--- title: "フィジカルAI研究室を作る Log#21 | ゲームパッドで mechArm 270 を直す形が固まった" slug: gamepad-correction-mecharm-270-settled date: 2026-11-05 day: 446 meta_description: "小型アーム mechArm 270 をゲームパッドで手直しするには、長押しは15°先へ1回送り離したら stop、1回押しは動かす関節だけを送る形がよかった。受付なしは40回から0回になり、ほかの関節のずれも積み上がらなくなった。" 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, 人の補正, pymycobot, send_angle, jog, daemon, Claude Code] series: "フィジカルAI研究室" --- 小型ロボットアーム mechArm 270 をゲームパッドで手直しするときは、長押しなら押した向きへ15°先の目標を1回だけ送って離したら止める、1回押しなら動かす関節だけを送る、という形がいちばん素直に動いた。実物のアームで、送り方を変えた試しを4回、ゲームパッドでの操作を7回記録して確かめた（2026-11-05）。**押しても動かない、ほかの関節がつられて動く、受付なしが続く、という3つの困りごとは、どれもサーボの性能ではなく、送り方と、アームの中の受け口のプログラム（daemon）の待ち方が原因だった。** 【動画】LOG446_01_jog_probe_hold.mp4 根元の関節を、送り方を変えながら1つずつ動かした試し（3回目）。遠い目標へ1回送り、動いている途中で止める この回でやったことで、次のことが変わる。 - 良くなること：受付なし（押したのに無視されて何も起きない）は、1本の記録で40回あったのが、最後の記録で0回になった。1回押しで次を受け付けるまでの待ちは、中央の値で2.79秒から0.17秒になった。長押しを止めるたびに、動かしていない関節が1〜1.5°ずつずれて積み上がる現象（最初の記録で j1 が4.8°から37°まで上がった）も止まった - もたらされること：AI（Physical Intelligence の π0.5）の実機推論で、アームが失敗しかけたところを人がゲームパッドで直し、その直しを学習のデータに回す準備がそろった。daemon の待ち方も直したので、π0.5 の推論で送る指令の返りも速くなる見込み（推論ではまだ測っていない） - 時間・費用：実機での試しと直しは15:34〜17:13の約1時間40分。GPU は使っていないので費用は0円 前の回（LOG436）で、ゲームパッドで実物のアームを動かせるようにした。ただ、長押しの動きがカクカクしていた。そこで、どこまでなめらかに動かせるのかを先に測った。その結果、ゆっくり動かすとどの命令でも0.2秒ごとに進んでは止まる、つまりなめらかさの限界はサーボの側にあると分かった。それに合わせて操作の形を作り直し、実機で7回使いながら、出てきた困りごとを順に直した。 | 段階 | やったこと | 結果 | |---|---|---| | 送り方ごとの動きを測る | 根元 j0 を、1回送る・送り直し・jog など9通りで動かした（jog_probe 3回） | 速さ20以上で1回送るとなめらか。ゆっくりだと、どの命令も0.2秒ごとに止まる。jog は止まらないことがあった | | 長押しを作り直す | 15°先へ1回送り、離したら daemon の stop で止める。daemon に stop を足した | 長押しは動いたが、止めるたびにほかの関節がずれ、1回押しが動かないことが多かった | | ずれと動かない原因を探す | 止めたあとに指令へ戻す形を試したら、もっと動かなくなった | 重さで届かない関節の指令を送ると、次の指令が無視されやすくなっていた | | 小さな動きを測る | 1°・2°を3通りの送り方で12回ずつ（jog_probe small） | 動かす関節だけを送る形は12回中12回動いた | | 動かす関節だけ送る | 十字キーは send_angle（1関節だけの指令）にした | ほかの関節がつられて動かなくなった | | 受付なしを減らす | 1回押しの待ちを短くし、daemon の読み直しを0.2秒→0.02秒に | 受付なし 40回→13回→0回 | | 押した瞬間に送らない | 離したら1刻み、押し続けたら長押しの、どちらかだけを送る | 向きを変えたときの余分な1°の動きがなくなった | 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 ― jog の試しから、動かす関節だけを送るゲームパッドと daemon の読み直しまで この回の数字は、すべて実機の記録（KIOXIA の `runs/experiments/gamepad_teleop/` の7本と、`diag/jog_probe_20261105_*/` の4本）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 で動き続けている受け口のプログラム（`mecharm_daemon.py`）。Mac から送った指令を受け取り、アームへ流す。ゲームパッドも π0.5 の推論も、ここを通ってアームを動かす | | send_angles | 6つの関節の角度をまとめて送る命令（[pymycobot](https://github.com/elephantrobotics/pymycobot) の命令。pymycobot は mechArm を作っている Elephant Robotics の Python のライブラリ） | | send_angle | 1つの関節の角度だけを送る命令。ほかの関節には何も送らない | | speed | 送る命令に付ける速さの設定（1〜100）。この回は20（実測で毎秒約40°） | | jog | 関節・向き・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命令 | | stop・jog_stop | 動いている途中で止める命令。jog_stop は jog を止める。stop は動き全体を止める | | fresh_mode | 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アームの設定 | | 受付なし | ゲームパッドで押したが、前の操作がまだ終わっていないので、その押しを捨てたこと | ## 15:34 送り方を4通り変えて根元 j0 を動かした（jog_probe 1回目） 前の回の終わりに用意した試し（`tools/jog_probe.sh`）を流しました。daemon を一時止め、Pi から直接アームにつないで、根元の関節 j0 だけを、始めの角度から25°以内で動かします。0.1秒ごとの速さを並べると、なめらかかどうかが読めます（数字がそろっていればなめらか、0 や負の数が混ざっていれば、止まったり戻ったりしている）。 | 試し | 送り方 | 結果 | |---|---|---| | A | 10°先を1回だけ送る（speed 20） | 10°を約0.27秒で動いた。加速も減速もなめらか | | B | 0.1秒おきに、読んだ角度の3°先を送り直す（前のゲームパッドの長押し） | 0.1秒ごとの速さが 29、−13、73、−8、34°/秒。3°ずつ進んで止まるのを繰り返した | | C | B に fresh_mode を足す | 1回送るたびに行きすぎて約1°戻る、のこぎり型の動き | | D | jog（speed 10・30）を1秒 | 速さは一定でいちばんなめらか（speed 30 で毎秒約65°）。ただし speed 10 では jog_stop のあとも同じ速さで動き続け、25°の守りに当たって止まった。向きは説明書きと逆（1を送ると j0 が減った） | jog は動きがいちばんなめらかなのに、離しても止まらない回があります。ゲームパッドの長押しに使うには、止まり方を先に確かめる必要がありました。 #### jog_probe 1回目の端末の出力（15:34） ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % cd ~/r2r2r-scripts git tag gamepad-stream-v1 413f7e1 git add tools/jog_probe.sh tools/pi/jog_probe_pi.py git commit -m "jog_probe: j0 を4通りで動かし、なめらかさと限界を測る" tools/jog_probe.sh [main 2c28f88] jog_probe: j0 を4通りで動かし、なめらかさと限界を測る 2 files changed, 457 insertions(+) create mode 100755 tools/jog_probe.sh create mode 100644 tools/pi/jog_probe_pi.py jog_probe 20261105_153401 (結果: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_153401) --- デーモンの状態 (止める前) mode=systemd pid=502 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=502 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) 始めの角度: [-0.17, 92.63, 1.49, 0.61, -96.06, -29.35] HOME から離れています。HOME [0,0,0,0,0,-30] へ送ります (Enter で進む / q と Enter で終わる) 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 16.0 ms / 最大 19.3 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=9.32 mean_speed=4.96 median_speed=0.0 max_speed=30.97 speed_cv=None stall_ratio=None arrive_sec=0.4 0.1 秒ごとの速さ (°/秒): 31.0 -3.4 -0.9 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=1.23 B_stream を始めます (Enter で進む / q と Enter で終わる) [B_stream] travel_deg=12.39 mean_speed=12.38 median_speed=28.91 max_speed=73.27 speed_cv=1.09 stall_ratio=0.4 overshoot_deg=0.09 stop_latency_sec=0.1 n_sends=7 0.1 秒ごとの速さ (°/秒): 28.9 -13.2 73.3 -8.3 33.8 始めの角度へ戻した: 着いた j0=-0.08 C_stream_fresh を始めます (Enter で進む / q と Enter で終わる) [C_stream_fresh] travel_deg=7.91 mean_speed=8.67 median_speed=-11.71 max_speed=-2.32 speed_cv=None stall_ratio=None overshoot_deg=2.9 stop_latency_sec=0.26 n_sends=8 0.1 秒ごとの速さ (°/秒): -6.1 -2.3 -31.0 -11.7 -16.5 始めの角度へ戻した: 着いた j0=-1.58 D_jog_speed10 を始めます (Enter で進む / q と Enter で終わる) 守り: j0 が始めから -25.8° 離れたので止めます [D_jog_speed10] travel_deg=-2.37 mean_speed=-8.78 overshoot_deg=-23.38 stop_latency_sec=0.28 jog_moved=True 始めの角度へ戻した: 着いた j0=-1.4 D_jog_speed30 を始めます (Enter で進む / q と Enter で終わる) 守り: j0 が始めから 26.7° 離れたので止めます 守り: j0 が始めから 31.5° 離れたので止めます [D_jog_speed30] travel_deg=-27.06 mean_speed=-45.1 median_speed=-59.41 max_speed=-54.33 speed_cv=None stall_ratio=None overshoot_deg=-4.74 stop_latency_sec=0.0 jog_moved=True 0.1 秒ごとの速さ (°/秒): -54.3 -64.5 始めの角度へ戻した: 着いた j0=0.08 結果: /tmp/jog_probe_20261105_153401.json Connection to 192.168.2.1 closed. --- jog_probe_pi.py の終了コード: 0 結果の JSON: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_153401/result.json --- デーモンを戻す (systemctl start) mode=systemd pid=19339 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=19339 checker=no デーモンは戻った (5555 LISTEN) ``` #### diag/jog_probe_20261105_153401/result.json ```json {"started_at": "2022-10-13 15:26:29", "pymycobot": "2.9.6", "params": {"speed": 20, "stream_interval": 0.1, "stream_ahead": 3.0, "jog_speeds": [10, 30], "guard_deg": 25.0}, "tests": {"read": {"median_ms": 16.0, "max_ms": 19.3, "empty_ratio": 0.0}, "A_step_10deg": {"n_samples": 114, "travel_deg": 9.32, "active_sec": 1.88, "mean_speed": 4.96, "bin_speeds": [31.0, -3.4, -0.9, 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], "median_speed": 0.0, "max_speed": 30.97, "speed_cv": null, "stall_ratio": null, "arrive_sec": 0.4, "samples": [[0.1445, 0.17], [0.1626, 0.35], [0.1808, 0.87], [0.2006, 1.23], [0.2207, 1.93], [0.2407, 2.72], [0.2607, 3.51], [0.2808, 4.39], [0.3007, 4.92], [0.3207, 5.8], [0.3407, 6.76], [0.3607, 7.64], [0.3807, 8.52], [0.4006, 8.96], [0.4186, 9.58], [0.4346, 9.93], [0.4506, 9.93], [0.4669, 10.01], [0.4826, 10.01], [0.4986, 9.93], [0.5146, 9.75], [0.5306, 9.66], [0.547, 9.58], [0.5626, 9.49], [0.5785, 9.49], [0.5947, 9.49], [0.6106, 9.49], [0.627, 9.49], [0.6426, 9.49], [0.6586, 9.49], [0.6746, 9.49], [0.6906, 9.49], [0.7069, 9.49], [0.7225, 