap["cmd"], dtype=float) others = [k for k in range(6) if k != j] gap_o = float(np.max(np.abs(cmd[others] - q[others]))) start = cmd.copy() if gap_o <= REACH_TOL_DEG else q.copy() start[j] = q[j] res["start_source"] = "hold" if gap_o <= REACH_TOL_DEG else "measured" res["cmd_gap_deg"] = round(gap_o, 3) res["hold_lead_deg"] = round(abs(float(cmd[j] - q[j])), 3) plan = plan_step(start, j, d) if (plan["target"] is not None and plan["clip"] and abs(float(plan["target"][j] - cmd[j])) < 0.01): # 範囲の端の目標をもう送ってある: 同じ目標を送り続けない (長押しを止める) c = plan["clip"][0] plan = {"target": None, "clip": [], "refused": [{ "joint": j, "why": "at_limit", "value": c["want"], "lo": c["bound"], "hi": c["bound"], "limit": c["limit"]}]} if (plan["target"] is not None and abs(float(cmd[j] - q[j])) <= HOLD_AHEAD_DEG + REACH_TOL_DEG and (plan["target"][j] - cmd[j]) * np.sign(d) < 0): # 読んだ角度が古いと「読んだ角度 + 3°」が前の目標より後ろになる. 後ろへは戻さない (引き戻さない) plan["target"][j] = cmd[j] res["held_previous_target"] = True res["clip"] = plan["clip"] res["refused"] = plan["refused"] res["limit_ja"] = limit_text_ja(plan) res["limit_ascii"] = limit_text_ascii(plan) if plan["target"] is None: res["sent"] = False return res["command"] = _r(plan["target"]) res["_target"] = plan["target"] res.update(self.arm.send_and_check(plan["target"], gate, self.quitting, check=False)) return # 出発点: 直前の目標に届いていて, 今読んだ角度とも 3° 以内ならその目標. # そうでなければ今読んだ角度 (手で動かされたなど. 古い目標から大きく動かさない. codex 必須 3) gap = float(np.max(np.abs(np.asarray(snap["cmd"]) - q))) use_cmd = snap["cmd_reached"] and gap <= REACH_TOL_DEG start = snap["cmd"] if use_cmd else q res["start_source"] = "command" if use_cmd else "measured" res["cmd_gap_deg"] = round(gap, 3) plan = plan_step(start, j, d) res["clip"] = plan["clip"] res["refused"] = plan["refused"] res["limit_ja"] = limit_text_ja(plan) res["limit_ascii"] = limit_text_ascii(plan) if plan["target"] is None: res["sent"] = False return res["command"] = _r(plan["target"]) res["_target"] = plan["target"] res.update(self.arm.send_and_check(plan["target"], gate, self.quitting)) elif job[0] == "home": q = self.arm.read() res["measured_before"] = _r(q) if q is None: # 読めなければ送らない (codex 必須 6) res["error"] = "read_failed" return res["command"] = _r(HOME) res["_target"] = np.array(HOME) res["range_check"] = "skipped_for_home" res.update(self.arm.send_and_check(np.array(HOME), gate, self.quitting)) elif job[0] == "grip": res["measured_before"] = None sent = self.arm.gripper(job[1], gate) res["sent"] = bool(sent) if not sent: res["why"] = "halted_before_send" except Exception as ex: res["error"] = f"{type(ex).__name__}: {ex}" finally: self.results.put((job, res)) def poll(self): """送る仕事の結果を受け取り, 状態とログに反映する (pygame のループから毎回呼ぶ).""" while True: try: job, res = self.results.get_nowait() except queue.Empty: return self._apply(job, res) def _apply(self, job, res): e = self.pending or self._entry(None, "orphan_result") self.pending = None self.busy = False target = res.pop("_target", None) e.update(res) if res.get("reached_angles") is not None: self.measured = np.asarray(res["reached_angles"], dtype=float) elif res.get("measured_before") is not None: self.measured = np.asarray(res["measured_before"], dtype=float) sent = res.get("sent") if job[0] in ("move", "home") and sent is True: self.n_sent += 1 self.cmd = np.asarray(target, dtype=float) # 長押しの送信は届くのを待たないが, アームは目標へ向かって動き続けるので「届く目標」として扱う # (次の短い押しは, 読んだ角度と 3° 以内ならこの目標から. 離れていれば読んだ角度から) self.cmd_reached = True if res.get("no_check") else bool(res.get("reached")) elif sent == "unknown": self.cmd_reached = False # 次は読んだ角度から if job[0] == "grip" and res.get("error"): self.grip = "unknown" if job[0] == "grip" and sent is True: self.grip = "closed" if job[1] == 1 else "open" if job[0] == "move": self.last_limit = res.get("limit_ascii", "") e["reached"] = res.get("reached") if sent is True else None # ---- ターミナル ---- if job[0] == "move": label = f"j{job[1]} {job[2]:+.1f}°" + (f"（長押し {e.get('hold_n')}）" if job[3] is not None else "") elif job[0] == "home": label = "HOME" else: label = "爪を" + ("閉じる" if job[1] == 1 else "開く") if res.get("limit_ja"): self.out(f"[範囲] {res['limit_ja']}") if res.get("error"): self.out(f"[エラー] {label}: {res['error']}。停止にします") elif sent is True and job[0] == "grip": self.out(f"[爪] {label}（待ち {GRIPPER_SLEEP:.1f} 秒のあと受付）") elif sent is True and res.get("no_check"): self._hold_progress(e, job) # 長押し: 1 回ずつは出さない (離したときに 1 行) elif sent is True: r = res.get("reached") how = "届いた" if r else ("確かめる途中で終了" if r is None else "届かなかった") if res.get("resends"): how += f"・無視されたので {len(res['resends'])} 回送り直した" self.out(f"[送信] {label} → {_fmt(res.get('command'))} {how}" f"（ずれ {res.get('reach_err')}°） 届いた角度 {_fmt(res.get('reached_angles'))}") elif res.get("why") == "halted_before_send" and e.get("released_during_job") and not self.stopped: pass # 長押しを離したので取り消した. 何も出さない elif res.get("why") == "halted_before_send": self.out(f"[送らない] {label}: 停止が入ったので送りませんでした") else: self.out(f"[送らない] {label}") # 長押しの中で送れなかったら (範囲の端・停止), その長押しは止める. 端で同じ行を繰り返さない if job[0] == "move" and sent is not True and e.get("hold_id") is not None and self._hold_alive(e["hold_id"]): self._end_hold() self.gate = None self._finish(e) if res.get("error"): self.enter_stop(f"arm_error: {res['error']}", kind="arm_error") # ---- 終わり ---- def shutdown(self): """新しい指令を送らずに終わる. 送っている途中の仕事が戻るのを WORKER_JOIN_SEC まで待つ. 戻り値: 仕事が終わっているか (終わっていなければ daemon のソケットを閉じない).""" self.quitting.set() committed = self._cancel_gate() if self.pending is not None: self.pending["send_committed_before_exit"] = committed if self.thread is not None: self.thread.join(WORKER_JOIN_SEC) self.poll() done = self.thread is None or not self.thread.is_alive() if self.pending is not None: e = self.pending self.pending = None e.update(reached=None, interrupted_at_exit=True) self._finish(e) return done def status_lines(self, q_now=None): """画面の文字 (英数字だけ).""" q = self.measured if q_now is None else q_now lines = [ ("big", f"JOINT j{self.joint} STEP {self.step:.1f} deg"), ("big", f"STATE {self.state}" + (" (moving)" if self.stopped and self.busy else "")), ("big", f"GRIP {self.grip}"), ] for k in range(6): lines.append(("mono", f"j{k} {q[k]:+8.2f} cmd {self.cmd[k]:+8.2f}")) lines.append(("small", "last limit: " + (self.last_limit or "-"))) if self.stopped: lines.append(("small", f"stop reason: {self.stop_reason} (OPTIONS = resume)")) return lines # ============================================================================= # pygame のループ # ============================================================================= WINDOW_SIZE = (900, 560) def controller_info(js): return {"name": js.get_name(), "guid": js.get_guid(), "instance_id": js.get_instance_id(), "axes": js.get_numaxes(), "buttons": js.get_numbuttons(), "hats": js.get_numhats(), "connected_at": datetime.now().isoformat(timespec="seconds")} def run_loop(tp, screen, fonts, mode_text, on_controller=None, on_frame=None): """ウィンドウを閉じるまで回す. 戻り値: 終わった理由.""" js = None clock = pygame.time.Clock() frame = 0 while True: if on_frame is not None: on_frame(frame, tp) frame += 1 now = time.monotonic() events = pygame.event.get() buttons = [] for ev in events: if ev.type == pygame.QUIT: return "window_closed" if ev.type == pygame.JOYDEVICEADDED: if js is None: js = pygame.joystick.Joystick(ev.device_index) info = controller_info(js) tp.out(f"[接続] {info['name']} GUID={info['guid']} 軸={info['axes']} ボタン={info['buttons']}") if on_controller is not None: on_controller(info) elif ev.type == pygame.JOYDEVICEREMOVED: if js is not None and ev.instance_id == js.get_instance_id(): js = None tp.controller_lost("controller_disconnected") elif ev.type in (pygame.JOYBUTTONDOWN, pygame.JOYBUTTONUP): if js is not None and ev.instance_id == js.get_instance_id(): buttons.append(ev) # 停止 (L2+R2) と 読み取りの失敗を ボタンより先に見る (同じコマのボタンで送らない. codex 必須 5) read_ok = js is not None if js is not None: try: l2, r2 = js.get_axis(AXIS_L2), js.get_axis(AXIS_R2) tp.controller_read_ok() tp.set_triggers(l2, r2) except Exception as ex: # pygame.error など read_ok = False tp.controller_read_failed(f"{type(ex).__name__}: {ex}") if read_ok: for ev in buttons: if ev.type == pygame.JOYBUTTONDOWN: tp.press(ev.button, now) else: tp.release(ev.button, now) # 長押しの最中は, 離した合図を取りこぼしても止まるよう, ボタンの状態も毎コマ見る if js is not None and read_ok and tp.hold is not None: hb = tp.hold["button"] try: held = js.get_button(hb) except Exception as ex: # pygame.error など tp.controller_read_failed(f"{type(ex).__name__}: {ex}") else: if not held: tp.release(hb, now) tp.tick(now) tp.poll() draw(screen, fonts, tp, mode_text, js) clock.tick(60) def draw(screen, fonts, tp, mode_text, js): screen.fill((20, 20, 24)) color_state = {STATE_IDLE: (120, 220, 140), STATE_MOVING: (240, 200, 80), STATE_STOPPED: (240, 90, 90)}[tp.state] y = 10 screen.blit(fonts["small"].render(f"{mode_text} controller: " + (js.get_name()[:40] if js is not None else "none"), True, (200, 220, 255)), (10, y)) y += 28 for kind, text in tp.status_lines(): col = color_state if text.startswith("STATE") else (235, 235, 235) screen.blit(fonts[kind].render(text[:110], True, col), (10, y)) y += {"big": 44, "mono": 26, "small": 24}[kind] y += 6 for t in ("dpad L/R: j0 dpad U/D: selected joint (up = -, down = +) hold: keep moving triangle: next joint", "R1 hold: 2 deg cross: close circle: open HOME hold 1s: home", "L2+R2: stop OPTIONS: resume window close / Ctrl+C: quit (arm is not moved)"): screen.blit(fonts["small"].render(t, True, (150, 150, 160)), (10, y)) y += 22 pygame.display.flip() # ============================================================================= # main # ============================================================================= def git_info(path): def run(*a): try: return subprocess.run(["git", *a], cwd=_ROOT, capture_output=True, text=True, timeout=5).stdout.strip() except Exception: return None rel = os.path.relpath(path, _ROOT) return {"commit": run("rev-parse", "HEAD"), "script_status": run("status", "--porcelain", "--", rel) or "clean"} def main(argv=None, on_frame=None, start_pose_dry=None): ap = argparse.ArgumentParser(description="ゲームパッドで mechArm を手で動かす (既定はドライラン)") ap.add_argument("--execute", action="store_true", help="daemon に送る (付けなければドライラン)") args = ap.parse_args(argv) stamp = datetime.now().strftime("%Y%m%d_%H%M%S") run_stem = f"teleop_{stamp}" + ("" if args.execute else "_dry") if args.execute: ensure_ssd_mounted() try: load_daemon_modules() except Exception as ex: # 読み込みの失敗・値の違い. 記録も daemon もまだ触っていない sys.exit(f"[ABORT] daemon の送り口を読めません: {type(ex).__name__}: {ex}。何も送らずに終わります") run_dir = LOG_ROOT / run_stem if run_dir.exists(): sys.exit(f"[ABORT] 同じ名前のフォルダがあります: {run_dir}") run_dir.mkdir(parents=True) script_copy = run_dir / Path(__file__).name shutil.copy2(__file__, script_copy) log = JsonlLog(run_dir / "log.jsonl") print(f"[記録] {run_dir}") else: # ドライランは記録しない: KIOXIA に何も書かない・フォルダも作らない (依頼 69) run_dir = script_copy = None log = NullLog() print("[記録] ドライランなので記録しません") tp = None meta = None end_reason = None daemon_used = False try: if args.execute: get_daemon_socket() daemon_used = True rpc.install_daemon_lock() arm = DaemonArm() start = arm.read() if start is None: end_reason = "start_read_failed" sys.exit("[ABORT] 起動したときの関節角を読めません（daemon を確かめてください）。何も送らずに終わります") print("[実機] daemon に送ります。起動したときの姿勢: " + _fmt(start)) else: start = np.asarray(start_pose_dry if start_pose_dry is not None else HOME, dtype=float) arm = DryArm(start) print("[ドライラン] daemon にもアームにも触りません。HOME から始まる仮の姿勢を動かします") lo, hi, _, _ = joint_window() bad = [k for k in range(6) if not (lo[k] - LIMIT_EPS_DEG <= start[k] <= hi[k] + LIMIT_EPS_DEG)] if bad: print("[注意] 起動したときの姿勢が守りの外: " + ", ".join(f"j{k}={start[k]:+.2f}" for k in bad) + "。この関節を含む操作は送りません（HOME の長押しは送れます）") meta = None if not args.execute else { "run_stem": run_stem, "started_at": datetime.now().isoformat(timespec="seconds"), "execute": bool(args.execute), "argv": sys.argv, "controllers": [], "python": sys.version, "pygame": pygame.version.ver, "sdl": ".".join(str(v) for v in pygame.get_sdl_version()), "platform": platform.platform(), "start_pose": _r(start), "guards": {"J1_MAX_DEG": J1_MAX_DEG, "range": "physical_limits (no base window. 2026-11-03)", "J4_SAFE": list(J4_SAFE), "JOINT_LIMITS": [list(x) for x in JOINT_LIMITS], "window": {"lo": _r(lo), "hi": _r(hi)}, "home_bypasses_range_check": True}, "motion": {"speed": SPEED, "step_fine_deg": STEP_FINE_DEG, "step_coarse_deg": STEP_COARSE_DEG, "reach_tol_deg": REACH_TOL_DEG, "reach_timeout_min_sec": REACH_TIMEOUT_SEC, "poll_sec": POLL_SLEEP, "gripper_sleep_sec": rpc.GRIPPER_SLEEP, "grip_close_value": rpc.GRIP_VALUE, "send_wait": rpc.SEND_WAIT, "home": HOME, "home_hold_sec": HOME_HOLD_SEC, "trigger_stop_above": TRIGGER_STOP_ABOVE, "hold_start_sec": HOLD_START_SEC, "hold_interval_sec": HOLD_INTERVAL_SEC, "hold_ahead_deg": HOLD_AHEAD_DEG, "hold_stall_sec": HOLD_STALL_SEC, "ignored_check_sec": IGNORED_CHECK_SEC, "ignored_max_resends": IGNORED_MAX_RESENDS, "j0_left_sign": J0_LEFT_SIGN, "up_sign": UP_SIGN, "select_order": list(SELECT_ORDER)}, "button_map": {str(k): v for k, v in BUTTON_NAMES.items()}, "git": git_info(__file__), "script_copy": script_copy.name, "script_sha256": hashlib.sha256(script_copy.read_bytes()).hexdigest(), } if meta is not None: write_json_atomic(run_dir / "meta.json", meta) def on_controller(info): if meta is None: return meta["controllers"].append(info) try: write_json_atomic(run_dir / "meta.json", meta) except Exception as ex: print(f"[記録エラー] meta.json に書けません: {ex}") tp = Teleop(arm, start, log) pygame.init() pygame.joystick.init() screen = pygame.display.set_mode(WINDOW_SIZE) pygame.display.set_caption("gamepad_teleop" + (" [EXECUTE]" if args.execute else " [DRY RUN]")) mono = "menlo,consolas,dejavusansmono" fonts = {"big": pygame.font.SysFont(mono, 34, bold=True), "mono": pygame.font.SysFont(mono, 20), "small": pygame.font.SysFont(mono, 16)} print("コントローラーを待っています（つないでいなければ、今つないでください）") end_reason = run_loop(tp, screen, fonts, "EXECUTE" if args.execute else "DRY RUN", on_controller=on_controller, on_frame=on_frame) except KeyboardInterrupt: end_reason = "ctrl_c" print("\n[終了] Ctrl+C") finally: # 終わるときにアームを動かさない (HOME 復帰もサーボ解放もしない). 新しい指令も送らない worker_done = True if tp is not None: worker_done = tp.shutdown() if not worker_done: print("[終了] 送っている途中の仕事が戻らないまま終わります（ソケットは閉じません）") if meta is not None: meta.update(ended_at=datetime.now().isoformat(timespec="seconds"), end_reason=end_reason or "error", n_sent=(tp.n_sent if tp is not None else 0)) try: write_json_atomic(run_dir / "meta.json", meta) except Exception as ex: print(f"[記録エラー] meta.json に書けません: {ex}") log.close() if daemon_used and worker_done: try: close_daemon_socket() except Exception: pass pygame.quit() print("[終了] アームは動かしていません。" + (f"記録: {run_dir}" if run_dir is not None else "記録なし（ドライラン）")) return 0 if __name__ == "__main__": sys.exit(main()) ``` ### test_gamepad_teleop.py（テスト73件・commit 413f7e1） ```python #!/usr/bin/env python3 """test_gamepad_teleop.py — gamepad_teleop.py の確かめ (アームなし・コントローラーなし. 依頼 68). python3 tools/test_gamepad_teleop.py -v 中身: - ボタン番号と操作の対応 (依頼 68 の表) / 十字キー上下の向き / △ で j1 → j5 → j1 - 守り: j1 は 90.87 を超えない / 物理可動域まで (基準の姿勢からの枠はない. 