9.49], [0.7386, 9.49], [0.7546, 9.49], [0.7706, 9.49], [0.787, 9.49], [0.8026, 9.49], [0.8186, 9.49], [0.8346, 9.49], [0.8506, 9.49], [0.867, 9.49], [0.8825, 9.49], [0.8986, 9.49], [0.915, 9.49], [0.9312, 9.49], [0.9494, 9.49], [0.9592, 9.49], [0.9709, 9.49], [0.9866, 9.49], [1.0026, 9.49], [1.0186, 9.49], [1.0345, 9.49], [1.0506, 9.49], [1.0665, 9.49], [1.0826, 9.49], [1.0985, 9.49], [1.1145, 9.49], [1.1306, 9.49], [1.1466, 9.49], [1.1626, 9.49], [1.1786, 9.49], [1.1946, 9.49], [1.2107, 9.49], [1.2265, 9.49], [1.2426, 9.49], [1.2586, 9.49], [1.2745, 9.49], [1.2907, 9.49], [1.3066, 9.49], [1.3225, 9.49], [1.3385, 9.49], [1.3546, 9.49], [1.3707, 9.49], [1.3865, 9.49], [1.4026, 9.49], [1.4186, 9.49], [1.4346, 9.49], [1.4507, 9.49], [1.4666, 9.49], [1.4826, 9.49], [1.4986, 9.49], [1.5146, 9.49], [1.5306, 9.49], [1.5465, 9.49], [1.5626, 9.49], [1.5786, 9.49], [1.5946, 9.49], [1.6107, 9.49], [1.6266, 9.49], [1.6425, 9.49], [1.6586, 9.49], [1.6746, 9.49], [1.6907, 9.49], [1.7065, 9.49], [1.7226, 9.49], [1.7448, 9.49], [1.765, 9.49], [1.7869, 9.49], [1.8089, 9.49], [1.8309, 9.49], [1.8467, 9.49], [1.8626, 9.49], [1.8786, 9.49], [1.8945, 9.49], [1.9106, 9.49], [1.9268, 9.49], [1.9425, 9.49], [1.9586, 9.49], [1.9746, 9.49], [1.9906, 9.49], [2.0067, 9.49], [2.0225, 9.49]], "t_stop": null}, "B_stream": {"n_samples": 87, "travel_deg": 12.39, "active_sec": 1.0, "mean_speed": 12.38, "bin_speeds": [28.9, -13.2, 73.3, -8.3, 33.8], "median_speed": 28.91, "max_speed": 73.27, "speed_cv": 1.09, "stall_ratio": 0.4, "overshoot_deg": 0.09, "stop_latency_sec": 0.1, "n_sends": 7, "samples": [[0.0143, 0.0], [0.0435, 0.0], [0.1019, 0.0], [0.1619, 0.0], [0.1937, 0.35], [0.2137, 0.96], [0.2315, 1.31], [0.2475, 2.28], [0.2635, 2.81], [0.2937, 3.6], [0.3138, 3.69], [0.3337, 3.69], [0.3537, 3.6], [0.3737, 3.16], [0.4419, 3.16], [0.4596, 5.09], [0.4755, 5.62], [0.7636, 9.22], [0.8058, 8.87], [0.8305, 8.61], [0.9501, 10.19], [0.9816, 10.98], [0.9996, 11.86], [1.0155, 12.39], [1.0316, 12.56], [1.0477, 12.65], [1.0635, 12.74], [1.0795, 12.74], [1.0955, 12.65], [1.1115, 12.48], [1.1277, 12.3], [1.1435, 12.3], [1.1595, 12.21], [1.1755, 12.21], [1.1915, 12.21], [1.2078, 12.3], [1.2235, 12.39], [1.2395, 12.48], [1.2555, 12.48], [1.2715, 12.56], [1.2878, 12.56], [1.3035, 12.65], [1.3195, 12.65], [1.3355, 12.65], [1.3515, 12.65], [1.3677, 12.56], [1.3835, 12.56], [1.3995, 12.56], [1.4155, 12.56], [1.4315, 12.56], [1.4477, 12.56], [1.4635, 12.56], [1.4795, 12.56], [1.4955, 12.56], [1.5115, 12.56], [1.5277, 12.56], [1.5435, 12.56], [1.5595, 12.56], [1.5755, 12.56], [1.5915, 12.56], [1.6078, 12.56], [1.6235, 12.56], [1.6395, 12.56], [1.6555, 12.56], [1.6717, 12.56], [1.6877, 12.56], [1.7035, 12.56], [1.7195, 12.56], [1.7355, 12.56], [1.7515, 12.56], [1.7677, 12.56], [1.7835, 12.56], [1.7995, 12.56], [1.8155, 12.56], [1.8315, 12.56], [1.8477, 12.48], [1.8635, 12.48], [1.8795, 12.48], [1.8955, 12.48], [1.9115, 12.48], [1.9276, 12.48], [1.9435, 12.48], [1.9595, 12.48], [1.9755, 12.48], [1.9915, 12.48], [2.0077, 12.48], [2.0235, 12.48]], "t_stop": 1.0155}, "C_stream_fresh": {"n_samples": 87, "travel_deg": 7.91, "active_sec": 0.91, "mean_speed": 8.67, "bin_speeds": [-6.1, -2.3, -31.0, -11.7, -16.5], "median_speed": -11.71, "max_speed": -2.32, "speed_cv": null, "stall_ratio": null, "overshoot_deg": 2.9, "stop_latency_sec": 0.26, "n_sends": 8, "samples": [[0.0191, -0.08], [0.0472, -0.08], [0.0714, -0.08], [0.087, -0.08], [0.103, -0.08], [0.119, -0.08], [0.1353, -0.08], [0.283, -3.86], [0.311, -3.69], [0.3364, -3.42], [0.3555, -2.9], [0.3661, -2.81], [0.3835, -2.81], [0.4096, -3.25], [0.5796, -7.29], [0.6051, -6.5], [0.6237, -6.06], [0.6435, -5.44], [0.6603, -5.36], [0.6835, -5.36], [0.8243, -9.49], [0.8553, -9.31], [0.8811, -8.96], [0.8994, -8.26], [0.9151, -7.99], [0.931, -7.99], [1.0791, -12.12], [1.095, -11.95], [1.111, -11.6], [1.127, -11.25], [1.1434, -10.72], [1.159, -10.63], [1.1791, -10.63], [1.1949, -10.54], [1.2169, -10.89], [1.2401, -11.25], [1.2638, -11.42], [1.283, -11.42], [1.2998, -11.33], [1.319, -11.25], [1.3352, -10.98], [1.351, -10.89], [1.3679, -10.81], [1.387, -10.81], [1.4032, -10.81], [1.419, -10.81], [1.4357, -10.81], [1.4511, -10.81], [1.467, -10.81], [1.483, -10.89], [1.499, -10.89], [1.5153, -10.89], [1.531, -10.89], [1.547, -10.89], [1.563, -10.89], [1.579, -10.89], [1.5954, -10.89], [1.611, -10.89], [1.627, -10.89], [1.6429, -10.89], [1.659, -10.89], [1.6753, -10.89], [1.691, -10.89], [1.707, -10.89], [1.723, -10.89], [1.739, -10.89], [1.7553, -10.89], [1.771, -10.89], [1.787, -10.89], [1.803, -10.89], [1.819, -10.89], [1.8353, -10.89], [1.851, -10.89], [1.867, -10.89], [1.883, -10.89], [1.8991, -10.89], [1.9153, -10.89], [1.931, -10.89], [1.947, -10.89], [1.963, -10.89], [1.979, -10.89], [1.9953, -10.89], [2.011, -10.89], [2.027, -10.89], [2.0431, -10.89], [2.059, -10.89], [2.0754, -10.89]], "t_stop": 1.0605}, "D_jog_speed10": {"n_samples": 17, "travel_deg": -2.37, "active_sec": 0.27, "mean_speed": -8.78, "overshoot_deg": -23.38, "stop_latency_sec": 0.28, "jog_moved": true, "samples": [[0.0292, -0.26], [0.0476, -0.26], [0.0673, -0.26], [0.0873, -0.26], [0.1073, -0.26], [0.1273, -0.26], [0.1482, -0.26], [0.1681, -0.26], [0.1794, -0.26], [0.2993, -2.63], [1.0512, -18.89], [1.0712, -20.03], [1.1308, -21.0], [1.1908, -21.62], [1.2508, -22.06], [1.3108, -24.69], [1.3708, -26.01]], "t_stop": 1.0302}, "D_jog_speed30": {"n_samples": 12, "travel_deg": -27.06, "active_sec": 0.6, "mean_speed": -45.1, "bin_speeds": [-54.3, -64.5], "median_speed": -59.41, "max_speed": -54.33, "speed_cv": null, "stall_ratio": null, "overshoot_deg": -4.74, "stop_latency_sec": 0.0, "jog_moved": true, "samples": [[0.064, -0.52], [0.1243, -0.52], [0.1841, -0.08], [0.244, 1.4], [0.304, 3.77], [0.364, 7.03], [0.424, 10.72], [0.484, 14.67], [0.544, 18.54], [0.604, 22.5], [0.664, 26.54], [0.6922, 31.28]], "t_stop": 0.6731}}, "start": [-0.17, 1.23, 1.84, 0.52, 1.31, -29.35]} ``` ## 15:39 jog と1回送る形の止め方を比べた（jog_probe 2回目） jog_probe に、止め方を比べる組（`stop`）を足しました。jog（speed 5・10）と、20°先へ1回だけ送る形（speed 10・20）を1秒動かし、jog_stop・stop・今の角度へ送り直す（hold）の3つのどれで止まるかを見ます。守りに当たったときは、3つを全部送って止めるようにしました。 | 止め方 | 結果 | |---|---| | jog_stop（jog speed 5） | 0.16秒で止まった。行きすぎ1.8° | | stop（jog speed 10） | 約0.1秒で止まった。行きすぎ3.7° | | stop（jog speed 5） | 止まらず、25°の守りまで動き続けた | | 今の角度へ送り直す（jog speed 5・10） | 止まらなかった。jog は send_angles では上書きできず、次の試しの始めまで jog が続いていた | もう1つ、jog の speed 5 は0.12秒動いて0.08秒止まる階段状の動きでした。20°先へ1回送る形は、1秒のうちに目標へ着いてしまい、途中で止める試しになっていませんでした。 #### jog_probe 2回目の端末の出力（15:39） ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % git add tools/jog_probe.sh tools/pi/jog_probe_pi.py git commit -m "jog_probe: 止め方を比べる stop の組を足す (jog の向きは実機に合わせる)" tools/jog_probe.sh stop [main dcdf3f1] jog_probe: 止め方を比べる stop の組を足す (jog の向きは実機に合わせる) 2 files changed, 96 insertions(+), 5 deletions(-) jog_probe 20261105_153952 (結果: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_153952_stop) --- デーモンの状態 (止める前) mode=systemd pid=19339 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=19339 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) 始めの角度: [-0.43, 2.98, 3.51, 0.26, 0.7, -29.61] 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 16.0 ms / 最大 18.1 ms / 空で返った割合 0.0 E_jog5_jogstop を始めます (Enter で進む / q と Enter で終わる) [E_jog5_jogstop] travel_deg=11.15 mean_speed=12.68 median_speed=15.89 max_speed=24.27 speed_cv=0.57 stall_ratio=0.0 overshoot_deg=1.76 stop_latency_sec=0.16 read_fails=1 end_from_start_deg=12.91 guard=False 0.1 秒ごとの速さ (°/秒): 7.6 24.3 4.4 24.3 6.6 24.1 始めの角度へ戻した: 着いた j0=-0.87 E_jog5_stop 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 [E_jog5_stop] travel_deg=0.61 mean_speed=4.38 overshoot_deg=24.26 stop_latency_sec=1.06 read_fails=9 end_from_start_deg=-25.23 guard=False 始めの角度へ戻した: 着いた j0=-0.7 E_jog5_hold を始めます (Enter で進む / q と Enter で終わる) 守り: j0 が始めから 25.0° 離れたので止めます [E_jog5_hold] travel_deg=10.71 mean_speed=13.09 median_speed=14.38 max_speed=37.86 speed_cv=1.18 stall_ratio=0.5 overshoot_deg=14.59 stop_latency_sec=0.95 read_fails=4 end_from_start_deg=25.03 guard=False 0.1 秒ごとの速さ (°/秒): 0.0 28.8 0.0 37.9 始めの角度へ戻した: 着いた j0=0.0 E_jog10_stop を始めます (Enter で進む / q と Enter で終わる) [E_jog10_stop] travel_deg=17.13 mean_speed=17.51 median_speed=25.01 max_speed=43.28 speed_cv=0.37 stall_ratio=0.0 overshoot_deg=3.52 stop_latency_sec=0.12 read_fails=3 end_from_start_deg=-20.22 guard=False 0.1 秒ごとの速さ (°/秒): 43.3 25.0 22.2 35.0 17.5 始めの角度へ戻した: 着いた j0=-0.79 E_jog10_hold を始めます (Enter で進む / q と Enter で終わる) 守り: j0 が始めから 25.8° 離れたので止めます [E_jog10_hold] travel_deg=18.98 mean_speed=20.61 median_speed=16.17 max_speed=36.81 speed_cv=0.71 stall_ratio=0.0 overshoot_deg=7.21 stop_latency_sec=0.0 read_fails=3 end_from_start_deg=25.83 guard=False 0.1 秒ごとの速さ (°/秒): 8.8 33.6 36.8 16.2 11.7 始めの角度へ戻した: 着かない j0=25.22 F_far10_stop を始めます (Enter で進む / q と Enter で終わる) 守り: j0 が始めから 25.6° 離れたので止めます 守り: j0 が始めから 25.6° 離れたので止めます [F_far10_stop] read_fails=0 end_from_start_deg=25.65 guard=True 始めの角度へ戻した: 着かない j0=-0.61 F_far10_hold を始めます (Enter で進む / q と Enter で終わる) [F_far10_hold] travel_deg=18.8 mean_speed=18.31 median_speed=23.5 max_speed=35.21 speed_cv=0.33 stall_ratio=0.0 overshoot_deg=0.53 stop_latency_sec=0.33 read_fails=0 end_from_start_deg=19.15 guard=False 0.1 秒ごとの速さ (°/秒): 22.0 23.5 14.7 33.6 35.2 始めの角度へ戻した: 着いた j0=-1.05 F_far20_hold を始めます (Enter で進む / q と Enter で終わる) [F_far20_hold] travel_deg=19.95 mean_speed=21.18 median_speed=32.27 max_speed=57.26 speed_cv=0.83 stall_ratio=0.4 overshoot_deg=-0.0 stop_latency_sec=0.0 read_fails=1 end_from_start_deg=-20.31 guard=False 0.1 秒ごとの速さ (°/秒): 54.2 57.3 32.3 -10.9 6.1 始めの角度へ戻した: 着いた j0=-0.61 結果: /tmp/jog_probe_20261105_153952.json Connection to 192.168.2.1 closed. --- jog_probe_pi.py の終了コード: 0 結果の JSON: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_153952_stop/result.json --- デーモンを戻す (systemctl start) mode=systemd pid=4995 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=4995 checker=no デーモンは戻った (5555 LISTEN) ``` #### diag/jog_probe_20261105_153952_stop/result.json ```json {"started_at": "2022-10-13 15:32:20", "pymycobot": "2.9.6", "params": {"speed": 20, "stream_interval": 0.1, "stream_ahead": 3.0, "jog_speeds": [10, 30], "guard_deg": 25.0, "set": "stop", "jog_dir": {"+1": 0, "-1": 1}}, "tests": {"read": {"median_ms": 16.0, "max_ms": 18.1, "empty_ratio": 0.0}, "E_jog5_jogstop": {"n_samples": 137, "travel_deg": 11.15, "active_sec": 0.88, "mean_speed": 12.68, "bin_speeds": [7.6, 24.3, 4.4, 24.3, 6.6, 24.1], "median_speed": 15.89, "max_speed": 24.27, "speed_cv": 0.57, "stall_ratio": 0.0, "overshoot_deg": 1.76, "stop_latency_sec": 0.16, "read_fails": 1, "end_from_start_deg": 12.91, "how": "jog_stop", "speed": 5, "guard": false, "samples": [[0.1358, -0.43], [0.1556, -0.35], [0.1666, -0.26], [0.1772, -0.08], [0.1955, 0.0], [0.2157, 0.43], [0.2355, 0.87], [0.2558, 1.14], [0.2763, 1.49], [0.296, 1.93], [0.3156, 2.19], [0.3355, 2.37], [0.3551, 2.46], [0.375, 2.54], [0.395, 2.63], [0.4149, 2.72], [0.4349, 3.07], [0.455, 3.33], [0.4749, 3.86], [0.495, 4.57], [0.5149, 5.0], [0.5349, 5.27], [0.5549, 5.36], [0.5749, 5.44], [0.5949, 5.36], [0.6149, 5.36], [0.6349, 5.71], [0.6549, 5.97], [0.6749, 6.59], [0.6949, 7.2], [0.7149, 7.64], [0.7349, 7.91], [0.7549, 7.99], [0.7749, 8.08], [0.7949, 8.08], [0.8149, 8.08], [0.8349, 8.52], [0.8549, 8.7], [0.8749, 9.31], [0.8949, 9.93], [0.9149, 10.45], [0.9349, 10.63], [0.9549, 10.72], [0.9749, 10.72], [0.9949, 10.72], [1.0149, 10.72], [1.0469, 11.33], [1.0649, 11.95], [1.0808, 12.39], [1.0975, 12.91], [1.1129, 13.0], [1.1288, 13.09], [1.1453, 13.09], [1.162, 13.0], [1.179, 12.74], [1.2009, 12.56], [1.2168, 12.48], [1.234, 12.39], [1.2528, 12.39], [1.2691, 12.39], [1.2848, 12.48], [1.302, 12.48], [1.3208, 12.48], [1.3371, 12.48], [1.3528, 12.48], [1.37, 12.48], [1.3888, 12.48], [1.4051, 12.48], [1.4208, 12.48], [1.438, 12.48], [1.4568, 12.48], [1.4731, 12.48], [1.4888, 12.48], [1.506, 12.48], [1.5248, 12.48], [1.5411, 12.48], [1.5568, 12.48], [1.574, 12.48], [1.5928, 12.48], [1.6091, 12.48], [1.6248, 12.48], [1.6417, 12.48], [1.6609, 12.48], [1.6769, 12.48], [1.6929, 12.48], [1.7094, 12.48], [1.7248, 12.48], [1.7409, 12.48], [1.7569, 12.48], [1.7728, 12.48], [1.7895, 12.48], [1.8049, 12.48], [1.8209, 12.48], [1.8369, 12.48], [1.8529, 12.48], [1.8696, 12.48], [1.8815, 12.48], [1.8969, 12.48], [1.9129, 12.48], [1.9288, 12.48], [1.9448, 12.48], [1.9615, 12.48], [1.9768, 12.48], [1.9928, 12.48], [2.0088, 12.48], [2.0249, 12.48], [2.0415, 12.48], [2.0568, 12.48], [2.0728, 12.48], [2.0889, 12.48], [2.1048, 12.48], [2.1215, 12.48], [2.1409, 12.48], [2.1569, 12.48], [2.1729, 12.48], [2.1896, 12.48], [2.2015, 12.48], [2.2168, 12.48], [2.2329, 12.48], [2.2488, 12.48], [2.2649, 12.48], [2.2815, 12.48], [2.2969, 12.48], [2.3129, 12.48], [2.3289, 12.48], [2.3451, 12.48], [2.3621, 12.48], [2.3808, 12.48], [2.3971, 12.48], [2.4128, 12.48], [2.4301, 12.48], [2.4489, 12.48], [2.465, 12.48], [2.4808, 12.48], [2.498, 12.48], [2.5168, 12.48], [2.5331, 12.48]], "t_stop": 1.0149}, "E_jog5_stop": {"n_samples": 42, "travel_deg": 0.61, "active_sec": 0.14, "mean_speed": 4.38, "overshoot_deg": 24.26, "stop_latency_sec": 1.06, "read_fails": 9, "end_from_start_deg": -25.23, "how": "stop", "speed": 5, "guard": false, "samples": [[0.1532, -0.79], [0.2925, -1.4], [1.0443, -11.6], [1.0644, -11.6], [1.1234, -11.95], [1.1834, -13.71], [1.2434, -14.32], [1.3034, -14.15], [1.4353, -16.78], [1.4565, -16.78], [1.4765, -17.22], [1.4965, -17.57], [1.5165, -18.45], [1.5365, -19.33], [1.5564, -19.68], [1.5765, -19.77], [1.5964, -19.77], [1.6165, -19.77], [1.6365, -19.51], [1.6564, -19.68], [1.6764, -20.12], [1.6964, -20.47], [1.7165, -21.35], [1.7364, -22.06], [1.7565, -22.32], [1.7765, -22.41], [1.7965, -22.41], [1.8165, -22.41], [1.8365, -22.14], [1.8565, -22.32], [1.8764, -22.76], [1.8965, -23.11], [1.9164, -23.99], [1.9364, -24.78], [1.9565, -25.13], [1.9765, -25.22], [1.9964, -25.22], [2.0164, -25.22], [2.0364, -24.96], [2.0564, -24.96], [2.0765, -25.31], [2.0965, -25.66]], "t_stop": 1.0141}, "E_jog5_hold": {"n_samples": 78, "travel_deg": 10.71, "active_sec": 0.82, "mean_speed": 13.09, "bin_speeds": [0.0, 28.8, 0.0, 37.9], "median_speed": 14.38, "max_speed": 37.86, "speed_cv": 1.18, "stall_ratio": 0.5, "overshoot_deg": 14.59, "stop_latency_sec": 0.95, "read_fails": 4, "end_from_start_deg": 25.03, "how": "hold", "speed": 5, "guard": false, "samples": [[0.1178, -0.7], [0.139, -0.7], [0.161, -0.7], [0.183, -0.52], [0.2052, -0.26], [0.2207, 0.17], [0.24, 0.52], [0.2599, 1.05], [0.28, 