2026-11-03) / J4_SAFE - 長押し (2026-11-03): 短い押しは 1 刻み / 押している間は送り続ける / 離す・停止・△・範囲の端で止まる / 指令が読んだ角度より 3° 先なら送らずに待つ / 追いつかなければ止める - 停止: L2・R2 の両方 > 0.0 で止まる・片方では止まらない / 停止中は受け付けない / OPTIONS で戻る / 接続が切れたら停止 - HOME: 1 秒に満たない長押しでは送らない / 1 秒続けたら 1 回だけ送る - 動いている間の押しは受け付けない (ためない) - daemon への送り方: 停止が立っていれば送らない / 届かなくても送り直さない - ドライランで main() がひととおり動く (偽のコントローラー・ダミーの画面・一時フォルダ) - 依頼 69: ドライランは KIOXIA に書かない (フォルダも作らない・KIOXIA がなくても動く) / --execute は今までどおり書く / ドライランでは cv2 (2 つ目の libSDL2) を読まない・objc の重複の警告が出ない (別のプロセスで確かめる) - codex R1 の指摘: 範囲外の出発点 / 目標と読んだ角度のずれ / 長押しの持ち越し / 停止と送信の順番 / 再開で古い仕事が生き返らない / 読み取り失敗 / 記録の失敗 / ボタンより先に L2+R2 を見る KIOXIA にもアームにも触らない. """ import json import os import subprocess import sys import tempfile import threading import unittest from pathlib import Path from unittest import mock os.environ.setdefault("SDL_VIDEODRIVER", "dummy") os.environ.setdefault("SDL_AUDIODRIVER", "dummy") import numpy as np # noqa: E402 sys.path.insert(0, str(Path(__file__).resolve().parent)) import gamepad_teleop as gt # noqa: E402 # DaemonArm のテストで daemon の送り口 (の差し替え) を使うので読み込んでおく. # ドライランで読まないことは TestNoCv2InDryRun で別のプロセスで確かめる gt.load_daemon_modules() HOME = [0.0, 0.0, 0.0, 0.0, 0.0, -30.0] # テストは 0.5° の刻みで書いてある. 実際の値 (1°. 2026-11-03) は TestStepValue で確かめる STEP_FINE_REAL = gt.STEP_FINE_DEG gt.STEP_FINE_DEG = 0.5 class TestStepValue(unittest.TestCase): def test_real_steps(self): self.assertEqual(STEP_FINE_REAL, 1.0) self.assertEqual(gt.STEP_COARSE_DEG, 2.0) class ListLog: def __init__(self): self.rows = [] def write(self, rec): json.dumps(rec, ensure_ascii=False) # JSON にできること self.rows.append(rec) class FakeArm: execute = False def __init__(self, start=HOME, reach=True): self.q = np.asarray(start, dtype=float).copy() self.sent = [] self.grips = [] self.reach = reach def read(self): return self.q.copy() def send_and_check(self, target, gate, quitting, check=True): if not gate.run(lambda: self.sent.append([float(v) for v in target])): return {"sent": False, "why": "halted_before_send"} if not check: self.checks = getattr(self, "checks", []) + [False] self.q = np.asarray(target, dtype=float).copy() if self.reach else self.q return {"sent": True, "reached": None, "no_check": True} if self.reach: self.q = np.asarray(target, dtype=float).copy() return {"sent": True, "reached": self.reach, "reached_angles": gt._r(self.q), "reach_err": 0.0} def gripper(self, state, gate): return gate.run(lambda: self.grips.append(state)) def make(start=HOME, reach=True, sync=True): arm = FakeArm(start, reach) log = ListLog() spawned = [] spawn = (lambda fn: fn()) if sync else spawned.append tp = gt.Teleop(arm, start, log, out=lambda *a: None, spawn=spawn) return tp, arm, log, spawned def press(tp, b, now=0.0): tp.press(b, now) tp.release(b, now) tp.poll() class TestButtonMap(unittest.TestCase): def test_numbers(self): self.assertEqual((gt.BTN_CROSS, gt.BTN_CIRCLE, gt.BTN_SQUARE, gt.BTN_TRIANGLE), (0, 1, 2, 3)) self.assertEqual((gt.BTN_SHARE, gt.BTN_HOME, gt.BTN_OPTIONS, gt.BTN_L3, gt.BTN_R3), (4, 5, 6, 7, 8)) self.assertEqual((gt.BTN_L1, gt.BTN_R1), (9, 10)) self.assertEqual((gt.BTN_UP, gt.BTN_DOWN, gt.BTN_LEFT, gt.BTN_RIGHT, gt.BTN_TOUCHPAD), (11, 12, 13, 14, 15)) self.assertEqual((gt.AXIS_L2, gt.AXIS_R2), (4, 5)) def test_dpad_left_right_always_j0(self): for sel in range(5): tp, arm, log, _ = make() tp.sel = sel press(tp, gt.BTN_RIGHT) self.assertEqual(log.rows[-1]["joint"], 0) self.assertAlmostEqual(arm.sent[-1][0], 0.5) press(tp, gt.BTN_LEFT) press(tp, gt.BTN_LEFT) self.assertAlmostEqual(arm.sent[-1][0], -0.5) self.assertEqual(arm.sent[-1][1:], HOME[1:]) def test_up_minus_down_plus_starts_j1(self): tp, arm, log, _ = make() self.assertEqual(tp.joint, 1) press(tp, gt.BTN_DOWN) self.assertAlmostEqual(arm.sent[-1][1], 0.5) press(tp, gt.BTN_UP) press(tp, gt.BTN_UP) self.assertAlmostEqual(arm.sent[-1][1], -0.5) def test_triangle_cycles(self): tp, arm, log, _ = make() seen = [tp.joint] for _ in range(5): press(tp, gt.BTN_TRIANGLE) seen.append(tp.joint) self.assertEqual(seen, [1, 2, 3, 4, 5, 1]) self.assertEqual(arm.sent, []) # 切り替えだけでは送らない tp.sel = 3 # j4 press(tp, gt.BTN_DOWN) self.assertAlmostEqual(arm.sent[-1][4], 0.5) def test_r1_coarse_step(self): tp, arm, log, _ = make() tp.press(gt.BTN_R1, 0.0) press(tp, gt.BTN_RIGHT) self.assertAlmostEqual(arm.sent[-1][0], 2.0) press(tp, gt.BTN_DOWN) self.assertAlmostEqual(arm.sent[-1][1], 2.0) tp.release(gt.BTN_R1, 0.0) press(tp, gt.BTN_RIGHT) self.assertAlmostEqual(arm.sent[-1][0], 2.5) def test_gripper(self): tp, arm, log, _ = make() press(tp, gt.BTN_CROSS) self.assertEqual(arm.grips, [1]) self.assertEqual(tp.grip, "closed") press(tp, gt.BTN_CIRCLE) self.assertEqual(arm.grips, [1, 0]) self.assertEqual(tp.grip, "open") def test_unassigned_do_nothing(self): tp, arm, log, _ = make() for b in (gt.BTN_SQUARE, gt.BTN_SHARE, gt.BTN_L1, gt.BTN_L3, gt.BTN_R3, gt.BTN_TOUCHPAD): press(tp, b) self.assertEqual(arm.sent, []) self.assertEqual(arm.grips, []) self.assertTrue(all(r["kind"] == "ignored" for r in log.rows)) self.assertEqual(tp.joint, 1) class TestGuards(unittest.TestCase): def test_j1_never_above_9087(self): start = [0.0, 85.0, 0.0, 0.0, 0.0, -30.0] tp, arm, log, _ = make(start) tp.r1 = True for _ in range(6): press(tp, gt.BTN_DOWN) self.assertTrue(all(s[1] <= 90.87 + 1e-9 for s in arm.sent)) self.assertAlmostEqual(arm.sent[-1][1], 90.87) clipped = [r for r in log.rows if r.get("clip")] self.assertEqual(clipped[0]["clip"][0]["limit"], "J1_MAX") refused = [r for r in log.rows if r.get("refused")] self.assertTrue(refused and refused[-1]["refused"][0]["why"] == "at_limit") self.assertIn("J1_MAX", tp.last_limit) def test_home_to_pick_height(self): # HOME から j1 を PICK の高さ 90.87 まで下ろせる (基準の姿勢からの ±10° の枠はない. 2026-11-03) tp, arm, log, _ = make() tp.r1 = True for _ in range(50): press(tp, gt.BTN_DOWN) self.assertAlmostEqual(max(s[1] for s in arm.sent), 90.87) self.assertFalse(any(r.get("clip") and r["clip"][0]["limit"] == "BASE" for r in log.rows)) # ほかの関節も ±10° を超えて動く for _ in range(12): press(tp, gt.BTN_RIGHT) self.assertAlmostEqual(arm.sent[-1][0], 24.0) tp.sel = 1 # j2 for _ in range(15): press(tp, gt.BTN_UP) self.assertAlmostEqual(arm.sent[-1][2], -30.0) tp.sel = 4 # j5 for _ in range(10): press(tp, gt.BTN_DOWN) self.assertAlmostEqual(arm.sent[-1][5], -10.0) def test_j4_safe(self): start = [0.0, 0.0, 0.0, 0.0, 55.0, -30.0] tp, arm, log, _ = make(start) tp.sel = 3 tp.r1 = True for _ in range(5): press(tp, gt.BTN_DOWN) self.assertAlmostEqual(max(s[4] for s in arm.sent), 60.0) self.assertEqual([r for r in log.rows if r.get("clip")][0]["clip"][0]["limit"], "J4_SAFE") def test_window_function(self): lo, hi, lo_src, hi_src = gt.joint_window() self.assertAlmostEqual(hi[1], 90.87) self.assertEqual(hi_src[1], "J1_MAX") self.assertAlmostEqual(lo[4], -90.0) self.assertAlmostEqual(hi[4], 60.0) self.assertEqual((lo_src[4], hi_src[4]), ("J4_SAFE", "J4_SAFE")) for k in (0, 2, 3, 5): # 残りは物理可動域 self.assertEqual((lo[k], hi[k]), gt.JOINT_LIMITS[k]) self.assertEqual((lo_src[k], hi_src[k]), ("PHYS", "PHYS")) self.assertEqual(lo[1], gt.JOINT_LIMITS[1][0]) def test_no_compensation_other_joints(self): start = [0.0, 0.0, 0.0, 0.0, 0.0, -30.0] p = gt.plan_step(start, 1, 20.0) self.assertAlmostEqual(p["target"][1], 20.0) self.assertEqual(list(p["target"][[0, 2, 3, 4, 5]]), [0.0, 0.0, 0.0, 0.0, -30.0]) def test_out_of_window_start_refuses(self): # 起動したときに j1 が 91 (守りの外): j1 を下げる (−) 押しも, 他の関節の押しも送らない start = [0.0, 91.0, 0.0, 0.0, 0.0, -30.0] p = gt.plan_step(start, 0, 0.5) self.assertIsNone(p["target"]) self.assertEqual(p["refused"][0]["joint"], 1) def test_home_then_continue(self): start = [10.0, 5.0, 0.0, 0.0, 0.0, -30.0] tp, arm, log, _ = make(start) tp.press(gt.BTN_HOME, 0.0) tp.tick(1.01) tp.poll() self.assertEqual(arm.sent[-1], HOME) tp.r1 = True for _ in range(10): press(tp, gt.BTN_LEFT) self.assertAlmostEqual(arm.sent[-1][0], -20.0) # HOME から続けて動く (枠はない) def test_home_bypasses_range(self): # 範囲の外 (j1=95) にいても HOME は送れる start = [0.0, 95.0, 0.0, 0.0, 0.0, -30.0] tp, arm, log, _ = make(start) press(tp, gt.BTN_DOWN) self.assertEqual(arm.sent, []) tp.press(gt.BTN_HOME, 0.0) tp.tick(1.0) tp.poll() self.assertEqual(arm.sent, [HOME]) def test_start_from_measured_when_not_reached(self): tp, arm, log, _ = make(reach=False) press(tp, gt.BTN_RIGHT) # 届かない (仮の姿勢は HOME のまま) self.assertFalse(tp.cmd_reached) press(tp, gt.BTN_RIGHT) # 次は読んだ角度 (0) から self.assertAlmostEqual(arm.sent[-1][0], 0.5) self.assertEqual(log.rows[-1]["start_source"], "measured") class LagArm(FakeArm): """送ると「届いた」と返すが, 角度は読むたびに lag_step ずつしか追いつかない (読みが古いのと同じ).""" def __init__(self, start=HOME, lag_step=0.0): super().__init__(start) self.target = np.asarray(start, dtype=float).copy() self.lag_step = lag_step self.reads = 0 def read(self): self.reads += 1 d = self.target - self.q self.q = self.q + np.clip(d, -self.lag_step, self.lag_step) return self.q.copy() def send_and_check(self, target, gate, quitting, check=True): if not gate.run(lambda: self.sent.append([float(v) for v in target])): return {"sent": False, "why": "halted_before_send"} self.target = np.asarray(target, dtype=float).copy() if not check: return {"sent": True, "reached": None, "no_check": True} return {"sent": True, "reached": True, "reached_angles": gt._r(self.q), "reach_err": 0.0} def make_arm(arm, sync=True): log = ListLog() out = [] tp = gt.Teleop(arm, arm.q.copy(), log, out=out.append, spawn=lambda fn: fn()) return tp, log, out class TestHold(unittest.TestCase): """長押し (2026-11-03): 0.4 秒から 0.1 秒おきに「読んだ角度 + 3° 先」を送り, 届くのを待たない.""" def test_short_press_is_one_step(self): tp, arm, log, _ = make() tp.press(gt.BTN_RIGHT, 0.0) tp.poll() tp.release(gt.BTN_RIGHT, 0.1) for t in (0.4, 0.6, 1.0): tp.tick(t) tp.poll() self.assertEqual(len(arm.sent), 1) def test_hold_sends_ahead_of_measured_without_waiting(self): arm = LagArm(lag_step=1.0) # 読むたびに 1° ずつ目標へ寄る tp, log, out = make_arm(arm) tp.press(gt.BTN_RIGHT, 0.0); tp.poll() # 1 刻み (0.5°. テストの刻み) for t in (0.1, 0.3, 0.39): tp.tick(t); tp.poll() self.assertEqual(len(arm.sent), 1) t = 0.4 for _ in range(6): tp.tick(t); tp.poll() t += 0.1 self.assertEqual(len(arm.sent), 7) rows = [r for r in log.rows if r["kind"] == "move" and r.get("hold_n", 0) >= 1] for r in rows: # 動かす関節は 読んだ角度 + 3°, ほかは そのまま self.assertAlmostEqual(r["command"][0], r["measured_before"][0] + gt.HOLD_AHEAD_DEG, places=2) self.assertEqual(r["command"][1:], HOME[1:]) self.assertTrue(r["no_check"]) self.assertEqual([r["hold_n"] for r in rows], [1, 2, 3, 4, 5, 6]) tp.release(gt.BTN_RIGHT, 1.05) for t in (1.2, 1.5): tp.tick(t); tp.poll() self.assertEqual(len(arm.sent), 7) self.assertTrue(any("[長押し] j0" in o for o in out)) # 離したときに 1 行 def test_hold_keeps_other_joints_at_command(self): # j1 が重さで 1° 沈んでいても, 長押しの送信で j1 を読んだ値で送り直さない (ずり下がらない) arm = LagArm(start=[0, 30.0, 0, 0, 0, -30], lag_step=1.0) tp, log, out = make_arm(arm) arm.q[1] = 31.0 tp.press(gt.BTN_RIGHT, 0.0); tp.poll() t = 0.4 for _ in range(5): tp.tick(t); tp.poll() t += 0.1 self.assertTrue(all(abs(s[1] - 30.0) < 1e-9 for s in arm.sent)) def test_hold_direction_and_selected_joint(self): tp, arm, log, _ = make() tp.sel = 1 # j2 tp.press(gt.BTN_UP, 0.0); tp.poll() tp.tick(0.4); tp.poll() self.assertAlmostEqual(arm.sent[-1][2], -0.5 - gt.HOLD_AHEAD_DEG) def test_triangle_and_other_buttons_end_hold(self): tp, arm, log, _ = make() tp.press(gt.BTN_DOWN, 0.0); tp.poll() tp.press(gt.BTN_TRIANGLE, 0.1) tp.tick(0.5); tp.poll() self.assertEqual(len(arm.sent), 1) tp.press(gt.BTN_RIGHT, 1.0); tp.poll() tp.press(gt.BTN_CIRCLE, 1.1); tp.poll() # 爪で止まる tp.tick(1.5); tp.poll() self.assertEqual(len(arm.sent), 2) def test_stop_ends_hold_and_resume_does_not_revive(self): tp, arm, log, _ = make() tp.press(gt.BTN_RIGHT, 0.0); tp.poll() tp.tick(0.4); tp.poll() tp.set_triggers(0.5, 0.5) tp.tick(0.6); tp.poll() self.assertEqual(len(arm.sent), 2) self.assertIsNone(tp.hold) tp.set_triggers(-1.0, -1.0) press(tp, gt.BTN_OPTIONS, 0.7) tp.tick(0.9); tp.tick(1.2); tp.poll() self.assertEqual(len(arm.sent), 2) def test_disconnect_ends_hold(self): tp, arm, log, _ = make() tp.press(gt.BTN_RIGHT, 0.0); tp.poll() tp.controller_lost("controller_disconnected") tp.tick(0.5); tp.poll() self.assertEqual(len(arm.sent), 1) self.assertIsNone(tp.hold) def test_limit_ends_hold_without_repeating_lines(self): start = [0.0, 89.0, 0.0, 0.0, 0.0, -30.0] arm = LagArm(start=start, lag_step=0.2) # 端の手前で読みが追いつかない tp, log, out = make_arm(arm) tp.press(gt.BTN_DOWN, 0.0); tp.poll() # 89 → 89.5 tp.tick(0.4); tp.poll() # 読んだ角度 + 3 → 90.87 に切る self.assertAlmostEqual(arm.sent[-1][1], 90.87) tp.tick(0.5); tp.poll() # 同じ端の目標はもう送らない → 長押しを止める n_rows = len(log.rows) for t in (0.6, 0.8, 1.0, 2.0): tp.tick(t); tp.poll() self.assertEqual(len(arm.sent), 2) self.assertEqual(len(log.rows), n_rows) self.assertIsNone(tp.hold) self.assertEqual(log.rows[-1]["refused"][0]["why"], "at_limit") def test_hold_target_never_goes_back(self): # 読みが古く, 前の目標より後ろの「読んだ角度 + 3°」になるときは, 前の目標を送る (引き戻さない) arm = LagArm(lag_step=2.0) tp, log, out = make_arm(arm) tp.press(gt.BTN_RIGHT, 0.0); tp.poll() tp.tick(0.4); tp.poll() arm.lag_step = 0.0 # 読みが進まない (古い) arm.q[0] = 0.0 tp.tick(0.5); tp.poll() js = [s[0] for s in arm.sent] self.assertEqual(js, sorted(js)) # 右へ押している間, 目標は戻らない self.assertTrue(log.rows[-1].get("held_previous_target")) def test_stall_ends_hold(self): arm = LagArm(lag_step=0.0) # まったく動かない (当たっている) tp, log, out = make_arm(arm) tp.press(gt.BTN_RIGHT, 0.0); tp.poll() t = 0.4 for _ in range(15): tp.tick(t); tp.poll() t += 0.1 self.assertIsNone(tp.hold) self.assertLessEqual(len(arm.sent), 1 + 12) self.assertTrue(any("進まないので止めました" in o for o in out)) self.assertTrue(all(s[0] <= gt.HOLD_AHEAD_DEG + 1e-9 for s in arm.sent)) # 先へ出るのは 3° まで def test_short_press_after_hold_starts_from_command(self): tp, arm, log, _ = make() # FakeArm は目標へすぐ着く tp.press(gt.BTN_RIGHT, 0.0); tp.poll() tp.tick(0.4); tp.poll() tp.release(gt.BTN_RIGHT, 0.45) last = arm.sent[-1][0] press(tp, gt.BTN_RIGHT, 1.0) self.assertAlmostEqual(arm.sent[-1][0], last + 0.5) self.assertEqual(log.rows[-1]["start_source"], "command") class TestHoldReview(unittest.TestCase): """2026-11-03 のレビューの指摘 (A: 受け付けられなかった押し / B: 離したあとの 1 刻み / D: 離した合図の取りこぼし).""" def test_press_rejected_while_busy_does_not_become_hold(self): tp, arm, log, spawned = make(sync=False) press(tp, gt.BTN_CROSS) # 爪の仕事で busy self.assertTrue(tp.busy) tp.press(gt.BTN_DOWN, 0.0) # 受付なし self.assertIsNone(tp.hold) spawned.pop(0)() # 爪の仕事が終わる tp.poll() for t in (0.4, 0.6, 0.8, 1.0): tp.tick(t) while spawned: spawned.pop(0)() tp.poll() self.assertEqual(arm.sent, []) def test_press_rejected_while_stopped_does_not_become_hold(self): tp, arm, log, _ = make() tp.set_triggers(0.5, 0.5) tp.press(gt.BTN_RIGHT, 0.0) self.assertIsNone(tp.hold) def test_release_cancels_uncommitted_repeat(self): tp, arm, log, spawned = make(sync=False) out = [] tp.out = out.append tp.press(gt.BTN_RIGHT, 0.0) spawned.pop(0)(); tp.poll() # 1 回目 (短い押しの分) は送る tp.tick(0.4) # 2 回目の仕事ができた (まだ走っていない) tp.release(gt.BTN_RIGHT, 0.45) # 走る前に離した spawned.pop(0)(); tp.poll() self.assertEqual(len(arm.sent), 1) last = [r for r in log.rows if r["kind"] == "move"][-1] self.assertEqual(last["why"], "halted_before_send") self.assertTrue(last["released_during_job"]) self.assertFalse(tp.stopped) self.assertFalse(any("停止が入った" in o for o in out)) tp.press(gt.BTN_RIGHT, 1.0) # 次の押しは普通に動く tp.release(gt.BTN_RIGHT, 1.05) spawned.pop(0)(); tp.poll() self.assertEqual(len(arm.sent), 2) def test_release_does_not_cancel_first_step(self): tp, arm, log, spawned = make(sync=False) tp.press(gt.BTN_RIGHT, 0.0) tp.release(gt.BTN_RIGHT, 0.05) # 短い押し: 仕事が走る前に離しても 1 刻みは送る spawned.pop(0)(); tp.poll() self.assertEqual(len(arm.sent), 1) def test_loop_releases_hold_when_button_state_is_up(self): import pygame pygame.init() screen = pygame.display.set_mode((200, 100)) fonts = {k: pygame.font.SysFont("menlo", 12) for k in ("big", "mono", "small")} js = FakeJoystick(0) js.held = set() tp, arm, log, _ = make() frames = { 0: lambda: pygame.event.post(pygame.event.Event(pygame.JOYDEVICEADDED, device_index=0)), 2: lambda: (js.held.add(gt.BTN_RIGHT), pygame.event.post(pygame.event.Event(pygame.JOYBUTTONDOWN, instance_id=7, button=gt.BTN_RIGHT, joy=0))), 4: lambda: js.held.discard(gt.BTN_RIGHT), # 離した合図 (JOYBUTTONUP) は来ない 60: lambda: pygame.event.post(pygame.event.Event(pygame.QUIT)), } seen = {} def on_frame(n, t): frames.get(n, lambda: None)() if n == 3: seen["hold_at_3"] = t.hold is not None with mock.patch.object(gt.pygame.joystick, "Joystick", lambda i: js): gt.run_loop(tp, screen, fonts, "TEST", on_frame=on_frame) pygame.quit() self.assertTrue(seen["hold_at_3"]) # 押している間は長押しのまま self.assertIsNone(tp.hold) # 状態が離れたら止まる self.assertEqual(len(arm.sent), 1) # 1 秒近くたっても 1 刻みだけ class TestCodexR1(unittest.TestCase): def test_selected_joint_out_of_window_not_clamped(self): # 基準 j1=100 (守りの外) から −0.5 を押しても 90.87 へ 1 回で動かさない start = [0.0, 100.0, 0.0, 0.0, 0.0, -30.0] p = gt.plan_step(start, 1, -0.5) self.assertIsNone(p["target"]) self.assertEqual(p["refused"][0]["why"], "start_out_of_window") tp, arm, log, _ = make(start) press(tp, gt.BTN_UP) self.assertEqual(arm.sent, []) def test_physical_limit_ends(self): base = [0.0, 0.0, 170.0, 0.0, 0.0, -30.0] # j2 の物理可動域は ±177 p = gt.plan_step(base, 2, 20.0) self.assertAlmostEqual(p["target"][2], 177.0) self.assertEqual(p["clip"][0]["limit"], "PHYS") def test_gap_between_command_and_measured(self): tp, arm, log, _ = make() press(tp, gt.BTN_RIGHT) # 目標 j0=0.5 に届いた arm.q[0] = 10.0 # 手で動かされた press(tp, gt.BTN_RIGHT) self.assertAlmostEqual(arm.sent[-1][0], 10.5) # 今読んだ角度から 0.5 self.assertEqual(log.rows[-1]["start_source"], "measured") arm.q[0] = -170.0 # 物理可動域 (-156) の外 → 送らない press(tp, gt.BTN_RIGHT) self.assertEqual(len(arm.sent), 2) def test_home_hold_across_busy_is_dropped(self): tp, arm, log, spawned = make(sync=False) press(tp, gt.BTN_RIGHT) # 動いている tp.press(gt.BTN_HOME, 0.0) # busy 中に押し始め spawned.pop()() tp.poll() # 0.5 秒で空く tp.tick(1.5) self.assertEqual(spawned, []) self.assertIn(("home", False, "busy"), [(r["kind"], r.get("accepted"), r.get("reason")) for r in log.rows]) def test_home_hold_dropped_when_other_op_starts(self): tp, arm, log, spawned = make(sync=False) tp.press(gt.BTN_HOME, 0.0) press(tp, gt.BTN_RIGHT) # 長押しの途中で j0 を動かした tp.tick(0.2) spawned.pop()() tp.poll() tp.tick(1.5) self.assertEqual(spawned, []) self.assertIn("hold_cancelled", [r.get("reason") for r in log.rows]) def test_home_hold_dropped_by_stop_and_disconnect(self): tp, arm, log, _ = make() tp.press(gt.BTN_HOME, 0.0) tp.set_triggers(1, 1) tp.set_triggers(-1, -1) press(tp, gt.BTN_OPTIONS) tp.tick(1.5) self.assertEqual(arm.sent, []) tp.r1 = True tp.press(gt.BTN_HOME, 2.0) tp.controller_lost("controller_disconnected") self.assertFalse(tp.r1) press(tp, gt.BTN_OPTIONS) tp.tick(5.0) self.assertEqual(arm.sent, []) def test_resume_does_not_revive_old_job(self): tp, arm, log, spawned = make(sync=False) press(tp, gt.BTN_RIGHT) tp.set_triggers(1, 1) tp.set_triggers(-1, -1) press(tp, gt.BTN_OPTIONS) # すぐ再開 self.assertFalse(tp.stopped) spawned.pop()() # 止める前の仕事が走る tp.poll() self.assertEqual(arm.sent, []) def test_home_read_failure_does_not_send(self): tp, arm, log, _ = make([5.0, 0, 0, 0, 0, -30]) reads = iter([None, np.array(HOME)]) arm.read = lambda: next(reads) tp.press(gt.BTN_HOME, 0.0) tp.tick(1.0) tp.poll() self.assertEqual(arm.sent, []) self.assertTrue(tp.stopped) def test_log_failure_blocks_resume(self): tp, arm, log, _ = make() def bad(rec): raise OSError("disk gone") log.write = bad press(tp, gt.BTN_TRIANGLE) self.assertTrue(tp.stopped) press(tp, gt.BTN_OPTIONS) self.assertTrue(tp.stopped) press(tp, gt.BTN_RIGHT) self.assertEqual(arm.sent, []) def test_loop_reads_triggers_before_buttons(self): import pygame pygame.init() screen = pygame.display.set_mode((200, 100)) fonts = {k: pygame.font.SysFont("menlo", 12) for k in ("big", "mono", "small")} js = FakeJoystick(0) tp, arm, log, _ = make() frames = { 0: lambda: pygame.event.post(pygame.event.Event(pygame.JOYDEVICEADDED, device_index=0)), 2: lambda: (js.axes.__setitem__(slice(4, 6), [1.0, 1.0]), pygame.event.post(pygame.event.Event(pygame.JOYBUTTONDOWN, instance_id=7, button=gt.BTN_RIGHT, joy=0))), 4: lambda: pygame.event.post(pygame.event.Event(pygame.QUIT)), } with mock.patch.object(gt.pygame.joystick, "Joystick", lambda i: js): gt.run_loop(tp, screen, fonts, "TEST", on_frame=lambda n, t: frames.get(n, lambda: None)()) self.assertEqual(arm.sent, []) self.assertTrue(tp.stopped) # 読み取りに失敗したコマのボタンも処理しない js2 = FakeJoystick(0) js2.get_axis = lambda a: (_ for _ in ()).throw(pygame.error("gone")) tp2, arm2, log2, _ = make() frames2 = { 0: lambda: pygame.event.post(pygame.event.Event(pygame.JOYDEVICEADDED, device_index=0)), 2: lambda: pygame.event.post(pygame.event.Event(pygame.JOYBUTTONDOWN, instance_id=7, button=gt.BTN_RIGHT, joy=0)), 4: lambda: pygame.event.post(pygame.event.Event(pygame.QUIT)), } with mock.patch.object(gt.pygame.joystick, "Joystick", lambda i: js2): gt.run_loop(tp2, screen, fonts, "TEST", on_frame=lambda n, t: frames2.get(n, lambda: None)()) self.assertEqual(arm2.sent, []) self.assertTrue(tp2.stopped) pygame.quit() class TestShutdown(unittest.TestCase): def test_uncommitted_job_is_not_sent_at_exit(self): tp, arm, log, spawned = make(sync=False) press(tp, gt.BTN_RIGHT) tp.shutdown() # 仕事はまだ走っていない spawned.pop()() # 終了のあとに走っても送らない self.assertEqual(arm.sent, []) last = [r for r in log.rows if r["kind"] == "move"][0] self.assertIs(last["send_committed_before_exit"], False) self.assertTrue(last["interrupted_at_exit"]) def test_committed_send_is_waited_and_recorded(self): tp, arm, log, _ = make(sync=False) release = threading.Event() entered = threading.Event() orig = arm.send_and_check def slow(target, gate, quitting): def fn(): entered.set() release.wait(2.0) arm.sent.append([float(v) for v in target]) if not gate.run(fn): return {"sent": False, "why": "halted_before_send"} return {"sent": True, "reached": None, "interrupted": True} arm.send_and_check = slow tp.spawn = tp._spawn_thread press(tp, gt.BTN_RIGHT) entered.wait(1.0) threading.Timer(0.2, release.set).start() done = tp.shutdown() # 送ると決めた送信が戻るまで待つ self.assertTrue(done) self.assertEqual(len(arm.sent), 1) move = [r for r in log.rows if r["kind"] == "move"][0] self.assertIs(move["send_committed_before_exit"], True) def test_worker_not_done_returns_false(self): tp, arm, log, _ = make(sync=False) entered = threading.Event() def stuck(target, gate, quitting): gate.run(lambda: (entered.set(), threading.Event().wait(1.0))) return {"sent": True} arm.send_and_check = stuck tp.spawn = tp._spawn_thread press(tp, gt.BTN_RIGHT) entered.wait(1.0) with mock.patch.object(gt, "WORKER_JOIN_SEC", 0.1): self.assertFalse(tp.shutdown()) # 戻らない → main はソケットを閉じない class TestStop(unittest.TestCase): def test_both_triggers(self): tp, arm, log, _ = make() tp.set_triggers(0.5, -1.0) self.assertFalse(tp.stopped) tp.set_triggers(-1.0, 0.9) self.assertFalse(tp.stopped) tp.set_triggers(0.0, 0.0) # ちょうど 0.0 は超えていない self.assertFalse(tp.stopped) tp.set_triggers(0.01, 0.01) self.assertTrue(tp.stopped) self.assertEqual(tp.state, gt.STATE_STOPPED) def test_stopped_rejects_and_options_resumes(self): tp, arm, log, _ = make() tp.set_triggers(1.0, 1.0) for b in (gt.BTN_RIGHT, gt.BTN_DOWN, gt.BTN_CROSS, gt.BTN_CIRCLE): press(tp, b) tp.press(gt.BTN_HOME, 0.0) tp.tick(2.0) tp.release(gt.BTN_HOME, 2.0) self.assertEqual(arm.sent, []) self.assertEqual(arm.grips, []) self.assertTrue(all(r.get("reason") == "stopped" for r in log.rows if r["kind"] in ("move", "grip_close", "grip_open", "home"))) press(tp, gt.BTN_OPTIONS) # まだ L2+R2 を押している → 戻らない self.assertTrue(tp.stopped) tp.set_triggers(-1.0, -1.0) press(tp, gt.BTN_OPTIONS) self.assertFalse(tp.stopped) press(tp, gt.BTN_RIGHT) self.assertEqual(len(arm.sent), 1) def test_disconnect_and_read_error(self): tp, arm, log, _ = make() tp.controller_lost("controller_disconnected") self.assertTrue(tp.stopped) self.assertEqual(log.rows[-1]["kind"], "controller_lost") tp2, arm2, log2, _ = make() tp2.controller_read_failed("x") tp2.controller_read_failed("x") self.assertTrue(tp2.stopped) self.assertEqual(sum(r["kind"] == "read_error" for r in log2.rows), 1) press(tp2, gt.BTN_OPTIONS) # 読めないうちは戻らない self.assertTrue(tp2.stopped) tp2.controller_read_ok() press(tp2, gt.BTN_OPTIONS) self.assertFalse(tp2.stopped) def test_stop_while_moving_blocks_send(self): tp, arm, log, spawned = make(sync=False) press(tp, gt.BTN_RIGHT) # 仕事を作ったが, まだ走らせていない self.assertTrue(tp.busy) tp.set_triggers(1.0, 1.0) # 動いている間でも停止は受け付ける self.assertTrue(tp.stopped) spawned.pop()() # 仕事が走る: 送る直前に停止を見て送らない tp.poll() self.assertEqual(arm.sent, []) self.assertFalse(tp.busy) move = [r for r in log.rows if r["kind"] == "move"][0] self.assertEqual(move["why"], "halted_before_send") class TestHomeHold(unittest.TestCase): def test_short_press_does_not_send(self): tp, arm, log, _ = make() tp.press(gt.BTN_HOME, 10.0) tp.tick(10.5) tp.tick(10.99) tp.release(gt.BTN_HOME, 10.99) tp.poll() self.assertEqual(arm.sent, []) self.assertEqual(log.rows[-1]["kind"], "home_short") def test_hold_sends_once(self): tp, arm, log, _ = make([5.0, 0, 0, 0, 0, -30]) tp.press(gt.BTN_HOME, 0.0) for t in (0.5, 1.0, 1.5, 3.0, 5.0): tp.tick(t) tp.poll() tp.release(gt.BTN_HOME, 5.0) self.assertEqual(arm.sent, [HOME]) self.assertEqual(sum(r["kind"] == "home" for r in log.rows), 1) self.assertFalse(any(r["kind"] == "home_short" for r in log.rows)) tp.press(gt.BTN_HOME, 6.0) # 押し直せば, また 1 回 tp.tick(7.0) tp.poll() self.assertEqual(len(arm.sent), 2) class TestBusy(unittest.TestCase): def test_presses_while_moving_are_dropped(self): tp, arm, log, spawned = make(sync=False) press(tp, gt.BTN_RIGHT) for b in (gt.BTN_RIGHT, gt.BTN_DOWN, gt.BTN_CROSS): press(tp, b) tp.press(gt.BTN_HOME, 0.0) tp.tick(1.5) self.assertEqual(len(spawned), 1) # 仕事は 1 つだけ spawned.pop()() tp.poll() tp.tick(3.0) # 長押しのまま空いても, ためた HOME は出ない self.assertEqual(spawned, []) self.assertEqual(arm.sent, [[0.5, 0, 0, 0, 0, -30]]) busy = [r for r in log.rows if r.get("reason") == "busy"] self.assertEqual(len(busy), 4) class TestDaemonArm(unittest.TestCase): def _arm(self, reads): it = iter(reads) last = [None] def read(): try: last[0] = next(it) except StopIteration: pass return None if last[0] is None else np.asarray(last[0], dtype=float) return read def test_halt_blocks_send(self): sends = [] with mock.patch.object(gt.rpc, "read_angles", self._arm([HOME])), \ mock.patch.object(gt, "daemon_send_angles", lambda *a, **k: sends.append(a)): gate, quit_ = gt.SendGate(), threading.Event() gate.cancel_now() r = gt.DaemonArm().send_and_check(np.array(HOME), gate, quit_) self.assertEqual(sends, []) self.assertFalse(r["sent"]) def test_single_send_no_retry(self): sends = [] with mock.patch.object(gt.rpc, "read_angles", self._arm([HOME])), \ mock.patch.object(gt, "daemon_send_angles", lambda a, **k: sends.append((a, k))), \ mock.patch.object(gt, "REACH_TIMEOUT_SEC", 0.3), \ mock.patch.object(gt.wr, "_compute_arrival_timeout", lambda d: 0.1), \ mock.patch.object(gt, "POLL_SLEEP", 0.05): r = gt.DaemonArm().send_and_check(np.array([5.0, 0, 0, 0, 0, -30]), gt.SendGate(), threading.Event()) self.assertEqual(len(sends), 1) self.assertEqual(sends[0][1]["speed"], 20) self.assertFalse(r["reached"]) self.assertTrue(r["sent"]) def test_ignored_send_is_resent(self): # 送っても動かない (無視された) → 0.5 秒後に同じ目標を送り直す → 動いて届く (2026-11-03) sends = [] state = {"q": np.array(HOME, dtype=float)} def send(a, **k): sends.append(list(a)) if len(sends) >= 2: # 2 回目で通る state["q"] = np.array(a, dtype=float) target = [5.0, 0, 0, 0, 0, -30] with mock.patch.object(gt.rpc, "read_angles", lambda: state["q"].copy()), \ mock.patch.object(gt, "daemon_send_angles", send), \ mock.patch.object(gt, "IGNORED_CHECK_SEC", 0.05), \ mock.patch.object(gt, "POLL_SLEEP", 0.02): r = gt.DaemonArm().send_and_check(np.array(target), gt.SendGate(), threading.Event()) self.assertEqual(len(sends), 2) self.assertEqual(sends[1], target) self.assertTrue(r["reached"]) self.assertEqual(len(r["resends"]), 1) def test_resend_limited_and_not_when_moving(self): sends = [] with mock.patch.object(gt.rpc, "read_angles", self._arm([HOME])), \ mock.patch.object(gt, "daemon_send_angles", lambda a, **k: sends.append(a)), \ mock.patch.object(gt, "IGNORED_CHECK_SEC", 0.02), \ mock.patch.object(gt, "REACH_TIMEOUT_SEC", 0.5), \ mock.patch.object(gt.wr, "_compute_arrival_timeout", lambda d: 0.1), \ mock.patch.object(gt, "POLL_SLEEP", 0.01): r = gt.DaemonArm().send_and_check(np.array([5.0, 0, 0, 0, 0, -30]), gt.SendGate(), threading.Event()) self.assertEqual(len(sends), 1 + gt.IGNORED_MAX_RESENDS) self.assertFalse(r["reached"]) # 動いている (届いていないが 0.3° 以上動いた) なら送り直さない sends.clear() moving = [HOME] + [[0.5 * (i + 1), 0, 0, 0, 0, -30] for i in range(6)] with mock.patch.object(gt.rpc, "read_angles", self._arm(moving)), \ mock.patch.object(gt, "daemon_send_angles", lambda a, **k: sends.append(a)), \ mock.patch.object(gt, "IGNORED_CHECK_SEC", 0.0), \ mock.patch.object(gt, "REACH_TIMEOUT_SEC", 0.2), \ mock.patch.object(gt.wr, "_compute_arrival_timeout", lambda d: 0.1), \ mock.patch.object(gt, "POLL_SLEEP", 0.01): gt.DaemonArm().send_and_check(np.array([9.0, 0, 0, 0, 0, -30]), gt.SendGate(), threading.Event()) self.assertEqual(len(sends), 1) def test_no_resend_after_stop(self): sends = [] gate = gt.SendGate() reads = {"n": 0} def read(): reads["n"] += 1 if reads["n"] == 2: gate.cancel_now() # 確かめる途中で L2+R2 return np.array(HOME, dtype=float) with mock.patch.object(gt.rpc, "read_angles", read), \ mock.patch.object(gt, "daemon_send_angles", lambda a, **k: sends.append(a)), \ mock.patch.object(gt, "IGNORED_CHECK_SEC", 0.0), \ mock.patch.object(gt, "POLL_SLEEP", 0.01): r = gt.DaemonArm().send_and_check(np.array([5.0, 0, 0, 0, 0, -30]), gate, threading.Event()) self.assertEqual(len(sends), 1) self.assertTrue(r["halted_during_check"]) def test_reached(self): target = [1.0, 0, 0, 0, 0, -30] with mock.patch.object(gt.rpc, "read_angles", self._arm([HOME, [0.5, 0, 0, 0, 0, -30]])), \ mock.patch.object(gt, "daemon_send_angles", lambda a, **k: None): r = gt.DaemonArm().send_and_check(np.array(target), gt.SendGate(), threading.Event()) self.assertTrue(r["reached"]) self.assertEqual(r["reach_err"], 0.5) def test_reach_uses_unrounded_error(self): target = [3.004, 0, 0, 0, 0, -30] with mock.patch.object(gt.rpc, "read_angles", self._arm([HOME])), \ mock.patch.object(gt, "daemon_send_angles", lambda a, **k: None), \ mock.patch.object(gt, "REACH_TIMEOUT_SEC", 0.2), \ mock.patch.object(gt.wr, "_compute_arrival_timeout", lambda d: 0.1), \ mock.patch.object(gt, "POLL_SLEEP", 0.05): r = gt.DaemonArm().send_and_check(np.array(target), gt.SendGate(), threading.Event()) self.assertFalse(r["reached"]) def test_read_none_during_check_is_error(self): with mock.patch.object(gt.rpc, "read_angles", self._arm([HOME, None])), \ mock.patch.object(gt, "daemon_send_angles", lambda a, **k: None): r = gt.DaemonArm().send_and_check(np.array([5.0, 0, 0, 0, 0, -30]), gt.SendGate(), threading.Event()) self.assertTrue(r["sent"]) self.assertEqual(r["error"], "read_failed_during_check") self.assertIsNone(r["reached"]) def test_stop_does_not_wait_and_reports_commit(self): # 送ると決めて送信 (通信) の最中に停止が来ても, 停止は待たない. 