1.58], [0.2999, 1.75], [0.3199, 2.02], [0.3399, 2.1], [0.3609, 2.1], [0.3806, 2.02], [0.401, 2.02], [0.4204, 2.28], [0.44, 2.81], [0.4601, 3.6], [0.4803, 4.3], [0.5, 4.57], [0.52, 4.74], [0.54, 4.83], [0.56, 4.83], [0.5803, 4.65], [0.6, 4.74], [0.622, 5.09], [0.638, 5.62], [0.6569, 6.41], [0.7965, 7.47], [0.9182, 9.93], [0.9363, 10.01], [1.1042, 12.48], [1.1245, 12.56], [1.144, 12.48], [1.164, 12.39], [1.184, 12.65], [1.2041, 13.18], [1.2241, 13.53], [1.2441, 14.23], [1.2641, 14.76], [1.2841, 15.02], [1.304, 15.11], [1.3239, 15.11], [1.344, 15.11], [1.3639, 15.11], [1.3839, 15.46], [1.4039, 15.99], [1.4242, 16.34], [1.4439, 16.96], [1.4639, 17.49], [1.4839, 17.66], [1.5039, 17.75], [1.5239, 17.84], [1.5439, 17.84], [1.5639, 17.84], [1.5839, 18.19], [1.6039, 18.63], [1.6239, 18.98], [1.6439, 19.68], [1.6639, 20.21], [1.6839, 20.39], [1.7039, 20.47], [1.7239, 20.47], [1.7439, 20.47], [1.7639, 20.47], [1.7839, 20.91], [1.804, 21.35], [1.8239, 21.79], [1.8439, 22.41], [1.8639, 22.85], [1.8839, 23.02], [1.9039, 23.11], [1.9239, 23.11], [1.9439, 23.11], [1.9639, 23.29], [1.9839, 23.73], [2.0039, 24.16], [2.0239, 24.6]], "t_stop": 1.0579}, "E_jog10_stop": {"n_samples": 114, "travel_deg": 17.13, "active_sec": 0.98, "mean_speed": 17.51, "bin_speeds": [43.3, 25.0, 22.2, 35.0, 17.5], "median_speed": 25.01, "max_speed": 43.28, "speed_cv": 0.37, "stall_ratio": 0.0, "overshoot_deg": 3.52, "stop_latency_sec": 0.12, "read_fails": 3, "end_from_start_deg": -20.22, "how": "stop", "speed": 10, "guard": false, "samples": [[0.0377, 0.0], [0.0624, 0.0], [0.4055, -4.48], [0.4258, -5.36], [0.4457, -5.88], [0.4657, -6.76], [0.4859, -7.38], [0.5076, -7.82], [0.5269, -7.91], [0.547, -7.91], [0.5669, -8.08], [0.5876, -8.52], [0.6024, -9.14], [0.656, -9.58], [0.7161, -11.68], [0.7761, -12.04], [0.8361, -13.09], [0.8961, -15.64], [0.9561, -16.52], [1.0159, -17.13], [1.0437, -19.95], [1.0595, -20.3], [1.0761, -20.74], [1.0915, -20.83], [1.1075, -20.83], [1.1236, -20.83], [1.1395, -20.83], [1.1561, -20.65], [1.1716, -20.65], [1.1875, -20.65], [1.2036, -20.65], [1.2195, -20.65], [1.2361, -20.65], [1.2515, -20.65], [1.2675, -20.65], [1.2836, -20.65], [1.2995, -20.65], [1.3161, -20.65], [1.3315, -20.65], [1.3475, -20.65], [1.3637, -20.65], [1.3795, -20.65], [1.3961, -20.65], [1.4115, -20.65], [1.4276, -20.65], [1.4436, -20.65], [1.4595, -20.65], [1.4761, -20.65], [1.4915, -20.65], [1.5075, -20.65], [1.5237, -20.65], [1.5395, -20.65], [1.5561, -20.65], [1.5715, -20.65], [1.5875, -20.65], [1.6037, -20.65], [1.6195, -20.65], [1.6361, -20.65], [1.6515, -20.65], [1.6675, -20.65], [1.6836, -20.65], [1.6995, -20.65], [1.7161, -20.65], [1.7315, -20.65], [1.7475, -20.65], [1.7637, -20.65], [1.7795, -20.65], [1.7961, -20.65], [1.8115, -20.65], [1.8275, -20.65], [1.8436, -20.65], [1.8595, -20.65], [1.8761, -20.65], [1.8915, -20.65], [1.9075, -20.65], [1.9237, -20.65], [1.9395, -20.65], [1.9561, -20.65], [1.9715, -20.65], [1.9875, -20.65], [2.0036, -20.65], [2.0195, -20.65], [2.0361, -20.65], [2.0515, -20.65], [2.0675, -20.65], [2.0836, -20.65], [2.0995, -20.65], [2.1161, -20.65], [2.1315, -20.65], [2.1475, -20.65], [2.1637, -20.65], [2.1795, -20.65], [2.1962, -20.65], [2.2115, -20.65], [2.2275, -20.65], [2.2437, -20.65], [2.2595, -20.65], [2.2757, -20.65], [2.2915, -20.65], [2.3075, -20.65], [2.3235, -20.65], [2.3395, -20.65], [2.3557, -20.65], [2.3715, -20.65], [2.3875, -20.65], [2.4035, -20.65], [2.4195, -20.65], [2.4356, -20.65], [2.4515, -20.65], [2.4675, -20.65], [2.4835, -20.65], [2.4995, -20.65], [2.5156, -20.65], [2.5315, -20.65]], "t_stop": 1.0159}, "E_jog10_hold": {"n_samples": 18, "travel_deg": 18.98, "active_sec": 0.92, "mean_speed": 20.61, "bin_speeds": [8.8, 33.6, 36.8, 16.2, 11.7], "median_speed": 16.17, "max_speed": 36.81, "speed_cv": 0.71, "stall_ratio": 0.0, "overshoot_deg": 7.21, "stop_latency_sec": 0.0, "read_fails": 3, "end_from_start_deg": 25.83, "how": "hold", "speed": 10, "guard": false, "samples": [[0.1266, -0.79], [0.1485, -0.7], [0.2077, -0.52], [0.2677, 0.79], [0.3278, 1.93], [0.3877, 2.46], [0.4477, 4.13], [0.5078, 6.15], [0.5677, 6.67], [0.6278, 8.08], [0.6875, 10.28], [0.7475, 11.07], [0.8075, 12.04], [0.8676, 14.32], [0.9275, 15.38], [0.9875, 16.08], [1.0475, 18.19], [1.3583, 25.4]], "t_stop": 1.0475}, "F_far10_stop": {"n_samples": 2, "read_fails": 0, "end_from_start_deg": 25.65, "how": "stop", "speed": 10, "guard": true, "samples": [[0.029, 25.22], [0.0745, 25.22]], "t_stop": 0.0533}, "F_far10_hold": {"n_samples": 110, "travel_deg": 18.8, "active_sec": 1.03, "mean_speed": 18.31, "bin_speeds": [22.0, 23.5, 14.7, 33.6, 35.2], "median_speed": 23.5, "max_speed": 35.21, "speed_cv": 0.33, "stall_ratio": 0.0, "overshoot_deg": 0.53, "stop_latency_sec": 0.33, "read_fails": 0, "end_from_start_deg": 19.15, "how": "hold", "speed": 10, "guard": false, "samples": [[0.022, -0.61], [0.034, -0.61], [0.089, -0.61], [0.1489, -0.61], [0.2089, -0.52], [0.2689, 0.26], [0.3289, 1.75], [0.3889, 3.07], [0.4489, 4.21], [0.5089, 5.62], [0.5689, 7.38], [0.6289, 8.61], [0.6889, 9.49], [0.7489, 10.98], [0.8089, 13.0], [0.8689, 13.88], [0.9289, 14.85], [0.9889, 16.96], [1.0489, 18.19], [1.1421, 19.51], [1.16, 19.77], [1.176, 19.86], [1.1922, 19.86], [1.208, 19.86], [1.2253, 19.51], [1.244, 19.33], [1.2602, 18.89], [1.276, 18.63], [1.2932, 18.28], [1.312, 18.19], [1.3283, 18.19], [1.344, 18.19], [1.3613, 18.36], [1.38, 18.45], [1.3962, 18.72], [1.4125, 18.8], [1.4311, 18.8], [1.4419, 18.8], [1.4605, 18.8], [1.4765, 18.8], [1.4925, 18.8], [1.5094, 18.8], [1.522, 18.8], [1.5336, 18.72], [1.5526, 18.72], [1.5681, 18.72], [1.5792, 18.72], [1.5964, 18.72], [1.6132, 18.72], [1.6254, 18.72], [1.6373, 18.72], [1.6492, 18.72], [1.6685, 18.72], [1.6844, 18.72], [1.7009, 18.72], [1.7222, 18.72], [1.7405, 18.72], [1.7514, 18.72], [1.763, 18.72], [1.7805, 18.72], [1.7974, 18.72], [1.8092, 18.72], [1.8285, 18.72], [1.8439, 18.72], [1.8662, 18.72], [1.8846, 18.72], [1.8991, 18.72], [1.9166, 18.72], [1.9363, 18.72], [1.9521, 18.72], [1.968, 18.72], [1.984, 18.72], [2.0007, 18.72], [2.02, 18.72], [2.0361, 18.72], [2.052, 18.72], [2.0692, 18.72], [2.0884, 18.72], [2.1037, 18.72], [2.1201, 18.72], [2.1373, 18.72], [2.156, 18.72], [2.1723, 18.72], [2.188, 18.72], [2.2053, 18.72], [2.224, 18.72], [2.2403, 18.72], [2.256, 18.72], [2.273, 18.72], [2.292, 18.72], [2.308, 18.72], [2.324, 18.72], [2.3407, 18.72], [2.36, 18.72], [2.376, 18.72], [2.392, 18.72], [2.4087, 18.72], [2.428, 18.72], [2.444, 18.72], [2.46, 18.72], [2.4767, 18.72], [2.496, 18.72], [2.512, 18.72], [2.528, 18.72], [2.5446, 18.72], [2.56, 18.72], [2.576, 18.72], [2.592, 18.72], [2.608, 18.72], [2.6247, 18.72]], "t_stop": 1.0489}, "F_far20_hold": {"n_samples": 120, "travel_deg": 19.95, "active_sec": 0.94, "mean_speed": 21.18, "bin_speeds": [54.2, 57.3, 32.3, -10.9, 6.1], "median_speed": 32.27, "max_speed": 57.26, "speed_cv": 0.83, "stall_ratio": 0.4, "overshoot_deg": -0.0, "stop_latency_sec": 0.0, "read_fails": 1, "end_from_start_deg": -20.31, "how": "hold", "speed": 20, "guard": false, "samples": [[0.0708, -0.79], [0.1307, -0.79], [0.1907, -0.79], [0.2507, -0.79], [0.3107, -2.72], [0.3707, -5.97], [0.4307, -8.26], [0.491, -10.28], [0.5509, -13.71], [0.611, -16.78], [0.671, -18.19], [0.6875, -19.68], [0.7052, -20.03], [0.7219, -20.83], [0.7411, -21.0], [0.7581, -21.0], [0.7772, -21.0], [0.7897, -20.83], [0.809, -20.65], [0.8252, -20.21], [0.8412, -20.12], [0.8578, -20.12], [0.8773, -20.12], [0.8931, -20.12], [0.9036, -20.3], [0.9156, -20.39], [0.9277, -20.39], [0.9452, -20.56], [0.9648, -20.65], [0.9807, -20.65], [0.9968, -20.74], [1.0127, -20.74], [1.1687, -20.74], [1.1848, -20.74], [1.2007, -20.74], [1.2172, -20.74], [1.2327, -20.74], [1.2487, -20.74], [1.2648, -20.74], [1.2807, -20.74], [1.2989, -20.74], [1.3111, -20.74], [1.3215, -20.74], [1.3333, -20.74], [1.345, -20.74], [1.3608, -20.74], [1.3767, -20.74], [1.3927, -20.74], [1.4087, -20.74], [1.4248, -20.74], [1.4407, -20.74], [1.4567, -20.74], [1.4727, -20.74], [1.4887, -20.74], [1.5047, -20.74], [1.5207, -20.74], [1.5367, -20.74], [1.5527, -20.74], [1.5687, -20.74], [1.5847, -20.74], [1.6007, -20.74], [1.6167, -20.74], [1.6327, -20.74], [1.6487, -20.74], [1.6647, -20.74], [1.6807, -20.74], [1.6967, -20.74], [1.7128, -20.74], [1.7287, -20.74], [1.7447, -20.74], [1.7607, -20.74], [1.7767, -20.74], [1.7927, -20.74], [1.8087, -20.74], [1.8247, -20.74], [1.8407, -20.74], [1.8567, -20.74], [1.8768, -20.74], [1.8932, -20.74], [1.9087, -20.74], [1.9247, -20.74], [1.9408, -20.74], [1.9567, -20.74], [1.9732, -20.74], [1.9887, -20.74], [2.0047, -20.74], [2.0208, -20.74], [2.0367, -20.74], [2.0533, -20.74], [2.0687, -20.74], [2.0847, -20.74], [2.1008, -20.74], [2.1167, -20.74], [2.1332, -20.74], [2.1487, -20.74], [2.1647, -20.74], [2.1808, -20.74], [2.1967, -20.74], [2.2132, -20.74], [2.2287, -20.74], [2.2447, -20.74], [2.2608, -20.74], [2.2767, -20.74], [2.2932, -20.74], [2.3087, -20.74], [2.3247, -20.74], [2.3408, -20.74], [2.3567, -20.74], [2.3732, -20.74], [2.3887, -20.74], [2.4047, -20.74], [2.4208, -20.74], [2.4367, -20.74], [2.4533, -20.74], [2.4687, -20.74], [2.4847, -20.74], [2.5008, -20.74], [2.5167, -20.74], [2.5332, -20.74], [2.5487, -20.74]], "t_stop": 1.0127}}, "start": [-0.43, 2.98, 3.51, 0.26, 0.7, -29.61]} ``` ## 15:43 遠い目標へ1回送る動きを、途中で止めた（jog_probe 3回目） 20°先へ送り、0.4〜0.5秒の動いている途中で止める組（`hold`）と、jog speed 10 を jog_stop で3回止める組を足しました。冒頭の動画がこの試しです。 | 試し | 結果 | |---|---| | speed 10 で送り、0.5秒で stop | 0.24秒で止まった。行きすぎ3.3° | | speed 10 で送り、0.5秒で今の角度へ送り直す | 約4°行きすぎてから戻った | | speed 5 で送り、0.5秒で今の角度へ送り直す | 止まらずに目標の20°まで行った | | jog speed 10 を jog_stop で3回 | 3回とも約0.1秒で止まった。行きすぎ3〜4° | 3回の試しの生の記録（時刻と j0 の角度）を、送り方ごとに並べると次のようになります。 【画像】LOG446_04_jog_probe_traces.png mechArm 270 の根元 j0 を、1回送る・送り直し・fresh_mode・jog・階段状の jog・20°先へ送って途中で stop の6通りで動かしたときの、時刻と角度の線。1回送る形と jog speed 30 は線がまっすぐで、送り直しと fresh_mode と jog speed 5 は段になっている ゆっくり動かすと、jog でも1回送る形でも、0.2秒ごとに進んでは止まる動きになりました。一定の速さでなめらかに動いたのは speed 20〜30 だけです。**なめらかさの限界は送り方ではなくサーボの側にあり、ゆっくり、かつなめらかに、は mechArm 270 では両立しません。** jog は止まらない回が1回目にあったので、止めそこなったときに動き続ける jog は長押しの土台にせず、止めそこなっても目標で必ず止まる、遠い目標へ1回送る形を使うことにしました。速さは speed 20（毎秒約40°）に決めました。 #### jog_probe 3回目の端末の出力（15:43） ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % git add tools/jog_probe.sh tools/pi/jog_probe_pi.py git commit -m "jog_probe: 遠い目標を途中で止める hold の組を足す" tools/jog_probe.sh hold [main b577a13] jog_probe: 遠い目標を途中で止める hold の組を足す 2 files changed, 22 insertions(+), 5 deletions(-) jog_probe 20261105_154332 (結果: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_154332_hold) --- デーモンの状態 (止める前) mode=systemd pid=4995 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=4995 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) 始めの角度: [-0.96, 5.53, 6.41, 0.0, -0.08, -29.53] HOME から離れています。HOME [0,0,0,0,0,-30] へ送ります (Enter で進む / q と Enter で終わる) 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 12.6 ms / 最大 21.4 ms / 空で返った割合 0.0 G_far5_hold_0.5s を始めます (Enter で進む / q と Enter で終わる) [G_far5_hold_0.5s] travel_deg=3.94 mean_speed=10.54 overshoot_deg=15.56 stop_latency_sec=1.48 read_fails=3 end_from_start_deg=19.5 guard=False 始めの角度へ戻した: 着いた j0=0.17 G_far10_hold_0.5s を始めます (Enter で進む / q と Enter で終わる) [G_far10_hold_0.5s] travel_deg=6.76 mean_speed=22.87 overshoot_deg=1.59 stop_latency_sec=0.21 read_fails=9 end_from_start_deg=-9.41 guard=False 始めの角度へ戻した: 着いた j0=0.52 G_far20_hold_0.4s を始めます (Enter で進む / q と Enter で終わる) [G_far20_hold_0.4s] read_fails=4 end_from_start_deg=19.5 guard=False 始めの角度へ戻した: 着かない j0=0.26 G_far10_stop_0.5s を始めます (Enter で進む / q と Enter で終わる) [G_far10_stop_0.5s] travel_deg=7.55 mean_speed=15.73 median_speed=23.5 max_speed=23.5 speed_cv=0.0 stall_ratio=0.0 overshoot_deg=3.25 stop_latency_sec=0.24 read_fails=0 end_from_start_deg=-10.37 guard=False 0.1 秒ごとの速さ (°/秒): 23.5 始めの角度へ戻した: 着かない j0=0.17 H_jog10_jogstop_1 を始めます (Enter で進む / q と Enter で終わる) [H_jog10_jogstop_1] travel_deg=17.05 mean_speed=18.72 median_speed=17.92 max_speed=36.8 speed_cv=0.53 stall_ratio=0.0 overshoot_deg=3.34 stop_latency_sec=0.08 read_fails=1 end_from_start_deg=20.73 guard=False 0.1 秒ごとの速さ (°/秒): 19.7 11.7 16.2 36.8 始めの角度へ戻した: 着かない j0=-0.61 H_jog10_jogstop_2 を始めます (Enter で進む / q と Enter で終わる) [H_jog10_jogstop_2] travel_deg=17.49 mean_speed=17.14 median_speed=20.57 max_speed=38.16 speed_cv=0.46 stall_ratio=0.0 overshoot_deg=3.78 stop_latency_sec=0.14 read_fails=0 end_from_start_deg=-21.71 guard=False 0.1 秒ごとの速さ (°/秒): 38.2 17.7 10.2 20.6 26.3 始めの角度へ戻した: 着かない j0=0.26 H_jog10_jogstop_3 を始めます (Enter で進む / q と Enter で終わる) [H_jog10_jogstop_3] travel_deg=18.19 mean_speed=17.71 median_speed=22.5 max_speed=42.54 speed_cv=0.57 stall_ratio=0.0 overshoot_deg=3.08 stop_latency_sec=0.07 read_fails=3 end_from_start_deg=21.7 guard=False 0.1 秒ごとの速さ (°/秒): 34.0 9.9 42.5 11.0 22.5 始めの角度へ戻した: 着かない j0=-0.43 結果: /tmp/jog_probe_20261105_154332.json Connection to 192.168.2.1 closed. --- jog_probe_pi.py の終了コード: 0 結果の JSON: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_154332_hold/result.json --- デーモンを戻す (systemctl start) mode=systemd pid=17242 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=17242 checker=no デーモンは戻った (5555 LISTEN) ``` #### diag/jog_probe_20261105_154332_hold/result.json ```json {"started_at": "2022-10-13 15:36:00", "pymycobot": "2.9.6", "params": {"speed": 20, "stream_interval": 0.1, "stream_ahead": 3.0, "jog_speeds": [10, 30], "guard_deg": 25.0, "set": "hold", "jog_dir": {"+1": 0, "-1": 1}}, "tests": {"read": {"median_ms": 12.6, "max_ms": 21.4, "empty_ratio": 0.0}, "G_far5_hold_0.5s": {"n_samples": 70, "travel_deg": 3.94, "active_sec": 0.37, "mean_speed": 10.54, "overshoot_deg": 15.56, "stop_latency_sec": 1.48, "read_fails": 3, "end_from_start_deg": 19.5, "how": "hold", "speed": 5, "guard": false, "samples": [[0.149, -0.17], [0.2629, 1.14], [0.2732, 1.31], [0.2862, 1.58], [0.2999, 1.84], [0.3197, 1.93], [0.3321, 2.1], [0.4439, 2.72], [0.4558, 2.98], [0.4682, 3.33], [0.523, 3.77], [0.6147, 4.13], [0.6349, 4.3], [0.6548, 4.57], [0.6747, 5.18], [0.6947, 6.06], [0.7147, 6.67], [0.735, 6.85], [0.7548, 6.94], [0.7747, 6.94], [0.7947, 6.76], [0.8147, 6.67], [0.8348, 6.85], [0.8547, 7.03], [0.8747, 7.64], [0.8947, 8.34], [0.9147, 8.87], [0.9348, 9.05], [0.9547, 9.14], [0.9747, 9.14], [0.9947, 8.96], [1.0147, 8.87], [1.0348, 9.22], [1.0547, 9.49], [1.0747, 10.01], [1.0947, 10.72], [1.1148, 11.16], [1.1349, 11.33], [1.1547, 11.33], [1.1747, 11.33], [1.1947, 11.16], 