決めていたことを返す. # 停止のあとに「送ると決める」ことはない gate = gt.SendGate() entered, release = threading.Event(), threading.Event() def slow_send(): entered.set() release.wait(2.0) t = threading.Thread(target=lambda: gate.run(slow_send)) t.start() entered.wait(1.0) got = [] stopper = threading.Thread(target=lambda: got.append(gate.cancel_now())) stopper.start() stopper.join(0.5) self.assertFalse(stopper.is_alive()) # 待たされない self.assertEqual(got, [True]) # 停止より前に送ると決めていた release.set() t.join(2.0) self.assertFalse(gate.run(lambda: self.fail("取り消しのあとに送った"))) g2 = gt.SendGate() self.assertFalse(g2.cancel_now()) # まだ決めていない仕事は送らない self.assertFalse(g2.run(lambda: self.fail("取り消しのあとに送った"))) def test_send_uses_rpc_timeout(self): seen = [] with mock.patch.object(gt.rpc, "read_angles", self._arm([HOME])), \ mock.patch.object(gt, "daemon_send_angles", lambda a, **k: seen.append(k)): gt.DaemonArm().send_and_check(np.array(HOME), gt.SendGate(), threading.Event()) self.assertEqual(seen[0]["timeout_override"], gt.SEND_RPC_TIMEOUT_SEC) def test_stop_log_says_whether_send_was_committed(self): tp, arm, log, spawned = make(sync=False) press(tp, gt.BTN_RIGHT) tp.set_triggers(1, 1) # まだ送ると決めていない stop = [r for r in log.rows if r["kind"] == "stop"][0] self.assertIs(stop["send_committed_before_stop"], False) def test_gripper_gate(self): calls = [] with mock.patch.object(gt, "daemon_set_gripper_value", lambda v: calls.append(("close", v))), \ mock.patch.object(gt, "daemon_set_gripper", lambda s, wait: calls.append(("open", s, wait))), \ mock.patch.object(gt.rpc, "GRIPPER_SLEEP", 0.0): arm = gt.DaemonArm() self.assertTrue(arm.gripper(1, gt.SendGate())) self.assertTrue(arm.gripper(0, gt.SendGate())) g = gt.SendGate() g.cancel_now() self.assertFalse(arm.gripper(1, g)) self.assertEqual(calls, [("close", 20), ("open", 0, gt.rpc.GRIP_OPEN_DAEMON_WAIT)]) class FakeJoystick: def __init__(self, idx): self.axes = [0.0, 0.0, 0.0, 0.0, -1.0, -1.0] def get_instance_id(self): return 7 def get_name(self): return "PS4 Controller" def get_guid(self): return "fake-guid" def get_numaxes(self): return 6 def get_numbuttons(self): return 16 def get_numhats(self): return 0 def get_axis(self, a): return self.axes[a] def get_button(self, b): return 1 if b in getattr(self, "held", set()) else 0 class TestDryRunMain(unittest.TestCase): def test_flow(self): import pygame js_holder = {} def make_js(idx): js_holder["js"] = FakeJoystick(idx) return js_holder["js"] def btn(b, down=True): t = pygame.JOYBUTTONDOWN if down else pygame.JOYBUTTONUP pygame.event.post(pygame.event.Event(t, instance_id=7, button=b, joy=0)) # フレームごとの台本 (ドライランは 1 回 0.3 秒動いている扱い = 60fps で 18 コマ程度) script = { 1: lambda: pygame.event.post(pygame.event.Event(pygame.JOYDEVICEADDED, device_index=0)), 3: lambda: (btn(gt.BTN_RIGHT), btn(gt.BTN_RIGHT, False)), 5: lambda: (btn(gt.BTN_RIGHT), btn(gt.BTN_RIGHT, False)), # 動いている間 → 受け付けない 40: lambda: btn(gt.BTN_TRIANGLE), 42: lambda: (btn(gt.BTN_DOWN), btn(gt.BTN_DOWN, False)), 80: lambda: btn(gt.BTN_CROSS), 82: lambda: js_holder["js"].axes.__setitem__(slice(4, 6), [0.5, 0.5]), # 停止 85: lambda: (btn(gt.BTN_LEFT), btn(gt.BTN_LEFT, False)), 86: lambda: js_holder["js"].axes.__setitem__(slice(4, 6), [-1.0, -1.0]), 88: lambda: btn(gt.BTN_OPTIONS), 150: lambda: btn(gt.BTN_HOME), 230: lambda: btn(gt.BTN_HOME, False), 300: lambda: pygame.event.post(pygame.event.Event(pygame.QUIT)), } def on_frame(n, tp): if n in script: script[n]() logs = [] class SpyNullLog(gt.NullLog): # 書かないことは変えずに, 渡された行だけ見る def __init__(self): self.rows = [] logs.append(self) def write(self, rec): json.dumps(rec, ensure_ascii=False) self.rows.append(rec) out = [] with tempfile.TemporaryDirectory() as td, \ mock.patch.object(gt, "LOG_ROOT", Path(td)), \ mock.patch.object(gt, "ensure_ssd_mounted", side_effect=AssertionError("KIOXIA を確かめた")), \ mock.patch.object(gt, "load_daemon_modules", side_effect=AssertionError("daemon の送り口を読んだ")), \ mock.patch.object(gt, "JsonlLog", side_effect=AssertionError("log.jsonl を開いた")), \ mock.patch.object(gt, "write_json_atomic", side_effect=AssertionError("meta.json を書いた")), \ mock.patch.object(gt.shutil, "copy2", side_effect=AssertionError("スクリプトを写した")), \ mock.patch.object(gt, "NullLog", SpyNullLog), \ mock.patch.object(gt.pygame.joystick, "Joystick", make_js), \ mock.patch.object(gt, "GRIPPER_SLEEP", 0.2), \ mock.patch.object(gt, "get_daemon_socket", side_effect=AssertionError("daemon に触った")), \ mock.patch.object(gt, "daemon_send_angles", side_effect=AssertionError("daemon に送った")), \ mock.patch("builtins.print", lambda *a, **k: out.append(" ".join(str(x) for x in a))): gt.main([], on_frame=on_frame) self.assertEqual(list(Path(td).iterdir()), []) # フォルダも作らない self.assertEqual(len(logs), 1) rows = logs[0].rows self.assertIn("[記録] ドライランなので記録しません", out) self.assertIn("[終了] アームは動かしていません。記録なし（ドライラン）", out) kinds = [(r["kind"], r.get("accepted"), r.get("reason")) for r in rows] # 受け付けた 1 回目の行は届いてから書くので, 動いている間に断った行 (busy) が先に来る self.assertEqual(kinds[0], ("move", False, "busy")) self.assertEqual(kinds[1][:2], ("move", True)) self.assertIn(("move", False, "busy"), kinds) self.assertIn(("select_joint", True, None), kinds) self.assertIn(("stop", True, "L2+R2"), kinds) self.assertIn(("move", False, "stopped"), kinds) self.assertIn(("resume", True, None), kinds) home = [r for r in rows if r["kind"] == "home"] self.assertEqual(len(home), 1) self.assertEqual(home[0]["command"], HOME) moves = [r for r in rows if r["kind"] == "move" and r.get("sent") is True] self.assertEqual(moves[0]["command"], [0.5, 0, 0, 0, 0, -30]) self.assertEqual(moves[1]["command"], [0.5, 0.0, 0.5, 0, 0, -30]) # △ で j2 にしてから下 for r in moves: for key in ("t", "button", "kind", "selected_joint", "step_deg", "measured_before", "command", "reached_angles", "reached", "grip_state", "clip", "stopped"): self.assertIn(key, r) self.assertTrue(all(r["execute"] is False for r in rows)) class TestExecuteMainRecords(unittest.TestCase): """--execute は今までどおり KIOXIA (ここでは一時フォルダ) に log.jsonl・meta.json・写しを書く.""" def test_execute_writes(self): import pygame script = { 1: lambda: pygame.event.post(pygame.event.Event(pygame.JOYDEVICEADDED, device_index=0)), 3: lambda: (pygame.event.post(pygame.event.Event(pygame.JOYBUTTONDOWN, instance_id=7, button=gt.BTN_RIGHT, joy=0)), pygame.event.post(pygame.event.Event(pygame.JOYBUTTONUP, instance_id=7, button=gt.BTN_RIGHT, joy=0))), 60: lambda: pygame.event.post(pygame.event.Event(pygame.QUIT)), } sends = [] q = {"now": list(HOME)} def send(a, **k): sends.append(list(a)) q["now"] = list(a) with tempfile.TemporaryDirectory() as td, \ mock.patch.object(gt, "LOG_ROOT", Path(td)), \ mock.patch.object(gt, "ensure_ssd_mounted", lambda: None), \ mock.patch.object(gt.pygame.joystick, "Joystick", FakeJoystick), \ mock.patch.object(gt, "get_daemon_socket", lambda: None), \ mock.patch.object(gt, "close_daemon_socket", lambda: None), \ mock.patch.object(gt.rpc, "install_daemon_lock", lambda: None), \ mock.patch.object(gt.rpc, "read_angles", lambda: np.array(q["now"], dtype=float)), \ mock.patch.object(gt, "daemon_send_angles", send), \ mock.patch("builtins.print", lambda *a, **k: None): gt.main(["--execute"], on_frame=lambda n, tp: script[n]() if n in script else None) runs = list(Path(td).iterdir()) self.assertEqual(len(runs), 1) run = runs[0] self.assertFalse(run.name.endswith("_dry")) rows = [json.loads(x) for x in (run / "log.jsonl").read_text().splitlines()] meta = json.loads((run / "meta.json").read_text()) self.assertTrue((run / "gamepad_teleop.py").exists()) self.assertEqual(sends, [[0.5, 0.0, 0.0, 0.0, 0.0, -30.0]]) self.assertEqual([(r["kind"], r.get("sent")) for r in rows], [("move", True)]) self.assertTrue(rows[0]["execute"]) self.assertEqual(meta["controllers"][0]["name"], "PS4 Controller") self.assertEqual(meta["controllers"][0]["guid"], "fake-guid") self.assertTrue(meta["execute"]) self.assertEqual(meta["end_reason"], "window_closed") self.assertEqual(meta["n_sent"], 1) self.assertEqual(meta["guards"]["J1_MAX_DEG"], 90.87) self.assertEqual(meta["motion"]["speed"], 20) for key in ("python", "pygame", "sdl", "start_pose", "git"): self.assertIn(key, meta) class TestNoCv2InDryRun(unittest.TestCase): """依頼 69: ドライランは cv2 (cv2/.dylibs/libSDL2) を読まず, objc の重複の警告が出ない. このプロセスはもう load_daemon_modules() を呼んでいるので, 別のプロセスで main([]) を回す.""" CHILD = r''' import os, sys, tempfile os.environ["SDL_VIDEODRIVER"] = "dummy"; os.environ["SDL_AUDIODRIVER"] = "dummy" sys.path.insert(0, sys.argv[1]) from pathlib import Path import gamepad_teleop as gt import pygame td = tempfile.mkdtemp() gt.LOG_ROOT = Path(td) gt.SSD_MOUNT = "/nonexistent_kioxia_for_test" # KIOXIA がなくても動く gt.main([], on_frame=lambda n, tp: pygame.event.post(pygame.event.Event(pygame.QUIT)) if n == 5 else None) assert os.listdir(td) == [], os.listdir(td) bad = [m for m in ("cv2", "run_policy_client", "visual_servo_pick", "j0_sweep_scan") if m in sys.modules] assert not bad, bad assert gt.rpc is None and gt.daemon_send_angles is None print("CHILD_OK") ''' def test_dry_run_in_fresh_process(self): r = subprocess.run([sys.executable, "-c", self.CHILD, str(Path(gt.__file__).parent)], capture_output=True, text=True, timeout=60) self.assertEqual(r.returncode, 0, r.stdout + r.stderr) self.assertIn("CHILD_OK", r.stdout) self.assertNotIn("is implemented in both", r.stderr) class TestConstantsMatchModules(unittest.TestCase): """読み込まずに読んだ値が, 読み込んだモジュールの値と同じ.""" def test_same(self): self.assertEqual(gt.HOME, [float(v) for v in gt.rpc.HOME]) self.assertEqual(gt.J4_SAFE, tuple(float(v) for v in gt.rpc.J4_SAFE)) self.assertEqual(gt.GRIPPER_SLEEP, gt.rpc.GRIPPER_SLEEP) self.assertEqual(gt.JOINT_LIMITS, [tuple(float(v) for v in x) for x in gt.wr.JOINT_LIMITS]) self.assertEqual((gt.SPEED, gt.POLL_SLEEP, gt.REACH_TIMEOUT_SEC), (20, 0.3, 8.0)) def test_read_constants_rejects_double_assignment(self): with tempfile.TemporaryDirectory() as td: f = Path(td) / "m.py" f.write_text("A = 1\nA = 2\n") with self.assertRaises(RuntimeError): gt.read_constants(f, ("A",)) with self.assertRaises(RuntimeError): gt.read_constants(f, ("B",)) for src in ("A = 1\nA += 1\n", "A = 1\nA: int = 2\n", "A = 1\nB = A = 2\n", "A = 1\nfor A in []:\n pass\n", "A = 1\ndef f():\n global A\n A = 2\n"): f.write_text(src) with self.assertRaises(RuntimeError, msg=src): gt.read_constants(f, ("A",)) f.write_text("A = 1\ndef f():\n return A\n") self.assertEqual(gt.read_constants(f, ("A",)), {"A": 1}) class TestExecuteLoadGuards(unittest.TestCase): def test_no_load_when_ssd_missing(self): with mock.patch.object(gt, "ensure_ssd_mounted", side_effect=SystemExit("no ssd")), \ mock.patch.object(gt, "load_daemon_modules") as load: with self.assertRaises(SystemExit) as cm: gt.main(["--execute"]) self.assertEqual(str(cm.exception), "no ssd") load.assert_not_called() def test_load_failure_aborts_before_record(self): with tempfile.TemporaryDirectory() as td, \ mock.patch.object(gt, "LOG_ROOT", Path(td)), \ mock.patch.object(gt, "ensure_ssd_mounted", lambda: None), \ mock.patch.object(gt, "load_daemon_modules", side_effect=ImportError("x")), \ mock.patch.object(gt, "get_daemon_socket", side_effect=AssertionError("daemon に触った")): with self.assertRaises(SystemExit) as cm: gt.main(["--execute"]) self.assertIn("[ABORT]", str(cm.exception)) self.assertEqual(list(Path(td).iterdir()), []) def test_mismatch_aborts_in_fresh_process(self): """ファイルから読んだ値と読み込んだ値が違えば, daemon の送り口を入れずに止める (別のプロセス).""" child = r''' import os, sys, tempfile os.environ["SDL_VIDEODRIVER"] = "dummy" sys.path.insert(0, sys.argv[1]) from pathlib import Path import gamepad_teleop as gt gt.HOME = [1.0, 0.0, 0.0, 0.0, 0.0, -30.0] td = tempfile.mkdtemp() gt.LOG_ROOT = Path(td) gt.ensure_ssd_mounted = lambda: None try: gt.main(["--execute"]) except SystemExit as e: assert "HOME" in str(e), e else: raise AssertionError("止まらなかった") assert os.listdir(td) == [], os.listdir(td) assert gt.rpc is None and gt.daemon_send_angles is None and gt.get_daemon_socket is None print("CHILD_OK") ''' r = subprocess.run([sys.executable, "-c", child, str(Path(gt.__file__).parent)], capture_output=True, text=True, timeout=60) self.assertEqual(r.returncode, 0, r.stdout + r.stderr) self.assertIn("CHILD_OK", r.stdout) if __name__ == "__main__": unittest.main() ``` #### test_gamepad_teleop.py の出力（73件） ```text test_presses_while_moving_are_dropped (test_gamepad_teleop.TestBusy) ... ok test_dpad_left_right_always_j0 (test_gamepad_teleop.TestButtonMap) ... ok test_gripper (test_gamepad_teleop.TestButtonMap) ... ok test_numbers (test_gamepad_teleop.TestButtonMap) ... ok test_r1_coarse_step (test_gamepad_teleop.TestButtonMap) ... ok test_triangle_cycles (test_gamepad_teleop.TestButtonMap) ... ok test_unassigned_do_nothing (test_gamepad_teleop.TestButtonMap) ... ok test_up_minus_down_plus_starts_j1 (test_gamepad_teleop.TestButtonMap) ... ok test_gap_between_command_and_measured (test_gamepad_teleop.TestCodexR1) ... ok test_home_hold_across_busy_is_dropped (test_gamepad_teleop.TestCodexR1) ... ok test_home_hold_dropped_by_stop_and_disconnect (test_gamepad_teleop.TestCodexR1) ... ok test_home_hold_dropped_when_other_op_starts (test_gamepad_teleop.TestCodexR1) ... ok test_home_read_failure_does_not_send (test_gamepad_teleop.TestCodexR1) ... ok test_log_failure_blocks_resume (test_gamepad_teleop.TestCodexR1) ... ok test_loop_reads_triggers_before_buttons (test_gamepad_teleop.TestCodexR1) ... ok test_physical_limit_ends (test_gamepad_teleop.TestCodexR1) ... ok test_resume_does_not_revive_old_job (test_gamepad_teleop.TestCodexR1) ... ok test_selected_joint_out_of_window_not_clamped (test_gamepad_teleop.TestCodexR1) ... ok test_read_constants_rejects_double_assignment (test_gamepad_teleop.TestConstantsMatchModules) ... ok test_same (test_gamepad_teleop.TestConstantsMatchModules) ... ok test_gripper_gate (test_gamepad_teleop.TestDaemonArm) ... ok test_halt_blocks_send (test_gamepad_teleop.TestDaemonArm) ... ok test_ignored_send_is_resent (test_gamepad_teleop.TestDaemonArm) ... ok test_no_resend_after_stop (test_gamepad_teleop.TestDaemonArm) ... ok test_reach_uses_unrounded_error (test_gamepad_teleop.TestDaemonArm) ... ok test_reached (test_gamepad_teleop.TestDaemonArm) ... ok test_read_none_during_check_is_error (test_gamepad_teleop.TestDaemonArm) ... ok test_resend_limited_and_not_when_moving (test_gamepad_teleop.TestDaemonArm) ... ok test_send_uses_rpc_timeout (test_gamepad_teleop.TestDaemonArm) ... ok test_single_send_no_retry (test_gamepad_teleop.TestDaemonArm) ... ok test_stop_does_not_wait_and_reports_commit (test_gamepad_teleop.TestDaemonArm) ... ok test_stop_log_says_whether_send_was_committed (test_gamepad_teleop.TestDaemonArm) ... ok test_flow (test_gamepad_teleop.TestDryRunMain) ... ok test_load_failure_aborts_before_record (test_gamepad_teleop.TestExecuteLoadGuards) ... ok test_mismatch_aborts_in_fresh_process (test_gamepad_teleop.TestExecuteLoadGuards) ファイルから読んだ値と読み込んだ値が違えば, daemon の送り口を入れずに止める (別のプロセス). ... ok test_no_load_when_ssd_missing (test_gamepad_teleop.TestExecuteLoadGuards) ... ok test_execute_writes (test_gamepad_teleop.TestExecuteMainRecords) ... ok test_home_bypasses_range (test_gamepad_teleop.TestGuards) ... ok test_home_then_continue (test_gamepad_teleop.TestGuards) ... ok test_home_to_pick_height (test_gamepad_teleop.TestGuards) ... ok test_j1_never_above_9087 (test_gamepad_teleop.TestGuards) ... ok test_j4_safe (test_gamepad_teleop.TestGuards) ... ok test_no_compensation_other_joints (test_gamepad_teleop.TestGuards) ... ok test_out_of_window_start_refuses (test_gamepad_teleop.TestGuards) ... ok test_start_from_measured_when_not_reached (test_gamepad_teleop.TestGuards) ... ok test_window_function (test_gamepad_teleop.TestGuards) ... ok test_disconnect_ends_hold (test_gamepad_teleop.TestHold) ... ok test_hold_direction_and_selected_joint (test_gamepad_teleop.TestHold) ... ok test_hold_keeps_other_joints_at_command (test_gamepad_teleop.TestHold) ... ok test_hold_sends_ahead_of_measured_without_waiting (test_gamepad_teleop.TestHold) ... ok test_hold_target_never_goes_back (test_gamepad_teleop.TestHold) ... ok test_limit_ends_hold_without_repeating_lines (test_gamepad_teleop.TestHold) ... ok test_short_press_after_hold_starts_from_command (test_gamepad_teleop.TestHold) ... ok test_short_press_is_one_step (test_gamepad_teleop.TestHold) ... ok test_stall_ends_hold (test_gamepad_teleop.TestHold) ... ok test_stop_ends_hold_and_resume_does_not_revive (test_gamepad_teleop.TestHold) ... ok test_triangle_and_other_buttons_end_hold (test_gamepad_teleop.TestHold) ... ok test_loop_releases_hold_when_button_state_is_up (test_gamepad_teleop.TestHoldReview) ... ok test_press_rejected_while_busy_does_not_become_hold (test_gamepad_teleop.TestHoldReview) ... ok test_press_rejected_while_stopped_does_not_become_hold (test_gamepad_teleop.TestHoldReview) ... ok test_release_cancels_uncommitted_repeat (test_gamepad_teleop.TestHoldReview) ... ok test_release_does_not_cancel_first_step (test_gamepad_teleop.TestHoldReview) ... ok test_hold_sends_once (test_gamepad_teleop.TestHomeHold) ... ok test_short_press_does_not_send (test_gamepad_teleop.TestHomeHold) ... ok test_dry_run_in_fresh_process (test_gamepad_teleop.TestNoCv2InDryRun) ... ok test_committed_send_is_waited_and_recorded (test_gamepad_teleop.TestShutdown) ... ok test_uncommitted_job_is_not_sent_at_exit (test_gamepad_teleop.TestShutdown) ... ok test_worker_not_done_returns_false (test_gamepad_teleop.TestShutdown) ... ok test_real_steps (test_gamepad_teleop.TestStepValue) ... ok test_both_triggers (test_gamepad_teleop.TestStop) ... ok test_disconnect_and_read_error (test_gamepad_teleop.TestStop) ... ok test_stop_while_moving_blocks_send (test_gamepad_teleop.TestStop) ... ok test_stopped_rejects_and_options_resumes (test_gamepad_teleop.TestStop) ... ok ---------------------------------------------------------------------- Ran 73 tests in 12.779s OK [接続] PS4 Controller GUID=fake-guid 軸=6 ボタン=16 [受付なし] 前の操作が終わっていません（ためません） [送信] j0 +0.5° → +0.50 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 0.0°） 届いた角度 +0.50 +0.00 +0.00 +0.00 +0.00 -30.00 [関節] 上下で動かす関節を j2 にしました [送信] j2 +0.5° → +0.50 +0.00 +0.50 +0.00 +0.00 -30.00 届いた（ずれ 0.0°） 届いた角度 +0.50 +0.00 +0.50 +0.00 +0.00 -30.00 [停止] L2+R2。