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-21.88], [2.4425, -21.88], [2.4581, -21.88], [2.4753, -21.88], [2.4941, -21.88], [2.5101, -21.88], [2.5261, -21.88], [2.5433, -21.88], [2.5621, -21.88], [2.5781, -21.88]], "t_stop": 1.0534}, "H_jog10_jogstop_3": {"n_samples": 128, "travel_deg": 18.19, "active_sec": 1.03, "mean_speed": 17.71, "bin_speeds": [34.0, 9.9, 42.5, 11.0, 22.5], "median_speed": 22.5, "max_speed": 42.54, "speed_cv": 0.57, "stall_ratio": 0.0, "overshoot_deg": 3.08, "stop_latency_sec": 0.07, "read_fails": 3, "end_from_start_deg": 21.7, "how": "jog_stop", "speed": 10, "guard": false, "samples": [[0.0331, 0.26], [0.053, 0.26], [0.0729, 0.26], [0.093, 0.26], [0.113, 0.26], [0.133, 0.26], [0.1529, 0.26], [0.173, 0.26], [0.193, 0.26], [0.213, 0.35], [0.233, 0.52], [0.253, 1.05], [0.273, 1.75], [0.293, 2.63], [0.313, 3.42], [0.333, 3.77], [0.353, 4.04], [0.373, 4.3], [0.3929, 4.39], [0.413, 4.57], [0.433, 4.83], [0.453, 5.44], [0.473, 6.41], [0.493, 7.38], [0.5129, 7.99], [0.5333, 8.17], [0.5532, 8.52], [0.5738, 8.7], [0.5888, 8.78], [0.709, 12.21], [0.9772, 17.22], [1.0007, 17.75], [1.06, 18.45], [1.0894, 20.91], [1.1105, 21.0], [1.1305, 21.26], [1.1505, 21.44], [1.1705, 21.35], [1.1907, 21.35], [1.2113, 21.44], [1.2307, 21.44], [1.2454, 21.44], [1.2638, 21.44], [1.2829, 21.53], [1.2991, 21.53], [1.3149, 21.53], [1.3318, 21.53], [1.3509, 21.53], [1.3671, 21.53], [1.383, 21.53], [1.3997, 21.53], [1.4189, 21.53], [1.4352, 21.53], [1.4509, 21.53], [1.4676, 21.53], [1.4829, 21.53], [1.4989, 21.53], [1.515, 21.53], [1.5309, 21.53], [1.5476, 21.53], [1.563, 21.53], [1.5789, 21.53], [1.595, 21.53], [1.6109, 21.53], [1.6276, 21.53], [1.6429, 21.53], [1.6589, 21.53], [1.675, 21.53], [1.6909, 21.53], [1.7077, 21.53], [1.7271, 21.53], [1.7422, 21.53], [1.7544, 21.53], [1.7662, 21.53], [1.7786, 21.53], [1.7954, 21.53], [1.8121, 21.53], [1.8283, 21.53], [1.8474, 21.53], [1.8581, 21.53], [1.8699, 21.53], [1.8819, 21.53], [1.8938, 21.53], [1.906, 21.53], [1.9217, 21.53], [1.94, 21.53], [1.952, 21.53], [1.964, 21.53], [1.9768, 21.53], [1.9881, 21.53], [2.0038, 21.53], [2.0219, 21.53], [2.0382, 21.53], [2.0557, 21.53], [2.0754, 21.53], [2.0915, 21.53], [2.1021, 21.53], [2.1141, 21.53], [2.1258, 21.53], [2.1378, 21.53], [2.1506, 21.53], [2.1625, 21.53], [2.1751, 21.53], [2.1864, 21.53], [2.2007, 21.53], [2.2114, 21.53], [2.2226, 21.53], [2.2392, 21.53], [2.2562, 21.53], [2.275, 21.53], [2.2913, 21.53], [2.307, 21.53], [2.324, 21.53], [2.3429, 21.53], [2.3592, 21.53], [2.3749, 21.53], [2.3921, 21.53], [2.411, 21.53], [2.427, 21.53], [2.443, 21.53], [2.4594, 21.53], [2.4749, 21.53], [2.4909, 21.53], [2.5069, 21.53], [2.523, 21.53], [2.5395, 21.53], [2.5549, 21.53], [2.5709, 21.53]], "t_stop": 1.06}}, "start": [-0.17, 1.14, 1.14, 0.0, 0.87, -29.53]} ``` ## 15:50 長押しを15°先へ1回送る形にし、daemon に stop を足した 長押しを次の形に作り直しました（commit 4e99c9d）。 - 押して0.4秒たったら、読んだ角度から15°先の目標を speed 20 で1回だけ送る - 0.1秒おきに角度を読み、目標まで残り5°以下になったら、次の15°先を送る - 離したら、daemon の stop（jog_stop と stop の両方）を送ってその場で止める。stop が届かなくても、アームは送ってある目標（最大15°先）で止まる - L2+R2 の停止でも stop を送り、HOME の途中の動きも止める daemon には動いている途中で止める命令がなかったので、Pi で動いている daemon を取ってきて、stop の命令を1つだけ書き足すスクリプト（`tools/daemon_add_stop.sh`）を作りました。書き足す前の daemon は、KIOXIA の `archive/mecharm_daemon_premerge_20261105_155954/` に写してあります。 - ねらい：送り直すたびに加速からやり直すカクつきをなくし、アーム自身の加速・減速で動かす - 変わったこと：長押しで送る回数が、0.1秒に1回から、15°動くごとに1回になった（最初の記録で、長押しの目標を送ったのは103回、角度を読んで送らなかった回はその数倍） - 見込める効果：長押しの動きは、jog_probe の A（1回送る形）に近いなめらかさになる。実機の長押しは、このあとの記録で、毎秒40〜60°で動き続けた 実機を動かすコードなので、別の Claude にコードを読んでもらいました。必須の指摘は1件で、HOME の途中で L2+R2 を押しても、着くまで stop が出ない作りになっていました。届いたかを確かめるループの頭で停止を見て、すぐ抜けるように直しました。推奨のうち4つ（通信が詰まって止まったときも stop を送る・長押しの途中で終わったら stop を1回送る・長押しの1回目が無視されたら送り直す・daemon を書き換えるスクリプトに失敗したときの戻し方を足す）も入れました。 #### 別の Claude のレビュー（長押しの作り直しと daemon に stop を足すスクリプト） ```markdown ## 結論 必須は 1 件です。L2+R2 では、HOME の途中の動きを止められません。それ以外の流れは筋が通っています。長押しを離したとき・ほかのボタン・進まない・端・停止のどの終わり方でも、halt は送った動きの後に送られます。長押しの目標を送っている最中に離した場合も、`released_while_sending` で後から止めています。gate・busy・halt_pending まわりに競合は見つかりませんでした。 （行番号は review_gamepad_teleop.py のものです） ## 必須 **1. L2+R2 を押しても HOME（と 1 刻み）が止まらない。stop が届くのは着いた後になる** - 場所: `DaemonArm.send_and_check` の届いたかを確かめるループ（470〜503 行）と `_dispatch_halt`（752 行） - 何が起きるか: halt は「走っている仕事が終わってから」送る作りです。ところが、届いたかを確かめるループは `quitting` しか見ていません。gate の取り消しを見るのは送り直しのときだけです。 - 例: HOME を送ってアームが動いている途中で L2+R2 を押す。 - `enter_stop` が gate を取り消し、halt を「送る予定」にする。 - 仕事は HOME に着くか待ちの上限（8 秒以上）まで、0.3 秒おきに角度を読み続ける。 - stop が送られるのは HOME に着いた後です。 - 「L2+R2 で HOME の途中の動きも止める」という今回の目的が実機では果たせません。 - テスト `test_stop_during_home_sends_halt` は、FakeArm がすぐ着いた後に L2+R2 を押しているので、この場合を通っていません。 - 直し方: ループの頭で `if gate.cancel.is_set(): return dict(base, reached=None, halted_during_check=True, ...)` として抜ける。こうすれば halt が次の読み取り（最大でおよそ 0.3〜3.7 秒）の後にすぐ出ます。テストには「HOME の確かめの途中で L2+R2 → 仕事が早く戻る → halt」を足します。 ## 推奨 **1. daemon の stop が失敗しても「止めた」扱いになる** - 場所: daemon_add_stop.sh で足す stop の処理と、teleop の 519 行 - 何が起きるか: daemon の stop は、`jog_stop` と `stop` の両方が例外を出しても `{"ok": True}` を返します。teleop は ok だけを見るので、今の角度へ送る代わりの止め方に移りません。 - 特に危ないのは、Pi の daemon でアームの変数が `_mc` という名前でない場合です。どちらの呼び出しも NameError になります。それでも構文の確かめ（`compile`）は通り、最後の確かめでも `ok: True` が表示されます。 - 直し方: daemon 側で「2 つとも例外なら `ok: False`」にする。またはスクリプトで、足す前に `_mc` と `log` が daemon の中にあるかを grep で確かめる。 **2. 送信が詰まって停止になったとき（arm_error）に stop を送らない** - 場所: 797 行の `kind != "arm_error"` - 何が起きるか: 長押しの 1 回目の 15° 先を送る通信がタイムアウトすると、届いたかどうか分かりません。指令が届いていればアームは動いています。しかし `hold_last_sent_id` がまだ付いていないので、`_end_hold` からも halt は出ません。結果、最大 15° 先まで動きます。 - halt が失敗しても停止にはしない作りなので、arm_error を外す理由（止める → 失敗 → 止めるの繰り返しを防ぐ）はもうありません。1 回だけ stop を試す形にできます。 **3. 終わるとき（ウィンドウを閉じる・Ctrl+C）に stop を送らない** - 場所: 1168 行 `shutdown` - 何が起きるか: 長押しのまま Ctrl+C を押すと、予定していた halt は捨てられます。アームは 15° 先（約 0.4 秒分）まで、HOME の途中なら HOME まで動き続けます。 - 「アームを動かさない」という終わり方の決まりと stop は矛盾しません。直し方: 仕事が戻るのを待った後、`hold_last_sent_id` か `halt_pending` が残っていれば `arm.halt()` を 1 回呼ぶ。 **4. 長押しの 1 回目が無視されると、1 秒後に「進まない」で止まる** - 場所: 987〜991 行の lead_ok と、`_hold_progress` の進まない判定 - 何が起きるか: 以前の作りは 0.1 秒ごとに送り直していたので、無視された指令も次の送信で取り戻せました。今の作りは、15° 先の目標を一度送ると残りが 5° を切るまで送り直しません。daemon がこの 1 回を無視すると、1 秒後に「どこかに当たっていれば」と表示して止まります。 - 直し方: 送ってから一度も動いていないとき（IGNORED_MOVE_DEG 未満）に限って、1 回だけ送り直す。 **5. 長押しを離した直後の押し直しが受け付けられない** - 何が起きるか: 離すと halt の仕事が走ります（通信と 0.3 秒の待ち、全体で 0.4 秒ほど）。その間に逆向きを押すと「前の操作が終わっていません」になり、押し直しが必要です。危険ではありませんが、操作感が悪くなります。 - 直し方: 下の 7 で daemon が待たないと分かれば、`HALT_SETTLE_SEC` を短くする。または halt の後の角度の読み取りを記録だけにする。 **6. 端の手前で止まることがある** - 場所: 993〜1003 行 - 何が起きるか: 端の目標まで残り 3° 以下になると at_limit で長押しを終え、halt を送ります。そのため、端の 1〜3° 手前で止まることがあります。安全側の動きなので、直さずに記事やログに書いておくだけで十分です。 **7. 実機で確かめること: 離してから stop が届くまでの遅れ** - 何が起きるか: 走っている仕事が終わるまで halt は出ません。長押しの送信の返事が遅い場合（`rpc.SEND_WAIT` の設定次第で最長 3.7 秒、LOG352）、遅れはその分伸びます。15° はおよそ 0.4 秒で動き切る量なので、stop が着く前に目標に着いてしまうおそれがあります。 - 確かめ方: log.jsonl の `t_halt` と、離した時刻・前の送信の `t_send` の差を一度見る。 **8. daemon_add_stop.sh で失敗を見逃す・戻し方がない箇所がある** - `cp "$WORK/before.py" "$BK/..."` の結果を見ていません。写しを残せなくても、そのまま Pi のファイルを上書きします。`|| exit 1` を付けます。 - Pi のファイルを `scp` で直接上書きしています。途中で切れると、壊れた daemon が残ります（次に起動したとき立ち上がらない）。一時名で送ってから `mv` で入れ替えるべきです。 - `systemctl restart` の結果と、port が開いたかの待ちは、どちらも失敗しても先へ進みます。最後の確かめが例外で落ちても `記録:` と表示して終わります。失敗したときは、`$BK/mecharm_daemon.py` を戻すコマンドを表示して `exit 1` にします。 - `$ROOT/mecharm_daemon.py` を確かめずに上書きしています。Mac の手元版に Pi と違う変更があれば消えます。上書きする前に `git diff --quiet` で確かめます。 - daemon を起動し直すと MyCobot の初期化が走ります。teleop を止め、アームを安全な姿勢にしてから実行する、と注意書きに足すのがよいです。 ``` #### daemon に stop を足したときの端末の出力（15:59） ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts git add tools/gamepad_teleop.py tools/test_gamepad_teleop.py tools/daemon_add_stop.sh git commit -m "gamepad_teleop: 長押しを15°先へ1回送る形にし、離したら daemon の stop で止める" tools/daemon_add_stop.sh [main 4e99c9d] gamepad_teleop: 長押しを15°先へ1回送る形にし、離したら daemon の stop で止める 3 files changed, 483 insertions(+), 44 deletions(-) create mode 100755 tools/daemon_add_stop.sh 今の daemon の写し: /Volumes/KIOXIA/r2r2r-data/archive/mecharm_daemon_premerge_20261105_155954/mecharm_daemon.py stop を書き足しました --- 差分 236a237,250 > > # 2026-11-05: 動いている途中で止める (ゲームパッドの長押しを離したとき・L2+R2). > # jog_probe (diag/jog_probe_20261105_*) で jog_stop と stop はどちらも効かない回があったので両方呼ぶ. > elif cmd == "stop": > res = {} > for name in ("jog_stop", "stop"): > try: > res[name] = getattr(_mc, name)() > except Exception as e: > res[name] = f"{type(e).__name__}: {e}" > log(f"stop: {res}") > if all(isinstance(v, str) for v in res.values()): > return {"ok": False, "error": f"stop failed: {res}"} > return {"ok": True, "result": res} ping → {'ok': True, 'daemon': 'mecharm_daemon', 'fresh_mode': 0} stop → {'ok': True, 'result': {'jog_stop': None, 'stop': None}} できました。記録: /Volumes/KIOXIA/r2r2r-data/archive/mecharm_daemon_premerge_20261105_155954 ``` ## 16:00 ゲームパッドで使うと、止めるたびにほかの関節が1〜1.5°ずつずれて積み上がった 作り直したゲームパッドを実機で使いました。長押しは動きましたが、困りごとが2つ出ました。 1つ目は、R1 で切り替える1°と2°の違いが出ないことです。記録を数えると、1回押しを30回送って、動かした関節が0.3°以上動いたのは4回だけでした。それでも画面には「届いた」と出ていました。届いたかの判定を3°以内にしていたので、1°・2°の押しは、まったく動かなくても「届いた」になっていました。 2つ目は、動かしていない関節が動いてしまうことです。長押しを止めるたびに、動かしていない j1・j2・j4 が1〜1.5°ずつずれ、その止まった角度を次の出発点にしていたので、ずれが積み上がっていました。この記録の間に、j1 は4.83°から37.00°まで上がっています。 【動画】LOG446_02_gamepad_drift.mp4 作り直したゲームパッドで mechArm 270 を動かしたところ。長押しは動くが、止めるたびに肩とひじが少しずつ下がっていく #### teleop_20261105_160038 を1回押しと止める処理ごとに並べた出力 ```text == teleop_20261105_160038 行 376 -- 1 回押し: 送った量と, 動かした関節が動いた量 0.00s j0 -1° → 動いた -1.32° ほかの関節の最大の変化 0.8° 届いた 待ち 0.02秒 送り直し 0回 5.11s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.01秒 送り直し 0回 6.72s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 20.20s j1 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 22.69s j0 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.06秒 送り直し 0回 27.21s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.03秒 送り直し 0回 32.52s j0 +2° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.03秒 送り直し 0回 35.91s j1 -2° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 37.28s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 40.85s j0 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 50.08s j2 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 54.32s j2 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.06秒 送り直し 0回 60.64s j3 -1° → 動いた -0.26° ほかの関節の最大の変化 1.05° 届いた 待ち 0.02秒 送り直し 0回 62.93s j3 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.07秒 送り直し 0回 65.50s j3 +1° → 動いた 0.27° ほかの関節の最大の変化 1.14° 届いた 待ち 0.34秒 送り直し 0回 67.50s j3 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.04秒 送り直し 0回 68.47s j3 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 70.32s j3 -1° → 動いた -0.44° ほかの関節の最大の変化 0.79° 届いた 待ち 0.02秒 送り直し 0回 71.03s j3 -1° → 動いた -0.87° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 74.67s j4 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 77.85s j4 -1° → 動いた 0.0° ほかの関節の最大の変化 0.88° 届いた 待ち 0.02秒 送り直し 0回 83.18s j4 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 89.23s j5 -1° → 動いた -0.26° ほかの関節の最大の変化 0.97° 届いた 待ち 0.03秒 送り直し 0回 93.43s j5 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.03秒 送り直し 0回 99.30s j0 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 103.73s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.06秒 送り直し 0回 105.57s j0 +1° → 動いた 1.49° ほかの関節の最大の変化 1.23° 届いた 待ち 0.02秒 送り直し 0回 107.88s j0 +1° → 動いた -0.09° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 111.69s j2 -1° → 動いた 0.0° ほかの関節の最大の変化 0.88° 届いた 待ち 0.03秒 送り直し 0回 114.83s j0 -1° → 動いた 0.0° ほかの関節の最大の変化 0.08° 届いた 待ち 0.03秒 送り直し 0回 -- 止める処理: 止める前に読んだ角度から, 止めたあとに読んだ角度までの差 (6 関節) 1.34s release jNone 差 [-20.3, 0.0, 0.0, 0.0, 0.0, 0.0] 送り直し None 5.85s release jNone 差 [9.05, 0.0, 0.0, 0.0, 0.0, 0.0] 送り直し None 7.68s release jNone 差 [15.12, 1.76, 1.67, -0.09, 1.41, 0.0] 送り直し None 21.49s release jNone 差 [0.0, -13.08, 1.67, 0.0, 1.49, 0.0] 送り直し None 26.63s release jNone 差 [-27.68, 0.0, 0.0, 0.0, 0.0, 0.0] 送り直し None 31.13s release jNone 差 [5.0, 0.79, 0.88, 0.0, 1.41, 0.0] 送り直し None 34.62s hold_stall jNone 差 [0.0, 1.14, 0.88, 0.0, 1.58, 0.0] 送り直し None 40.14s release jNone 差 [0.0, 0.79, 0.88, 0.0, 1.41, 0.0] 送り直し None 44.27s hold_stall jNone 差 [0.0, 1.14, 0.97, 0.0, 1.49, 0.0] 送り直し None 53.78s release jNone 差 [0.0, 0.71, -22.76, 0.0, 1.23, 0.0] 送り直し None 57.24s release jNone 差 [0.0, 0.97, 24.34, 0.0, 1.4, 0.0] 送り直し None 62.37s release jNone 差 [-0.08, 0.88, 0.79, -23.64, 1.15, 0.0] 送り直し None 65.04s release jNone 差 [0.0, 1.31, 0.7, 6.84, 1.41, 0.0] 送り直し None 66.66s release jNone 差 [0.0, 0.88, 0.7, 4.57, 1.06, 0.0] 送り直し None 68.02s released_while_sending jNone 差 [0.0, 0.79, 0.71, -1.41, 0.97, 0.0] 送り直し None 69.57s release jNone 差 [0.0, 1.32, 0.88, -11.77, 1.06, 0.0] 送り直し None 71.59s released_while_sending jNone 差 [0.0, 0.88, 0.0, -0.71, 0.97, 0.0] 送り直し None 77.09s hold_stall jNone 差 [0.0, 1.23, 0.0, 0.0, 1.5, 0.0] 送り直し None 82.25s hold_not_sent jNone 差 [0.0, 1.32, 0.0, 0.17, 1.24, 0.0] 送り直し None 85.05s release jNone 差 [0.0, 1.05, 0.0, -0.09, 14.15, 0.0] 送り直し None 93.04s release jNone 差 [0.0, 1.4, 0.0, 0.0, 1.94, -7.29] 送り直し None 97.18s release jNone 差 [0.0, 1.49, 0.0, 0.0, 1.94, 0.0] 送り直し None 102.77s release jNone 差 [0.09, 1.41, 0.0, 0.0, 1.76, 0.0] 送り直し None 105.01s release jNone 差 [14.77, 1.06, 0.0, 0.18, 1.58, 0.0] 送り直し None 106.98s release jNone 差 [25.05, 0.96, 0.0, 0.7, 1.5, 0.0] 送り直し None 109.74s release jNone 差 [2.81, 1.14, 0.0, -0.8, 1.5, 0.0] 送り直し None 113.62s release jNone 差 [0.0, 0.0, -25.83, 0.0, 0.0, 0.0] 送り直し None 116.61s release jNone 差 [-4.65, 1.32, 0.97, 0.79, 1.67, 0.0] 送り直し None 119.80s L2+R2 jNone 差 [-0.09, 1.75, 1.05, 0.0, 1.85, 0.0] 送り直し None -- 受付なし 4 回. そのとき動いていた仕事: {'move(長押し)': 3, 'halt': 1} ``` #### ゲームパッドの端末の出力（16:00 teleop_20261105_160038） ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % git add tools/pi/mecharm_daemon.py git commit -m "daemon に stop を足した版を tools/pi に置く" python3 tools/gamepad_teleop.py --execute [main e0bf052] daemon に stop を足した版を tools/pi に置く 1 file changed, 339 insertions(+) create mode 100644 tools/pi/mecharm_daemon.py [記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261105_160038 [実機] daemon に送ります。起動したときの姿勢: -0.61 +4.83 +5.00 -0.08 +0.96 -29.61 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° → -1.61 +4.83 +5.00 -0.08 +0.96 -29.61 届いた（ずれ 0.8°） 届いた角度 -1.93 +5.53 +5.80 -0.08 +0.17 -29.61 [長押し] j0 を -1.58° → -6.85° まで（目標を 1 回送信。止めます） [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° → -26.15 +5.53 +5.80 -0.08 +0.17 -29.61 届いた（ずれ 1.18°） 届いた角度 -27.33 +5.53 +5.80 -0.08 +0.17 -29.61 [長押し] j0 を -26.45° → -25.13° まで（目標を 1 回送信。止めます） [送信] j0 +1.0° → -15.08 +6.32 +6.50 -0.08 +0.17 -29.61 届いた（ずれ 1.09°） 届いた角度 -16.17 +6.32 +6.50 -0.08 +0.17 -29.61 [長押し] j0 を -16.17° → -16.17° まで（目標を 1 回送信。