新しい指令は送りません（OPTIONS で再開）。止める前に送った動きは止まらずに最後まで行きます [受付なし] 停止中です（OPTIONS で再開） [再開] 操作を受け付けます [爪] 爪を閉じる（待ち 0.2 秒のあと受付） [送信] HOME → +0.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 0.0°） 届いた角度 +0.00 +0.00 +0.00 +0.00 +0.00 -30.00 [接続] PS4 Controller GUID=fake-guid 軸=6 ボタン=16 [送信] j0 +0.5° → +0.50 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 0.0°） 届いた角度 +0.50 +0.00 +0.00 +0.00 +0.00 -30.00 ``` ## この回の実機の記録（全量） ### 7:14 の記録 runs/experiments/gamepad_teleop/teleop_20261103_071424/meta.json ```json { "run_stem": "teleop_20261103_071424", "started_at": "2026-11-03T07:14:26", "execute": true, "argv": [ "tools/gamepad_teleop.py", "--execute" ], "controllers": [ { "name": "PS4 Controller", "guid": "03008fe54c050000cc09000000016800", "instance_id": 0, "axes": 6, "buttons": 16, "hats": 0, "connected_at": "2026-11-03T07:14:31" } ], "python": "3.12.12 | packaged by conda-forge | (main, Oct 22 2025, 23:34:53) [Clang 19.1.7 ]", "pygame": "2.6.1", "sdl": "2.28.4", "platform": "macOS-26.6.2-arm64-arm-64bit", "start_pose": [ 23.29, 109.77, -62.4, 0.79, -49.3, -30.93 ], "guards": { "J1_MAX_DEG": 90.87, "J0_RANGE_DEG": 15.0, "JOINT_RANGE_DEG": 10.0, "J4_SAFE": [ -90.0, 60.0 ], "JOINT_LIMITS": [ [ -156.0, 161.0 ], [ -79.0, 123.0 ], [ -177.0, 177.0 ], [ -156.0, 162.0 ], [ -118.0, 118.0 ], [ -177.0, 178.0 ] ], "window_at_start": { "lo": [ 8.29, 99.77, -72.4, -9.21, -59.3, -40.93 ], "hi": [ 38.29, 90.87, -52.4, 10.79, -39.3, -20.93 ] }, "home_bypasses_range_check": true }, "motion": { "speed": 20, "step_fine_deg": 0.5, "step_coarse_deg": 2.0, "reach_tol_deg": 3.0, "reach_timeout_min_sec": 8.0, "poll_sec": 0.3, "gripper_sleep_sec": 0.8, "grip_close_value": 20, "send_wait": 0.0, "home": [ 0.0, 0.0, 0.0, 0.0, 0.0, -30.0 ], "home_hold_sec": 1.0, "trigger_stop_above": 0.0, "j0_left_sign": -1.0, "up_sign": -1.0, "select_order": [ 1, 2, 3, 4, 5 ] }, "button_map": { "0": "cross", "1": "circle", "2": "square", "3": "triangle", "4": "share", "5": "home", "6": "options", "7": "l3", "8": "r3", "9": "l1", "10": "r1", "11": "dpad_up", "12": "dpad_down", "13": "dpad_left", "14": "dpad_right", "15": "touchpad" }, "git": { "commit": "f061d54a87d17ff5dd027bf928addc0dee59f212", "script_status": "clean" }, "script_copy": "gamepad_teleop.py", "script_sha256": "ad49623b481286a962e8d05da2525022fa5fb49d11bc75f4e62170db73f9e70d", "ended_at": "2026-11-03T07:49:31", "end_reason": "ctrl_c", "n_sent": 48 } ``` ### 7:14 の記録 runs/experiments/gamepad_teleop/teleop_20261103_071424/log.jsonl（121行） ```json {"seq": 1, "t": "2026-11-03T07:14:37.221", "t_unix": 1793657677.222, "button": 5, "button_name": "home", "kind": "home", "selected_joint": 1, "step_deg": 0.5, "execute": true, "held_sec": 1.007, "accepted": true, "measured_before": [23.29, 109.77, -62.4, 0.79, -49.3, -30.93], "command": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0], "range_check": "skipped_for_home", "sent": true, "timeout_sec": 18.47, "t_send": 1793657677.26519, "measured_before_send": [23.29, 109.77, -62.4, 0.79, -49.3, -30.93], "reached": true, "reached_angles": 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"2026-11-03T07:14:46.378", "t_unix": 1793657686.379, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 0.5, "execute": true, "joint": 0, "delta": -0.5, "accepted": true, "measured_before": [0.0, 1.31, 0.87, 0.26, 1.23, -30.32], "start_source": "command", "cmd_gap_deg": 1.31, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.0, 0.0, 0.0, 0.0, 0.0, -30.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657686.4208698, "measured_before_send": [0.0, 1.31, 0.87, 0.26, 1.23, -30.32], "reached": true, "reached_angles": [-0.96, 1.31, 0.87, 0.26, 0.61, -30.23], "reach_err": 1.31, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null, "base_pose": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0]} {"seq": 4, "t": "2026-11-03T07:14:50.080", "t_unix": 1793657690.081, "button": 3, "button_name": "triangle", "kind": "select_joint", "selected_joint": 2, "step_deg": 0.5, "execute": true, "accepted": true, "grip_state": 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"timeout_sec": 8.0, "t_send": 1793657799.749374, "measured_before_send": [-1.14, 1.23, 6.85, -1.66, 1.58, -30.14], "reached": true, "reached_angles": [-1.14, 1.23, 6.85, -1.66, -1.84, -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": 64, "t": "2026-11-03T07:16:42.269", "t_unix": 1793657802.27, "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, -1.66, -1.84, -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, -4.0, -30.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657802.3074539, "measured_before_send": [-1.14, 1.23, 6.85, -1.66, -1.84, -30.14], "reached": true, "reached_angles": [-1.14, 1.23, 6.85, -1.66, -3.33, -30.14], "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]} {"seq": 65, "t": "2026-11-03T07:16:45.176", "t_unix": 1793657805.177, "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, -1.66, -3.33, -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, -6.0, -30.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657805.225366, "measured_before_send": [-1.14, 1.23, 6.85, -1.66, -3.33, -30.14], "reached": true, "reached_angles": [-1.14, 1.23, 6.85, -1.66, -6.41, -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": 66, "t": "2026-11-03T07:16:47.366", "t_unix": 1793657807.366, "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, -1.66, -6.41, -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, -8.0, -30.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657807.4059782, "measured_before_send": [-1.14, 1.23, 6.85, -1.66, -6.41, -30.14], "reached": true, "reached_angles": [-1.14, 1.23, 6.85, -1.75, -7.99, -30.14], "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": 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]} {"seq": 78, "t": "2026-11-03T07:17:08.372", "t_unix": 1793657828.372, "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, 1.23, 6.85, -1.84, -10.1, -26.19], "start_source": "command", "cmd_gap_deg": 0.85, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.0, 2.5, 6.0, -2.0, -10.0, -26.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793657828.4157991, "measured_before_send": [-1.14, 1.23, 6.85, -1.84, -10.1, -26.19], "reached": true, "reached_angles": [-1.14, 3.42, 6.85, -1.84, -10.1, -26.19], "reach_err": 0.92, "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": 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]} {"seq": 83, "t": "2026-11-03T07:17:20.374", "t_unix": 1793657840.375, "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, 10.89, 6.85, -2.1, -10.19, -26.19], "start_source": "command", "cmd_gap_deg": 0.89, "clip": [{"joint": 1, "want": 12.0, "cmd": 10.0, "limit": "BASE", "bound": 10.0}], "refused": [{"joint": 1, "why": "at_limit", "value": 12.0, "lo": -10.0, "hi": 10.0, "limit": "BASE"}], "limit_ja": "j1 を +12.00° → +10.00° に切った（基準の姿勢からの範囲 +10.00°） / j1 +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": "j1 clipped +12.00->+10.00 (BASE +10.00) / j1 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": 84, "t": "2026-11-03T07:17:21.772", "t_unix": 1793657841.773, "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": 85, "t": "2026-11-03T07:17:22.227", "t_unix": 1793657842.227, "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": 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[0.0, 0.0, 0.0, 0.0, 0.0, -30.0]} {"seq": 93, "t": "2026-11-03T07:17:34.318", "t_unix": 1793657854.319, "button": 3, "button_name": "triangle", "kind": "select_joint", "selected_joint": 3, "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": 94, "t": "2026-11-03T07:17:35.168", "t_unix": 1793657855.168, "button": 3, "button_name": "triangle", "kind": "select_joint", "selected_joint": 4, "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": 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]} {"seq": 96, "t": 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"move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 1, "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": 104, "t": "2026-11-03T07:17:45.640", "t_unix": 1793657865.64, "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, 7.11, 10.81, -2.28, -10.54, -26.19], "start_source": "command", "cmd_gap_deg": 1.11, "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": 1793657865.6721652, "measured_before_send": [-1.14, 7.11, 10.81, -2.28, -10.54, -26.19], "reached": true, "reached_angles": [-1.14, 8.96, 10.81, -2.28, -10.54, -26.19], "reach_err": 0.96, "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": 106, "t": "2026-11-03T07:17:49.144", "t_unix": 1793657869.144, "button": 3, "button_name": "triangle", "kind": "select_joint", "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": 107, "t": "2026-11-03T07:17:49.778", "t_unix": 1793657869.778, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 2, "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": 108, "t": "2026-11-03T07:17:50.518", "t_unix": 1793657870.518, "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": 110, "t": "2026-11-03T07:17:52.522", "t_unix": 1793657872.522, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 2, "step_deg": 2.0, "execute": true, "joint": 2, "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": 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]} {"seq": 112, "t": "2026-11-03T07:17:55.830", "t_unix": 1793657875.831, "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, 10.72, -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": 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]} ``` ### 7:49 の記録 runs/experiments/gamepad_teleop/teleop_20261103_074936/meta.json ```json { "run_stem": "teleop_20261103_074936", "started_at": "2026-11-03T07:49:37", "execute": true, "argv": [ "tools/gamepad_teleop.py", "--execute" ], "controllers": [ { "name": "PS4 Controller", "guid": "03008fe54c050000cc09000000016800", "instance_id": 0, "axes": 6, "buttons": 16, "hats": 0, "connected_at": "2026-11-03T07:50:02" } ], "python": "3.12.12 | packaged by conda-forge | (main, Oct 22 2025, 23:34:53) [Clang 19.1.7 ]", "pygame": "2.6.1", "sdl": "2.28.4", "platform": "macOS-26.6.2-arm64-arm-64bit", "start_pose": [ -0.43, 1.23, 1.31, -0.26, -0.17, -29.7 ], "guards": { "J1_MAX_DEG": 90.87, "range": "physical_limits (no base window. 2026-11-03)", "J4_SAFE": [ -90.0, 60.0 ], "JOINT_LIMITS": [ [ -156.0, 161.0 ], [ -79.0, 123.0 ], [ -177.0, 177.0 ], [ -156.0, 162.0 ], [ -118.0, 118.0 ], [ -177.0, 178.0 ] ], "window": { "lo": [ -156.0, -79.0, -177.0, -156.0, -90.0, -177.0 ], "hi": [ 161.0, 90.87, 177.0, 162.0, 60.0, 178.0 ] }, "home_bypasses_range_check": true }, "motion": { "speed": 20, "step_fine_deg": 0.5, "step_coarse_deg": 2.0, "reach_tol_deg": 3.0, "reach_timeout_min_sec": 8.0, "poll_sec": 0.3, "gripper_sleep_sec": 0.8, "grip_close_value": 20, "send_wait": 0.0, "home": [ 0.0, 0.0, 0.0, 0.0, 0.0, -30.0 ], "home_hold_sec": 1.0, "trigger_stop_above": 0.0, "hold_start_sec": 0.4, "hold_interval_sec": 0.2, "hold_lead_max_deg": 3.0, "hold_wait_max_sec": 3.0, "j0_left_sign": -1.0, "up_sign": -1.0, "select_order": [ 1, 2, 3, 4, 5 ] }, "button_map": { "0": "cross", "1": "circle", "2": "square", "3": "triangle", "4": "share", "5": "home", "6": "options", "7": "l3", "8": "r3", "9": "l1", "10": "r1", "11": "dpad_up", "12": "dpad_down", "13": "dpad_left", "14": "dpad_right", "15": "touchpad" }, "git": { "commit": "36def3cc1216f2bcaa937994a99968e38366009c", "script_status": "clean" }, "script_copy": "gamepad_teleop.py", "script_sha256": "87c4c644aea9f43d8b891b95adf9bb603f62f47e9b59165a999f863f02e54918", "ended_at": "2026-11-03T07:56:27", "end_reason": "ctrl_c", "n_sent": 33 } ``` ### 7:49 の記録 runs/experiments/gamepad_teleop/teleop_20261103_074936/log.jsonl（50行） ```json {"seq": 1, "t": "2026-11-03T07:50:06.353", "t_unix": 1793659806.353, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 0.5, "execute": true, "joint": 0, "delta": -0.5, "hold_id": 1, "hold_n": 0, "accepted": true, "measured_before": [-0.43, 1.23, 1.31, -0.26, -0.17, -29.7], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-0.93, 1.23, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659806.430069, "measured_before_send": [-0.43, 1.23, 1.31, -0.26, -0.17, -29.7], "reached": true, "reached_angles": [-0.43, 2.02, 2.02, -0.26, -0.17, -29.7], "reach_err": 0.79, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 2, "t": "2026-11-03T07:50:10.543", "t_unix": 1793659810.544, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 1, "step_deg": 0.5, "execute": true, "joint": 1, "delta": -0.5, "hold_id": 2, "hold_n": 0, "accepted": true, "measured_before": [-0.43, 2.02, 2.02, -0.17, -0.17, -29.7], "start_source": "command", "cmd_gap_deg": 0.79, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-0.93, 0.73, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659810.589694, "measured_before_send": [-0.43, 2.02, 2.02, -0.17, -0.17, -29.7], "reached": true, "reached_angles": [-0.43, 2.02, 2.02, -0.17, -0.17, -29.7], "reach_err": 1.29, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 4, "t": "2026-11-03T07:50:13.833", "t_unix": 1793659813.833, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 0.5, "execute": true, "joint": 0, "delta": -0.5, "hold_id": 4, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 3, "t": "2026-11-03T07:50:12.427", "t_unix": 1793659812.427, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 1, "step_deg": 0.5, "execute": true, "joint": 1, "delta": 0.5, "hold_id": 3, "hold_n": 0, "accepted": true, "measured_before": [-0.43, 2.02, 2.02, -0.17, -0.17, -29.7], "start_source": "command", "cmd_gap_deg": 1.29, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-0.93, 1.23, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659812.458703, 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"stopped": false, "stop_reason": null} {"seq": 6, "t": "2026-11-03T07:50:20.072", "t_unix": 1793659820.072, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 0.5, "execute": true, "joint": 0, "delta": 0.5, "hold_id": 5, "hold_n": 1, "held_sec": 1.646, "accepted": true, "measured_before": [-0.43, 2.02, 2.1, -0.17, -0.17, -29.7], "hold_wait_sec": 0.0, "hold_lead_deg": 0.79, "start_source": "command", "cmd_gap_deg": 0.79, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [0.07, 1.23, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659820.1020741, "measured_before_send": [-0.43, 2.02, 2.1, -0.17, -0.17, -29.7], "reached": true, "reached_angles": [-0.43, 2.02, 2.1, -0.17, -0.17, -29.7], "reach_err": 0.79, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 7, "t": "2026-11-03T07:50:21.709", "t_unix": 1793659821.709, "button": 14, "button_name": "dpad_right", 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1793659919.042486, "measured_before_send": [-0.43, 11.25, 2.1, -0.17, -0.17, -29.79], "reached": true, "reached_angles": [-0.43, 13.27, 2.1, -0.08, -0.17, -29.79], "reach_err": 1.04, "elapsed_sec": 0.02, "grip_state": "open", "stopped": false, "stop_reason": null} {"seq": 36, "t": "2026-11-03T07:52:00.626", "t_unix": 1793659920.626, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 1, "delta": 2.0, "hold_id": 16, "hold_n": 9, "held_sec": 14.68, "accepted": true, "measured_before": [-0.43, 13.27, 2.1, -0.08, -0.17, -29.79], "hold_wait_sec": 0.0, "hold_lead_deg": 1.04, "start_source": "command", "cmd_gap_deg": 1.04, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [0.07, 14.23, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659920.659002, "measured_before_send": [-0.43, 13.27, 2.1, -0.08, -0.17, -29.79], "reached": true, "reached_angles": [-0.43, 15.2, 2.1, -0.08, -0.08, -29.79], "reach_err": 0.97, "elapsed_sec": 0.02, "grip_state": "open", "stopped": false, "stop_reason": null} {"seq": 37, "t": "2026-11-03T07:52:02.251", "t_unix": 1793659922.251, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 1, "delta": 2.0, "hold_id": 16, "hold_n": 10, "held_sec": 16.304, "accepted": true, "measured_before": [-0.43, 15.2, 2.1, -0.08, -0.08, -29.79], "hold_wait_sec": 0.0, "hold_lead_deg": 0.97, "start_source": "command", "cmd_gap_deg": 0.97, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [0.07, 16.23, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659922.304827, "measured_before_send": [-0.43, 15.2, 2.1, -0.08, -0.08, -29.79], "reached": true, "reached_angles": [-0.43, 17.22, 2.1, 0.0, -0.08, -29.79], "reach_err": 0.99, "elapsed_sec": 0.01, "grip_state": "open", "stopped": false, "stop_reason": null} {"seq": 39, "t": "2026-11-03T07:52:04.808", "t_unix": 1793659924.808, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 0.5, "execute": true, "joint": 0, "delta": -0.5, "hold_id": 17, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "open", "stopped": false, "stop_reason": null} {"seq": 40, "t": "2026-11-03T07:52:05.427", "t_unix": 1793659925.427, "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} {"seq": 38, "t": "2026-11-03T07:52:03.891", "t_unix": 1793659923.892, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 1, "delta": 2.0, "hold_id": 16, "hold_n": 11, "held_sec": 17.945, "accepted": true, "released_during_job": true, "measured_before": [-0.43, 17.22, 2.1, 0.0, -0.08, -29.79], "hold_wait_sec": 0.0, "hold_lead_deg": 0.99, "start_source": "command", "cmd_gap_deg": 0.99, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [0.07, 18.23, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659923.9347231, "measured_before_send": [-0.43, 17.22, 2.1, 0.0, -0.08, -29.79], "reached": true, "reached_angles": [-0.43, 19.33, 2.1, 0.0, -0.08, -29.79], "reach_err": 1.1, "elapsed_sec": 0.03, "grip_state": "open", "stopped": false, "stop_reason": null} {"seq": 42, "t": "2026-11-03T07:52:10.013", "t_unix": 1793659930.013, "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} {"seq": 41, "t": "2026-11-03T07:52:09.361", "t_unix": 1793659929.361, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 0.5, "execute": true, "joint": 0, "delta": 0.5, "hold_id": 18, "hold_n": 0, "accepted": true, "measured_before": [-0.43, 19.33, 2.1, 0.0, -0.08, -29.79], "start_source": "command", "cmd_gap_deg": 1.1, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [0.57, 18.23, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659929.414172, "measured_before_send": [-0.43, 19.33, 2.1, 0.0, -0.08, -29.79], "reached": true, "reached_angles": [0.43, 19.33, 2.1, 0.0, -0.08, -29.79], "reach_err": 1.1, "elapsed_sec": 0.04, "grip_state": "open", "stopped": false, "stop_reason": null} {"seq": 43, "t": "2026-11-03T07:52:11.030", "t_unix": 1793659931.031, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 2.0, "hold_id": 18, "hold_n": 1, "held_sec": 1.669, "accepted": true, "measured_before": [0.43, 19.33, 2.1, 0.0, -0.08, -29.79], "hold_wait_sec": 0.001, "hold_lead_deg": 1.1, "start_source": "command", "cmd_gap_deg": 1.1, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [2.57, 18.23, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659931.0830898, "measured_before_send": [0.43, 19.33, 2.1, 0.0, -0.08, -29.79], "reached": true, "reached_angles": [2.63, 19.33, 2.1, 0.08, -0.08, -29.79], "reach_err": 1.1, "elapsed_sec": 0.01, "grip_state": "open", "stopped": false, "stop_reason": null} {"seq": 44, "t": "2026-11-03T07:52:12.657", "t_unix": 1793659932.657, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 2.0, "hold_id": 18, "hold_n": 2, "held_sec": 3.296, "accepted": true, "measured_before": [2.63, 19.33, 2.1, 0.08, -0.08, -29.79], "hold_wait_sec": 0.0, "hold_lead_deg": 1.1, "start_source": "command", "cmd_gap_deg": 1.1, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [4.57, 18.23, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659932.688569, "measured_before_send": [2.63, 19.33, 2.1, 0.08, -0.08, -29.79], "reached": true, "reached_angles": [4.74, 19.33, 2.1, 0.08, -0.08, -29.79], "reach_err": 1.1, "elapsed_sec": 0.02, "grip_state": "open", "stopped": false, "stop_reason": null} {"seq": 45, "t": "2026-11-03T07:52:14.275", "t_unix": 1793659934.275, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 2.0, "hold_id": 18, "hold_n": 3, "held_sec": 4.914, "accepted": true, "measured_before": [4.74, 19.33, 2.1, 0.08, -0.08, -29.79], "hold_wait_sec": 0.0, "hold_lead_deg": 1.1, "start_source": "command", "cmd_gap_deg": 1.1, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.57, 18.23, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659934.318569, "measured_before_send": [4.74, 19.33, 2.1, 0.08, -0.08, -29.79], "reached": true, "reached_angles": [6.67, 19.33, 2.1, 0.08, -0.08, -29.79], "reach_err": 1.1, "elapsed_sec": 0.03, "grip_state": "open", "stopped": false, "stop_reason": null} {"seq": 46, "t": "2026-11-03T07:52:15.922", "t_unix": 1793659935.923, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 2.0, "hold_id": 18, "hold_n": 4, "held_sec": 6.562, "accepted": true, "measured_before": [6.67, 19.33, 2.1, 0.08, -0.08, -29.79], "hold_wait_sec": 0.0, "hold_lead_deg": 1.1, "start_source": "command", "cmd_gap_deg": 1.1, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [8.57, 18.23, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659935.954588, "measured_before_send": [6.67, 19.33, 2.1, 0.08, -0.08, -29.79], "reached": true, "reached_angles": [8.52, 19.33, 2.1, 0.17, -0.08, -29.79], "reach_err": 1.1, "elapsed_sec": 0.02, "grip_state": "open", "stopped": false, "stop_reason": null} {"seq": 47, "t": "2026-11-03T07:52:17.523", "t_unix": 1793659937.524, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 2.0, "hold_id": 18, "hold_n": 5, "held_sec": 8.163, "accepted": true, "measured_before": [8.52, 19.33, 2.1, 0.17, -0.08, -29.79], "hold_wait_sec": 0.0, "hold_lead_deg": 1.1, "start_source": "command", "cmd_gap_deg": 1.1, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [10.57, 18.23, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659937.562735, "measured_before_send": [8.52, 19.33, 2.1, 0.17, -0.08, -29.79], "reached": true, "reached_angles": [10.63, 19.33, 2.1, 0.17, -0.08, -29.79], "reach_err": 1.1, "elapsed_sec": 0.02, "grip_state": "open", "stopped": false, "stop_reason": null} {"seq": 48, "t": "2026-11-03T07:52:19.144", "t_unix": 1793659939.145, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 2.0, "hold_id": 18, "hold_n": 6, "held_sec": 9.784, "accepted": true, "measured_before": [10.63, 19.33, 2.1, 0.17, -0.08, -29.79], "hold_wait_sec": 0.0, "hold_lead_deg": 1.1, "start_source": "command", "cmd_gap_deg": 1.1, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [12.57, 18.23, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659939.172077, "measured_before_send": [10.63, 19.33, 2.1, 0.17, -0.08, -29.79], "reached": true, "reached_angles": [12.83, 19.33, 2.1, 0.08, -0.08, -29.79], "reach_err": 1.1, "elapsed_sec": 0.02, "grip_state": "open", "stopped": false, "stop_reason": null} {"seq": 49, "t": "2026-11-03T07:52:20.781", "t_unix": 1793659940.781, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 2.0, "hold_id": 18, "hold_n": 7, "held_sec": 11.418, "accepted": true, "released_during_job": true, "measured_before": [12.83, 19.33, 2.1, 0.08, -0.08, -29.79], "hold_wait_sec": 0.0, "hold_lead_deg": 1.1, "start_source": "command", "cmd_gap_deg": 1.1, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [14.57, 18.23, 1.31, -0.26, -0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793659940.817589, "measured_before_send": [12.83, 19.33, 2.1, 0.08, -0.08, -29.79], "reached": true, "reached_angles": [14.85, 19.33, 2.1, 0.08, -0.08, -29.88], "reach_err": 1.1, "elapsed_sec": 0.03, "grip_state": "open", "stopped": false, "stop_reason": null} {"seq": 50, "t": "2026-11-03T07:53:49.760", "t_unix": 1793660029.76, "button": 5, "button_name": "home", "kind": "home", "selected_joint": 1, "step_deg": 0.5, "execute": true, "held_sec": 1.009, "accepted": true, "measured_before": [14.67, 19.33, 2.1, 0.08, -0.08, -29.88], "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": 1793660029.817137, "measured_before_send": [14.67, 19.33, 2.1, 0.08, -0.08, -29.88], "reached": true, "reached_angles": [0.0, 1.31, 2.02, 0.08, -0.08, -29.88], "reach_err": 2.02, "elapsed_sec": 0.01, "grip_state": "open", "stopped": false, "stop_reason": null} ``` ### 7:57 の記録 runs/experiments/gamepad_teleop/teleop_20261103_075657/meta.json ```json { "run_stem": "teleop_20261103_075657", "started_at": "2026-11-03T07:56:58", "execute": true, "argv": [ "tools/gamepad_teleop.py", "--execute" ], "controllers": [ { "name": "PS4 Controller", "guid": "03008fe54c050000cc09000000016800", "instance_id": 0, "axes": 6, "buttons": 16, "hats": 0, "connected_at": "2026-11-03T07:57:03" } ], "python": "3.12.12 | packaged by conda-forge | (main, Oct 22 2025, 23:34:53) [Clang 19.1.7 ]", "pygame": "2.6.1", "sdl": "2.28.4", "platform": "macOS-26.6.2-arm64-arm-64bit", "start_pose": [ -0.26, 1.31, 2.02, 0.08, -0.08, -29.88 ], "guards": { "J1_MAX_DEG": 90.87, "range": "physical_limits (no base window. 2026-11-03)", "J4_SAFE": [ -90.0, 60.0 ], "JOINT_LIMITS": [ [ -156.0, 161.0 ], [ -79.0, 123.0 ], [ -177.0, 177.0 ], [ -156.0, 162.0 ], [ -118.0, 118.0 ], [ -177.0, 178.0 ] ], "window": { "lo": [ -156.0, -79.0, -177.0, -156.0, -90.0, -177.0 ], "hi": [ 161.0, 90.87, 177.0, 162.0, 60.0, 178.0 ] }, "home_bypasses_range_check": true }, "motion": { "speed": 20, "step_fine_deg": 1.0, "step_coarse_deg": 2.0, "reach_tol_deg": 3.0, "reach_timeout_min_sec": 8.0, "poll_sec": 0.3, "gripper_sleep_sec": 0.8, "grip_close_value": 20, "send_wait": 0.0, "home": [ 0.0, 0.0, 0.0, 0.0, 0.0, -30.0 ], "home_hold_sec": 1.0, "trigger_stop_above": 0.0, "hold_start_sec": 0.4, "hold_interval_sec": 0.2, "hold_lead_max_deg": 3.0, "hold_wait_max_sec": 3.0, "j0_left_sign": -1.0, "up_sign": -1.0, "select_order": [ 1, 2, 3, 4, 5 ] }, "button_map": { "0": "cross", "1": "circle", "2": "square", "3": "triangle", "4": "share", "5": "home", "6": "options", "7": "l3", "8": "r3", "9": "l1", "10": "r1", "11": "dpad_up", "12": "dpad_down", "13": "dpad_left", "14": "dpad_right", "15": "touchpad" }, "git": { "commit": "36def3cc1216f2bcaa937994a99968e38366009c", "script_status": "M tools/gamepad_teleop.py" }, "script_copy": "gamepad_teleop.py", "script_sha256": "cfa6f4108c9658c7a7d770d36a9c15261a9f057a8307eabd832883bff1bb090c", "ended_at": "2026-11-03T08:06:44", "end_reason": "ctrl_c", "n_sent": 371 } ``` ### 7:57 の記録 runs/experiments/gamepad_teleop/teleop_20261103_075657/log.jsonl（437行） ```json {"seq": 1, "t": "2026-11-03T07:57:15.566", "t_unix": 1793660235.567, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 0, "accepted": true, "measured_before": [-0.26, 1.31, 2.02, 0.08, -0.08, -29.88], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660235.644908, "measured_before_send": [-0.26, 1.31, 2.02, 0.08, -0.08, -29.88], "reached": true, "reached_angles": [-0.26, 1.31, 2.02, 0.08, -0.08, -29.88], "reach_err": 1.0, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 2, "t": "2026-11-03T07:57:15.977", "t_unix": 1793660235.977, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 1, "held_sec": 0.412, "accepted": true, "measured_before": [-1.05, 2.19, 2.81, 0.08, -0.08, -29.88], "hold_wait_sec": 0.0, "hold_lead_deg": 0.88, "start_source": "command", "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-2.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660236.023721, "measured_before_send": [-0.96, 2.19, 2.81, 0.08, -0.08, -29.88], "reached": true, "reached_angles": [-1.05, 2.19, 2.81, 0.08, -0.08, -29.88], "reach_err": 1.21, "elapsed_sec": 0.03, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 3, "t": "2026-11-03T07:57:16.178", "t_unix": 1793660236.179, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 2, "held_sec": 0.613, "accepted": true, "measured_before": [-1.66, 2.19, 2.81, 0.08, -0.08, -29.88], "hold_wait_sec": 0.001, "hold_lead_deg": 0.88, "start_source": "command", "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-3.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660236.2086022, "measured_before_send": [-1.75, 2.19, 2.81, 0.08, -0.08, -29.88], "reached": true, "reached_angles": [-2.54, 2.19, 2.81, 0.08, -0.08, -29.88], "reach_err": 0.88, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 4, "t": "2026-11-03T07:57:16.382", "t_unix": 1793660236.383, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 3, "held_sec": 0.817, "accepted": true, "measured_before": [-2.1, 2.19, 2.81, 0.08, -0.08, -29.88], "hold_wait_sec": 0.0, "hold_lead_deg": 1.16, "start_source": "command", "cmd_gap_deg": 1.16, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-4.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660236.414411, "measured_before_send": [-2.02, 2.19, 2.81, 0.08, -0.08, -29.88], "reached": true, "reached_angles": [-3.95, 2.19, 2.81, 0.08, -0.08, -29.88], "reach_err": 0.88, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 5, "t": "2026-11-03T07:57:16.786", "t_unix": 1793660236.787, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 4, "held_sec": 1.221, "accepted": true, "measured_before": [-4.57, 2.19, 2.81, 0.08, -0.08, -29.88], "hold_wait_sec": 0.0, "hold_lead_deg": 0.88, "start_source": "command", "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-5.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660236.839932, "measured_before_send": [-4.65, 2.19, 2.81, 0.08, -0.08, -29.88], "reached": true, "reached_angles": [-4.57, 2.19, 2.81, 0.08, -0.08, -29.88], "reach_err": 0.88, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 6, "t": "2026-11-03T07:57:16.987", "t_unix": 1793660236.988, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 5, "held_sec": 1.422, "accepted": true, "measured_before": [-4.65, 2.19, 2.81, 0.08, -0.08, -29.88], "hold_wait_sec": 0.0, "hold_lead_deg": 0.88, "start_source": "command", "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-6.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660237.027798, "measured_before_send": [-4.92, 2.19, 2.81, 0.08, -0.08, -29.88], "reached": true, "reached_angles": [-5.53, 2.19, 2.81, 0.08, -0.08, -29.88], "reach_err": 0.88, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 7, "t": "2026-11-03T07:57:17.189", "t_unix": 1793660237.19, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 6, "held_sec": 1.624, "accepted": true, "measured_before": [-5.88, 2.19, 2.81, 0.08, -0.08, -29.88], "hold_wait_sec": 0.0, "hold_lead_deg": 0.88, "start_source": "command", "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-7.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660237.23727, "measured_before_send": [-6.5, 2.19, 2.81, 0.08, -0.08, -29.88], "reached": true, "reached_angles": [-6.24, 2.19, 2.81, 0.08, -0.08, -29.88], "reach_err": 1.02, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 8, "t": "2026-11-03T07:57:17.391", "t_unix": 1793660237.392, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 7, "held_sec": 1.826, "accepted": true, "measured_before": [-5.97, 2.19, 2.81, 0.08, -0.08, -29.88], "hold_wait_sec": 0.0, "hold_lead_deg": 1.29, "start_source": "command", "cmd_gap_deg": 1.29, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-8.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660237.437109, "measured_before_send": [-6.06, 2.19, 2.81, 0.08, -0.08, -29.88], "reached": true, "reached_angles": [-7.91, 2.19, 2.81, 0.08, -0.08, -29.88], "reach_err": 0.88, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 9, "t": "2026-11-03T07:57:17.824", "t_unix": 1793660237.825, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 8, "held_sec": 2.259, "accepted": true, "measured_before": [-8.34, 2.19, 2.81, 0.08, -0.08, -29.88], "hold_wait_sec": 0.0, "hold_lead_deg": 0.88, "start_source": "command", "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-9.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660237.866845, "measured_before_send": [-8.52, 2.19, 2.81, 0.08, -0.08, -29.88], "reached": true, "reached_angles": [-8.52, 2.19, 2.81, 0.08, -0.08, -29.88], "reach_err": 0.88, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 10, "t": "2026-11-03T07:57:18.026", "t_unix": 1793660238.026, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 9, "held_sec": 2.46, "accepted": true, "measured_before": [-8.7, 2.19, 2.81, 0.08, -0.08, -29.88], "hold_wait_sec": 0.002, "hold_lead_deg": 0.88, "start_source": "command", "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-10.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660238.080099, "measured_before_send": [-9.14, 2.19, 2.81, 0.08, -0.08, -29.88], "reached": true, "reached_angles": [-9.66, 2.19, 2.81, 0.08, -0.08, -29.88], "reach_err": 0.88, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 11, "t": "2026-11-03T07:57:18.242", "t_unix": 1793660238.243, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 10, "held_sec": 2.677, "accepted": true, "measured_before": [-9.66, 2.19, 2.81, 0.08, -0.08, -29.88], "hold_wait_sec": 0.0, "hold_lead_deg": 0.88, "start_source": "command", "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-11.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660238.294791, "measured_before_send": [-10.19, 2.19, 2.81, 0.08, -0.08, -29.88], "reached": true, "reached_angles": [-10.28, 2.19, 2.81, 0.08, -0.08, -29.88], "reach_err": 0.98, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 12, "t": "2026-11-03T07:57:18.444", "t_unix": 1793660238.444, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 11, "held_sec": 2.878, "accepted": true, "measured_before": [-9.84, 2.19, 2.81, 0.08, -0.08, -29.88], "hold_wait_sec": 0.001, "hold_lead_deg": 1.42, "start_source": "command", "cmd_gap_deg": 1.42, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-12.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660238.490706, "measured_before_send": [-9.84, 2.19, 2.81, 0.08, -0.08, -29.88], "reached": true, "reached_angles": [-10.01, 2.19, 2.81, 0.08, -0.08, -29.88], "reach_err": 2.25, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 13, "t": "2026-11-03T07:57:18.648", "t_unix": 1793660238.649, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 12, "held_sec": 3.083, "accepted": true, "measured_before": [-11.95, 2.19, 2.81, 0.08, -0.08, -29.97], "hold_wait_sec": 0.0, "hold_lead_deg": 0.88, "start_source": "command", "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-13.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660238.698723, "measured_before_send": [-12.65, 2.19, 2.81, 0.08, -0.08, -29.97], "reached": true, "reached_angles": [-12.65, 2.19, 2.81, 0.08, -0.08, -29.97], "reach_err": 0.88, "elapsed_sec": 0.03, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 14, "t": "2026-11-03T07:57:18.850", "t_unix": 1793660238.85, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 13, "held_sec": 3.284, "accepted": true, "measured_before": [-13.18, 2.19, 2.81, 0.08, -0.08, -29.97], "hold_wait_sec": 0.0, "hold_lead_deg": 0.88, "start_source": "command", "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-14.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660238.893207, "measured_before_send": [-13.62, 2.19, 2.81, 0.08, -0.08, -29.97], "reached": true, "reached_angles": [-14.06, 2.19, 2.81, 0.08, -0.08, -29.97], "reach_err": 0.88, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 15, "t": "2026-11-03T07:57:19.285", "t_unix": 1793660239.285, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 14, "held_sec": 3.719, "accepted": true, "measured_before": [-14.23, 2.19, 2.81, 0.08, -0.08, -29.97], "hold_wait_sec": 0.0, "hold_lead_deg": 0.88, "start_source": "command", "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-15.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660239.316937, "measured_before_send": [-14.32, 2.19, 2.81, 0.08, -0.08, -29.97], "reached": true, "reached_angles": [-14.5, 2.19, 2.81, 0.08, -0.08, -29.97], "reach_err": 0.88, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 16, "t": "2026-11-03T07:57:19.486", "t_unix": 1793660239.486, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 15, "held_sec": 3.92, "accepted": true, "measured_before": [-14.58, 2.19, 2.81, 0.08, -0.08, -29.97], "hold_wait_sec": 0.0, "hold_lead_deg": 0.88, "start_source": "command", "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-16.26, 1.31, 2.02, 0.08, -0.08, -29.88], "sent": true, "timeout_sec": 8.0, "t_send": 1793660239.5197709, "measured_before_send": [-14.58, 2.19, 2.81, 0.08, -0.08, -29.97], "reached": true, "reached_angles": [-14.58, 2.19, 2.81, 0.08, -0.08, -29.97], "reach_err": 1.68, "elapsed_sec": 0.02, "grip_state": "unknown", 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"grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 433, "t": "2026-11-03T08:03:07.544", "t_unix": 1793660587.545, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": true, "joint": 5, "delta": 2.0, "hold_id": 55, "hold_n": 13, "held_sec": 3.593, "accepted": true, "measured_before": [12.39, 20.03, 11.6, 0.43, -16.69, -30.67], "hold_wait_sec": 0.0, "hold_lead_deg": 1.07, "start_source": "command", "cmd_gap_deg": 1.07, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [12.49, 18.96, 10.89, 0.13, -16.43, -28.1], "sent": true, "timeout_sec": 8.0, "t_send": 1793660587.586325, "measured_before_send": [12.39, 20.03, 11.6, 0.43, -16.69, -30.67], "reached": true, "reached_angles": [12.39, 20.03, 11.6, 0.43, -16.69, -28.65], "reach_err": 1.07, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 434, "t": "2026-11-03T08:03:07.983", "t_unix": 1793660587.984, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": true, "joint": 5, "delta": 2.0, "hold_id": 55, "hold_n": 14, "held_sec": 4.032, "accepted": true, "measured_before": [12.39, 20.03, 11.6, 0.43, -16.69, -28.65], "hold_wait_sec": 0.0, "hold_lead_deg": 1.07, "start_source": "command", "cmd_gap_deg": 1.07, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [12.49, 18.96, 10.89, 0.13, -16.43, -26.1], "sent": true, "timeout_sec": 8.0, "t_send": 1793660588.032313, "measured_before_send": [12.39, 20.03, 11.6, 0.43, -16.69, -28.65], "reached": true, "reached_angles": [12.39, 20.03, 11.6, 0.43, -16.69, -28.65], "reach_err": 2.55, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 435, "t": "2026-11-03T08:03:08.187", "t_unix": 1793660588.187, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": true, "joint": 5, "delta": 2.0, "hold_id": 55, "hold_n": 15, "held_sec": 4.236, "accepted": true, "measured_before": [12.39, 20.03, 11.6, 0.43, -16.69, -26.63], "hold_wait_sec": 0.0, "hold_lead_deg": 1.07, "start_source": "command", "cmd_gap_deg": 1.07, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [12.49, 18.96, 10.89, 0.13, -16.43, -24.1], "sent": true, "timeout_sec": 8.0, "t_send": 1793660588.223375, "measured_before_send": [12.39, 20.03, 11.6, 0.43, -16.69, -26.63], "reached": true, "reached_angles": [12.39, 20.03, 11.6, 0.43, -16.69, -26.63], "reach_err": 2.53, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 436, "t": "2026-11-03T08:03:08.393", "t_unix": 1793660588.393, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 5, "step_deg": 2.0, "execute": true, "joint": 5, "delta": 2.0, "hold_id": 55, "hold_n": 16, "held_sec": 4.442, "accepted": true, "released_during_job": true, "measured_before": [12.39, 20.03, 11.6, 0.43, -16.69, -26.63], "hold_wait_sec": 0.0, "hold_lead_deg": 2.53, "start_source": "command", "cmd_gap_deg": 2.53, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [12.49, 18.96, 10.89, 0.13, -16.43, -22.1], "sent": true, "timeout_sec": 8.0, "t_send": 1793660588.43103, "measured_before_send": [12.39, 20.03, 11.6, 0.43, -16.69, -26.63], "reached": true, "reached_angles": [12.39, 20.03, 11.6, 0.43, -16.69, -22.58], "reach_err": 1.07, "elapsed_sec": 0.35, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 437, "t": "2026-11-03T08:03:10.579", "t_unix": 1793660590.58, "button": 5, "button_name": "home", "kind": "home", "selected_joint": 5, "step_deg": 1.0, "execute": true, "held_sec": 1.011, "accepted": true, "measured_before": [12.39, 20.03, 11.6, 0.43, -16.69, -22.58], "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": 1793660590.634482, "measured_before_send": [12.39, 20.03, 11.6, 0.43, -16.69, -22.58], "reached": true, "reached_angles": [0.7, 1.14, 1.4, 0.0, 0.08, -28.82], "reach_err": 1.4, "elapsed_sec": 0.74, "grip_state": "unknown", "stopped": false, "stop_reason": null} ``` ### 8:06 の記録 runs/experiments/gamepad_teleop/teleop_20261103_080648/meta.json ```json { "run_stem": "teleop_20261103_080648", "started_at": "2026-11-03T08:06:49", "execute": true, "argv": [ "tools/gamepad_teleop.py", "--execute" ], "controllers": [ { "name": "PS4 Controller", "guid": "03008fe54c050000cc09000000016800", "instance_id": 0, "axes": 6, "buttons": 16, "hats": 0, "connected_at": "2026-11-03T08:06:54" } ], "python": "3.12.12 | packaged by conda-forge | (main, Oct 22 2025, 23:34:53) [Clang 19.1.7 ]", "pygame": "2.6.1", "sdl": "2.28.4", "platform": "macOS-26.6.2-arm64-arm-64bit", "start_pose": [ -0.26, 1.14, 1.4, 0.0, 0.17, -29.7 ], "guards": { "J1_MAX_DEG": 90.87, "range": "physical_limits (no base window. 2026-11-03)", "J4_SAFE": [ -90.0, 60.0 ], "JOINT_LIMITS": [ [ -156.0, 161.0 ], [ -79.0, 123.0 ], [ -177.0, 177.0 ], [ -156.0, 162.0 ], [ -118.0, 118.0 ], [ -177.0, 178.0 ] ], "window": { "lo": [ -156.0, -79.0, -177.0, -156.0, -90.0, -177.0 ], "hi": [ 161.0, 90.87, 177.0, 162.0, 60.0, 178.0 ] }, "home_bypasses_range_check": true }, "motion": { "speed": 20, "step_fine_deg": 1.0, "step_coarse_deg": 2.0, "reach_tol_deg": 3.0, "reach_timeout_min_sec": 8.0, "poll_sec": 0.3, "gripper_sleep_sec": 0.8, "grip_close_value": 20, "send_wait": 0.0, "home": [ 0.0, 0.0, 0.0, 0.0, 0.0, -30.0 ], "home_hold_sec": 1.0, "trigger_stop_above": 0.0, "hold_start_sec": 0.4, "hold_interval_sec": 0.1, "hold_ahead_deg": 3.0, "hold_stall_sec": 1.0, "ignored_check_sec": 0.5, "ignored_max_resends": 3, "j0_left_sign": -1.0, "up_sign": -1.0, "select_order": [ 1, 2, 3, 4, 5 ] }, "button_map": { "0": "cross", "1": "circle", "2": "square", "3": "triangle", "4": "share", "5": "home", "6": "options", "7": "l3", "8": "r3", "9": "l1", "10": "r1", "11": "dpad_up", "12": "dpad_down", "13": "dpad_left", "14": "dpad_right", "15": "touchpad" }, "git": { "commit": "15ca6a4ce359b5770531bc9e43f709a15ad12910", "script_status": "clean" }, "script_copy": "gamepad_teleop.py", "script_sha256": "b8662a3ecfb2f20243c25c9819b325ab86ddfd3f1f3a446cc821cd9c4aeb41f3", "ended_at": "2026-11-03T08:09:26", "end_reason": "ctrl_c", "n_sent": 210 } ``` ### 8:06 の記録 runs/experiments/gamepad_teleop/teleop_20261103_080648/log.jsonl（228行） ```json {"seq": 1, "t": "2026-11-03T08:07:10.868", "t_unix": 1793660830.868, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 0, "accepted": true, "measured_before": [-0.26, 1.14, 1.4, 0.0, 0.17, -29.7], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.26, 1.14, 1.4, 0.0, 0.17, -29.7], "sent": true, "timeout_sec": 8.0, "t_send": 1793660830.910841, "measured_before_send": [-0.26, 1.14, 1.4, 0.0, 0.17, -29.7], "resends": [], "reached": true, "reached_angles": [-0.26, 1.14, 1.4, 0.0, 0.17, -29.7], "reach_err": 1.0, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 2, "t": "2026-11-03T08:07:11.281", "t_unix": 1793660831.281, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -3.0, "hold_id": 1, "hold_n": 1, "held_sec": 0.414, "accepted": true, "measured_before": [-0.96, 1.93, 2.1, 0.0, 0.17, -29.7], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 0.3, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-3.96, 1.14, 1.4, 0.0, 0.17, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660831.302738, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 3, "t": "2026-11-03T08:07:11.679", "t_unix": 1793660831.679, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -3.0, "hold_id": 1, "hold_n": 2, "held_sec": 0.812, "accepted": true, "measured_before": [-3.95, 1.93, 2.1, 0.0, 0.17, -29.7], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 0.01, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-6.95, 1.14, 1.4, 0.0, 0.17, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660831.698498, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 4, "t": "2026-11-03T08:07:11.794", "t_unix": 1793660831.794, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -3.0, "hold_id": 1, "hold_n": 3, "held_sec": 0.927, "accepted": true, "measured_before": [-4.39, 1.93, 2.1, 0.0, 0.17, -29.7], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 2.56, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-7.39, 1.14, 1.4, 0.0, 0.17, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660831.825438, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 5, "t": "2026-11-03T08:07:11.894", "t_unix": 1793660831.894, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -3.0, "hold_id": 1, "hold_n": 4, "held_sec": 1.027, "accepted": true, "measured_before": [-5.36, 1.93, 2.1, -0.08, 0.17, -29.7], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 2.03, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-8.36, 1.14, 1.4, 0.0, 0.17, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660831.9236102, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 6, "t": "2026-11-03T08:07:12.275", "t_unix": 1793660832.276, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -3.0, "hold_id": 1, "hold_n": 5, "held_sec": 1.408, "accepted": true, "measured_before": [-7.38, 1.93, 2.1, -0.08, 0.17, -29.79], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 0.98, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-10.38, 1.14, 1.4, 0.0, 0.17, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660832.294986, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 7, "t": "2026-11-03T08:07:12.393", "t_unix": 1793660832.393, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -3.0, "hold_id": 1, "hold_n": 6, "held_sec": 1.526, "accepted": true, "measured_before": [-7.29, 1.93, 2.1, -0.08, 0.17, -29.79], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 3.09, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-10.29, 1.14, 1.4, 0.0, 0.17, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660832.4133902, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 8, "t": "2026-11-03T08:07:12.779", "t_unix": 1793660832.779, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -3.0, "hold_id": 1, "hold_n": 7, "held_sec": 1.912, "accepted": true, "measured_before": [-10.19, 1.93, 2.1, -0.17, 0.17, -29.79], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 0.1, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-13.19, 1.14, 1.4, 0.0, 0.17, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660832.798008, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 9, "t": "2026-11-03T08:07:13.149", "t_unix": 1793660833.15, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -3.0, "hold_id": 1, "hold_n": 8, "held_sec": 2.283, "accepted": true, "measured_before": [-12.83, 1.93, 2.1, -0.17, 0.17, -29.79], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 0.36, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-15.83, 1.14, 1.4, 0.0, 0.17, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660833.173121, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 10, "t": "2026-11-03T08:07:13.265", "t_unix": 1793660833.266, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -3.0, "hold_id": 1, "hold_n": 9, "held_sec": 2.399, "accepted": true, "measured_before": [-13.44, 1.93, 2.1, -0.17, 0.17, -29.79], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 2.39, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-16.44, 1.14, 1.4, 0.0, 0.17, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660833.325675, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 11, "t": "2026-11-03T08:07:13.382", "t_unix": 1793660833.382, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -3.0, "hold_id": 1, "hold_n": 10, "held_sec": 2.515, "accepted": true, "measured_before": [-14.58, 1.93, 2.1, -0.17, 0.17, -29.79], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 1.86, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-17.58, 1.14, 1.4, 0.0, 0.17, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660833.4051461, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 12, "t": "2026-11-03T08:07:13.482", "t_unix": 1793660833.483, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, 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0.79, -29.88], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 1.25, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-16.51, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660891.63358, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 214, "t": "2026-11-03T08:08:11.721", "t_unix": 1793660891.721, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 3.0, "hold_id": 16, "hold_n": 7, "held_sec": 1.43, "accepted": true, "measured_before": [-17.75, 13.18, 2.1, 0.43, 0.79, -29.79], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 1.24, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-14.75, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660891.741798, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 215, "t": "2026-11-03T08:08:11.822", "t_unix": 1793660891.822, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 3.0, "hold_id": 16, "hold_n": 8, "held_sec": 1.53, "accepted": true, "measured_before": [-15.73, 13.18, 2.1, 0.52, 0.79, -29.79], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 0.98, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-12.73, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660891.8352158, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 216, "t": "2026-11-03T08:08:12.193", "t_unix": 1793660892.193, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 3.0, "hold_id": 16, "hold_n": 9, "held_sec": 1.902, "accepted": true, "measured_before": [-12.21, 13.18, 2.1, 0.43, 0.7, -29.79], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 0.52, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-9.21, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660892.217401, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 217, "t": "2026-11-03T08:08:12.310", "t_unix": 1793660892.311, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 3.0, "hold_id": 16, "hold_n": 10, "held_sec": 2.019, "accepted": true, "measured_before": [-12.83, 13.18, 2.1, 0.43, 0.7, -29.79], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 3.62, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-9.83, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660892.335722, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 218, "t": "2026-11-03T08:08:12.779", "t_unix": 1793660892.78, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 3.0, "hold_id": 16, "hold_n": 11, "held_sec": 2.488, "accepted": true, "measured_before": [-9.58, 13.18, 2.1, 0.52, 0.7, -29.79], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 0.25, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-6.58, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660892.808364, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 219, "t": "2026-11-03T08:08:12.880", "t_unix": 1793660892.881, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 3.0, "hold_id": 16, "hold_n": 12, "held_sec": 2.589, "accepted": true, "measured_before": [-9.93, 13.18, 2.1, 0.52, 0.7, -29.79], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 3.35, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-6.93, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660892.906052, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 220, "t": "2026-11-03T08:08:12.981", "t_unix": 1793660892.981, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 3.0, "hold_id": 16, "hold_n": 13, "held_sec": 2.689, "accepted": true, "measured_before": [-8.7, 13.18, 2.1, 0.52, 0.7, -29.79], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 1.77, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-5.7, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660892.999562, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 221, "t": "2026-11-03T08:08:13.383", "t_unix": 1793660893.384, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 3.0, "hold_id": 16, "hold_n": 14, "held_sec": 3.092, "accepted": true, "measured_before": [-5.44, 13.18, 2.1, 0.43, 0.7, -29.79], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 0.26, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-2.44, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660893.4073532, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 222, "t": "2026-11-03T08:08:13.485", "t_unix": 1793660893.486, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 3.0, "hold_id": 16, "hold_n": 15, "held_sec": 3.194, "accepted": true, "measured_before": [-5.71, 13.18, 2.1, 0.43, 0.7, -29.79], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 3.27, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-2.71, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660893.544184, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 223, "t": "2026-11-03T08:08:13.598", "t_unix": 1793660893.598, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 3.0, "hold_id": 16, "hold_n": 16, "held_sec": 3.307, "accepted": true, "measured_before": [-3.42, 13.18, 2.1, 0.43, 0.7, -29.79], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 0.71, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-0.42, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660893.6235461, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 224, "t": "2026-11-03T08:08:13.700", "t_unix": 1793660893.701, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 3.0, "hold_id": 16, "hold_n": 17, "held_sec": 3.409, "accepted": true, "measured_before": [-1.93, 13.18, 2.1, 0.43, 0.7, -29.79], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 1.51, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [1.07, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660893.726015, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 225, "t": "2026-11-03T08:08:13.801", "t_unix": 1793660893.802, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 3.0, "hold_id": 16, "hold_n": 18, "held_sec": 3.51, "accepted": true, "measured_before": [-0.35, 13.18, 2.1, 0.52, 0.7, -29.79], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 1.42, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [2.65, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660893.833268, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 226, "t": "2026-11-03T08:08:14.189", "t_unix": 1793660894.189, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 3.0, "hold_id": 16, "hold_n": 19, "held_sec": 3.897, "accepted": true, "measured_before": [3.16, 13.18, 2.1, 0.43, 0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 0.51, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [6.16, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793660894.213556, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 227, "t": "2026-11-03T08:08:14.290", "t_unix": 1793660894.291, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 4, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 3.0, "hold_id": 16, "hold_n": 20, "held_sec": 3.999, "accepted": true, "released_during_job": true, "measured_before": [6.06, 13.18, 2.1, 0.43, 0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 1.6, "hold_lead_deg": 0.1, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [9.06, 11.58, 1.4, 0.1, 0.6, -29.7], "sent": false, "why": "halted_before_send", "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 228, "t": "2026-11-03T08:08:19.058", "t_unix": 1793660899.058, "button": 5, "button_name": "home", "kind": "home", "selected_joint": 4, "step_deg": 1.0, "execute": true, "held_sec": 1.004, "accepted": true, "measured_before": [6.24, 13.18, 2.1, 0.43, 0.26, -29.79], "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": 1793660899.104776, "measured_before_send": [6.24, 13.18, 2.1, 0.43, 0.26, -29.79], "resends": [], "reached": true, "reached_angles": [-0.35, 1.49, 2.1, 0.43, -0.52, -29.79], "reach_err": 2.1, "elapsed_sec": 0.72, "grip_state": "unknown", "stopped": false, "stop_reason": null} ``` ### 8:09 の記録 runs/experiments/gamepad_teleop/teleop_20261103_080930/meta.json ```json { "run_stem": "teleop_20261103_080930", "started_at": "2026-11-03T08:09:31", "execute": true, "argv": [ "tools/gamepad_teleop.py", "--execute" ], "controllers": [ { "name": "PS4 Controller", "guid": "03008fe54c050000cc09000000016800", "instance_id": 0, "axes": 6, "buttons": 16, "hats": 0, "connected_at": "2026-11-03T08:09:36" } ], "python": "3.12.12 | packaged by conda-forge | (main, Oct 22 2025, 23:34:53) [Clang 19.1.7 ]", "pygame": "2.6.1", "sdl": "2.28.4", "platform": "macOS-26.6.2-arm64-arm-64bit", "start_pose": [ -0.26, 1.49, 2.1, 0.26, -0.26, -29.79 ], "guards": { "J1_MAX_DEG": 90.87, "range": "physical_limits (no base window. 2026-11-03)", "J4_SAFE": [ -90.0, 60.0 ], "JOINT_LIMITS": [ [ -156.0, 161.0 ], [ -79.0, 123.0 ], [ -177.0, 177.0 ], [ -156.0, 162.0 ], [ -118.0, 118.0 ], [ -177.0, 178.0 ] ], "window": { "lo": [ -156.0, -79.0, -177.0, -156.0, -90.0, -177.0 ], "hi": [ 161.0, 90.87, 177.0, 162.0, 60.0, 178.0 ] }, "home_bypasses_range_check": true }, "motion": { "speed": 20, "step_fine_deg": 1.0, "step_coarse_deg": 2.0, "reach_tol_deg": 3.0, "reach_timeout_min_sec": 8.0, "poll_sec": 0.3, "gripper_sleep_sec": 0.8, "grip_close_value": 20, "send_wait": 0.0, "home": [ 0.0, 0.0, 0.0, 0.0, 0.0, -30.0 ], "home_hold_sec": 1.0, "trigger_stop_above": 0.0, "hold_start_sec": 0.4, "hold_interval_sec": 0.1, "hold_ahead_deg": 3.0, "hold_stall_sec": 1.0, "ignored_check_sec": 0.5, "ignored_max_resends": 3, "j0_left_sign": -1.0, "up_sign": -1.0, "select_order": [ 1, 2, 3, 4, 5 ] }, "button_map": { "0": "cross", "1": "circle", "2": "square", "3": "triangle", "4": "share", "5": "home", "6": "options", "7": "l3", "8": "r3", "9": "l1", "10": "r1", "11": "dpad_up", "12": "dpad_down", "13": "dpad_left", "14": "dpad_right", "15": "touchpad" }, "git": { "commit": "413f7e111fcd58b991b790ddd6bb3a220d1c3479", "script_status": "clean" }, "script_copy": "gamepad_teleop.py", "script_sha256": "6d14e322e4560c6aa66d8172776874b204d1c28867cb73c5805527255d2ac29f", "ended_at": "2026-11-03T08:11:33", "end_reason": "ctrl_c", "n_sent": 275 } ``` ### 8:09 の記録 runs/experiments/gamepad_teleop/teleop_20261103_080930/log.jsonl（307行） ```json {"seq": 1, "t": "2026-11-03T08:09:45.936", "t_unix": 1793660985.937, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 0, "accepted": true, "measured_before": [-0.26, 1.49, 2.1, 0.26, -0.26, -29.79], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.26, 1.49, 2.1, 0.26, -0.26, -29.79], "sent": true, "timeout_sec": 8.0, "t_send": 1793660986.018062, "measured_before_send": [-0.26, 1.49, 2.1, 0.26, -0.26, -29.79], "resends": [], "reached": true, "reached_angles": [-0.26, 1.49, 2.1, 0.26, -0.26, -29.79], "reach_err": 1.0, "elapsed_sec": 0.01, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 2, "t": "2026-11-03T08:09:46.336", "t_unix": 1793660986.337, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -3.0, "hold_id": 1, "hold_n": 1, "held_sec": 0.401, "accepted": true, "measured_before": [-1.05, 2.28, 2.81, 0.26, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 0.21, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-4.05, 1.49, 2.1, 0.26, -0.26, -29.79], "sent": true, "reached": null, "no_check": true, "t_send": 1793660986.363437, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 3, "t": 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"refused": [], "limit_ja": "", "limit_ascii": "", "command": [30.91, -11.52, 20.11, -2.21, 2.21, -29.01], "sent": true, "reached": null, "no_check": true, "t_send": 1793661081.567539, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 305, "t": "2026-11-03T08:11:21.620", "t_unix": 1793661081.62, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 1, "delta": -3.0, "hold_id": 31, "hold_n": 19, "held_sec": 3.733, "accepted": true, "measured_before": [30.76, -9.4, 21.88, -2.37, 2.63, -28.74], "start_source": "hold", "cmd_gap_deg": 1.77, "hold_lead_deg": 2.12, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [30.91, -12.4, 20.11, -2.21, 2.21, -29.01], "sent": true, "reached": null, "no_check": true, "t_send": 1793661081.6423419, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 306, "t": "2026-11-03T08:11:22.005", "t_unix": 1793661082.006, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 1, "delta": -3.0, "hold_id": 31, "hold_n": 20, "held_sec": 4.119, "accepted": true, "released_during_job": true, "measured_before": [30.76, -11.42, 21.88, -2.37, 2.63, -28.74], "start_source": "hold", "cmd_gap_deg": 1.77, "hold_lead_deg": 0.98, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [30.91, -14.42, 20.11, -2.21, 2.21, -29.01], "sent": true, "reached": null, "no_check": true, "t_send": 1793661082.041665, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 307, "t": "2026-11-03T08:11:24.070", "t_unix": 1793661084.07, "button": 5, "button_name": "home", "kind": "home", "selected_joint": 1, "step_deg": 1.0, "execute": true, "held_sec": 1.006, "accepted": true, "measured_before": [30.76, -13.71, 21.88, -2.37, 2.63, -28.74], "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": 1793661084.106598, "measured_before_send": [30.76, -13.71, 21.88, -2.37, 2.63, -28.74], "resends": [], "reached": true, "reached_angles": [0.08, 0.7, 1.84, -1.14, 1.14, -29.7], "reach_err": 1.84, "elapsed_sec": 1.13, "grip_state": "unknown", "stopped": false, "stop_reason": null} ```