止めます） [送信] j1 -1.0° → -1.05 +7.08 +8.17 -0.17 +1.58 -29.61 届いた（ずれ 1.0°） 届いた角度 -1.49 +8.08 +8.17 -0.17 +0.79 -29.61 [長押し] j1 を +8.08° → +8.08° まで（目標を 1 回送信。止めます） [送信] j0 -1.0° → -2.49 -5.00 +9.84 -0.17 +2.28 -29.61 届いた（ずれ 1.0°） 届いた角度 -1.49 -5.00 +9.84 -0.17 +2.28 -29.61 [長押し] j0 を -2.46° → -64.07° まで（目標を 6 回送信。止めます） [送信] j0 +1.0° → -90.75 -4.13 +10.63 -0.17 +3.07 -29.61 届いた（ずれ 1.0°） 届いた角度 -91.75 -4.13 +10.63 -0.17 +3.07 -29.61 [長押し] j0 を -90.52° → -0.87° まで（目標を 7 回送信。止めます） [送信] j0 +2.0° → +6.13 -2.63 +12.21 -0.26 +4.48 -29.61 届いた（ずれ 2.09°） 届いた角度 +4.04 -2.63 +12.21 -0.26 +4.48 -29.61 [長押し] j0 を +5.97° → +20.83° まで（目標を 2 回送信。止めます） [長押し] j0 が 1 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） [止める] stop（hold_stall） 止まった角度 +20.83 -0.70 +13.79 -0.26 +6.85 -29.61 [送信] j1 -2.0° → +20.83 -2.70 +13.79 -0.26 +6.85 -29.61 届いた（ずれ 2.0°） 届いた角度 +20.83 -0.70 +13.79 -0.26 +6.85 -29.61 [送信] j0 +1.0° → +21.83 -2.70 +13.79 -0.26 +6.85 -29.61 届いた（ずれ 1.3°） 届いた角度 +20.83 -1.40 +14.50 -0.26 +7.55 -29.61 [長押し] j0 を +21.79° → +65.21° まで（目標を 4 回送信。止めます） [送信] j0 -1.0° → +64.21 -0.61 +15.38 -0.26 +8.96 -29.61 届いた（ずれ 0.91°） 届いた角度 +65.12 -0.61 +15.38 -0.26 +8.96 -29.61 [長押し] j0 を +63.89° → +13.35° まで（目標を 5 回送信。止めます） [長押し] j0 が 1 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） [止める] stop（hold_stall） 止まった角度 +13.35 +1.31 +17.05 -0.43 +11.33 -29.61 [関節] 上下で動かす関節を j2 にしました [送信] j2 -1.0° → +13.35 +1.31 +16.05 -0.43 +11.33 -29.61 届いた（ずれ 1.0°） 届いた角度 +13.35 +1.31 +17.05 -0.43 +11.33 -29.61 [長押し] j2 を +17.05° → -35.68° まで（目標を 5 回送信。止めます） [送信] j2 +1.0° → +13.35 +2.81 -57.44 -0.43 +12.56 -29.61 届いた（ずれ 1.0°） 届いた角度 +13.35 +2.81 -58.44 -0.43 +12.56 -29.61 [長押し] j2 を -56.95° → -14.85° まで（目標を 4 回送信。止めます） [関節] 上下で動かす関節を j3 にしました [送信] j3 -1.0° → +13.35 +4.57 +9.49 -1.35 +15.02 -29.61 届いた（ずれ 1.05°） 届いた角度 +13.35 +5.44 +10.54 -0.61 +14.67 -29.61 [長押し] j3 を -0.61° → -11.16° まで（目標を 2 回送信。止めます） [送信] j3 +1.0° → +13.27 +6.32 +11.33 -33.80 +15.82 -29.61 届いた（ずれ 0.74°） 届いた角度 +13.27 +6.32 +11.33 -34.54 +15.82 -29.61 [長押し] j3 を -33.92° → -4.21° まで（目標を 3 回送信。止めます） [送信] j3 +1.0° → +13.18 +8.34 +12.56 +3.63 +18.10 -29.61 届いた（ずれ 1.14°） 届いた角度 +13.18 +9.05 +13.27 +2.81 +19.24 -29.61 [長押し] j3 を +2.81° → +16.78° まで（目標を 2 回送信。止めます） [送信] j3 -1.0° → +13.18 +9.93 +13.97 +20.35 +20.30 -29.53 届いた（ずれ 0.91°） 届いた角度 +13.18 +9.93 +13.97 +21.26 +20.30 -29.53 [止める] stop（released_while_sending） 止まった角度 +13.18 +11.51 +15.29 +19.24 +21.97 -29.53 [送信] j3 -1.0° → +13.18 +11.51 +15.29 +18.24 +21.97 -29.53 届いた（ずれ 1.0°） 届いた角度 +13.18 +11.51 +15.29 +19.24 +21.97 -29.53 [長押し] j3 を +19.24° → +16.34° まで（目標を 1 回送信。止めます） [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） [送信] j3 -1.0° → +13.18 +13.62 +16.52 +3.57 +23.73 -29.53 届いた（ずれ 0.79°） 届いた角度 +13.18 +14.41 +16.52 +3.95 +24.43 -29.53 [送信] j3 -1.0° → +13.18 +13.62 +16.52 +2.57 +23.73 -29.53 届いた（ずれ 0.79°） 届いた角度 +13.18 +14.41 +16.52 +2.90 +24.43 -29.53 [止める] stop（released_while_sending） 止まった角度 +13.18 +15.29 +16.52 +2.19 +25.40 -29.53 [関節] 上下で動かす関節を j4 にしました [送信] j4 -1.0° → +13.18 +15.29 +16.52 +2.19 +24.40 -29.53 届いた（ずれ 1.0°） 届いた角度 +13.18 +15.29 +16.52 +2.19 +25.40 -29.53 [長押し] j4 を +25.40° → +0.87° まで（目標を 3 回送信。止めます） [長押し] j4 が 1 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） [止める] stop（hold_stall） 止まった角度 +13.18 +17.31 +16.52 +2.10 +2.37 -29.53 [送信] j4 -1.0° → +13.18 +17.31 +16.52 +2.10 +1.37 -29.53 届いた（ずれ 1.0°） 届いた角度 +13.18 +18.19 +16.52 +2.10 +2.37 -29.53 [範囲] j4 を -95.85° → -90.00° に切った（J4_SAFE -90.00°） [範囲] j4 -103.33° は送らない：範囲の端にいて、押した向きに進めない（範囲 [-90.00, -90.00]・J4_SAFE） [送らない] j4 -15.0°（長押し 16） [長押し] j4 を +2.37° → -80.85° まで（目標を 8 回送信。止めます） [止める] stop（hold_not_sent） 止まった角度 +13.18 +19.51 +16.52 +2.54 -87.09 -29.53 [送信] j4 +1.0° → +13.18 +19.51 +16.52 +2.54 -86.09 -29.53 届いた（ずれ 1.0°） 届いた角度 +13.18 +19.51 +16.52 +2.63 -87.09 -29.53 [長押し] j4 を -85.25° → -58.79° まで（目標を 3 回送信。止めます） [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 j5 にしました [送信] j5 -1.0° → +13.18 +21.44 +16.52 +2.63 -44.64 -30.53 届いた（ずれ 0.97°） 届いた角度 +13.18 +22.41 +16.52 +2.63 -45.35 -29.79 [長押し] j5 を -29.79° → -112.32° まで（目標を 7 回送信。止めます） [送信] j5 +1.0° → +13.18 +23.81 +16.52 +2.63 -43.41 -118.61 届いた（ずれ 1.0°） 届いた角度 +13.18 +23.81 +16.52 +2.63 -43.41 -119.61 [長押し] j5 を -119.17° → -30.58° まで（目標を 8 回送信。止めます） [関節] 上下で動かす関節を j1 にしました [送信] j0 -1.0° → +12.18 +26.27 +16.52 +2.63 -40.07 -30.58 届いた（ずれ 1.0°） 届いた角度 +13.18 +26.27 +16.52 +2.63 -40.07 -30.58 [長押し] j0 を +11.95° → -49.39° まで（目標を 6 回送信。止めます） [送信] j0 +1.0° → -48.30 +28.65 +16.52 +2.90 -37.96 -30.76 届いた（ずれ 1.0°） 届いた角度 -49.30 +28.65 +16.52 +2.90 -37.96 -30.76 [長押し] j0 を -47.90° → -47.90° まで（目標を 1 回送信。止めます） [送信] j0 +1.0° → -32.13 +30.67 +16.52 +2.90 -35.33 -30.76 届いた（ずれ 1.23°） 届いた角度 -31.64 +31.64 +16.52 +2.72 -34.10 -30.76 [長押し] j0 を -31.81° → -31.81° まで（目標を 1 回送信。止めます） [送信] j0 +1.0° → -5.76 +32.60 +16.52 +3.51 -32.60 -30.76 届いた（ずれ 1.27°） 届いた角度 -7.03 +32.60 +16.52 +3.51 -32.60 -30.76 [長押し] j0 を -6.06° → +29.97° まで（目標を 4 回送信。止めます） [関節] 上下で動かす関節を j2 にしました [送信] j2 -1.0° → +32.78 +34.71 +15.52 +3.33 -30.05 -30.76 届いた（ずれ 1.0°） 届いた角度 +32.78 +35.59 +16.52 +3.60 -30.05 -30.58 [長押し] j2 を +16.52° → +2.90° まで（目標を 2 回送信。止めます） [送信] j0 -1.0° → +31.78 +35.77 -22.93 +3.51 -29.53 -30.67 届いた（ずれ 1.0°） 届いた角度 +32.78 +35.85 -22.93 +3.51 -29.53 -30.67 [長押し] j0 を +31.81° → +6.67° まで（目標を 3 回送信。止めます） [停止] L2+R2。新しい指令は送りません（OPTIONS で再開） [止める] stop（L2+R2） 止まった角度 +1.93 +40.07 -19.95 +3.95 -26.01 -30.76 [再開] 操作を受け付けます ^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_20261105_160038 ``` ## 16:08 止めたあとにほかの関節を指令へ戻す形にしたら、もっと動かなくなった ずれを打ち消すつもりで、止めたあと、動かしていた関節は止まった角度、ほかの関節は指令の角度で送り直す形にしました（commit f0d7e73）。あわせて、1回押しの「届いた」を、動かした関節が0.5°以内に来たときだけにしました。 ところが実機では、全体がぎこちなくなり、1回押しも長押しも、動かないことが増えました。このとき私は、送り直しても動かないなら mechArm のサーボは1〜2°の小さな動きにそもそも反応しないのかもしれない、と書きました。これには次の指摘がありました。 > 前に細かい動作で動いていたじゃん？ 記録を見直すと、その通りでした。前の回でも1°押しで関節は動いていて、この記録でも、止めた直後の1°押しと2°押しは動いていました。動かなかった場面に共通していたのは、腕を伸ばした姿勢で j1 が自分の重さで指令より3〜6°下がっていたことです（指令40.07°に対して、読むと43〜46°）。戻す命令でその j1 を40.07°へ送っても届かず、届かない指令を抱えたままだと、次に送った指令が無視されやすくなっていました。もう1つ、長押しで次の15°を送ったときに、それが無視されて前の目標で止まる場面もありました（j0 が −27.4°、−64.2°、−36.1° で止まった）。 【動画】LOG446_03_gamepad_stuck.mp4 止めたあとに指令へ戻す形にしたときの mechArm 270。押しても動かない時間が長く、動きがぎこちない #### teleop_20261105_161347 を1回押しと止める処理ごとに並べた出力 ```text == teleop_20261105_161347 行 118 -- 1 回押し: 送った量と, 動かした関節が動いた量 0.00s j0 -1° → 動いた -1.32° ほかの関節の最大の変化 1.15° 届いた 待ち 0.4秒 送り直し 0回 4.81s j0 -1° → 動いた -1.32° ほかの関節の最大の変化 0.18° 届いた 待ち 0.02秒 送り直し 0回 5.90s j0 -2° → 動いた -1.67° ほかの関節の最大の変化 0.18° 届いた 待ち 0.03秒 送り直し 0回 10.02s j0 +2° → 動いた 1.23° ほかの関節の最大の変化 0.09° 届いた 待ち 0.35秒 送り直し 0回 14.59s j0 +2° → 動いた 0.0° ほかの関節の最大の変化 1.14° 動かなかった 待ち 2.8秒 送り直し 3回 18.75s j0 +1° → 動いた 2.72° ほかの関節の最大の変化 0.35° 届いた 待ち 0.33秒 送り直し 0回 21.59s j0 +1° → 動いた 1.41° ほかの関節の最大の変化 1.4° 届いた 待ち 0.7秒 送り直し 0回 27.74s j2 -1° → 動いた -1.23° ほかの関節の最大の変化 0.7° 届かなかった 待ち 8.11秒 送り直し 0回 37.80s j2 -2° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 2.79秒 送り直し 3回 42.25s j2 -2° → 動いた 0.0° ほかの関節の最大の変化 0.08° 動かなかった 待ち 2.75秒 送り直し 3回 45.38s j2 -2° → 動いた 0.0° ほかの関節の最大の変化 0.26° 動かなかった 待ち 2.78秒 送り直し 3回 49.25s j2 -1° → 動いた 0.0° ほかの関節の最大の変化 0.27° 動かなかった 待ち 2.84秒 送り直し 3回 -- 止める処理: 止める前に読んだ角度から, 止めたあとに読んだ角度までの差 (6 関節) 2.73s hold_stall j0 差 [0.0, 1.84, 1.14, -0.18, 1.85, 0.0] 送り直し [-27.42, 40.07, -19.95, 3.95, -27.86, -30.76] 8.33s release j0 差 [-1.06, 1.5, 0.96, -0.88, 1.67, 0.0] 送り直し [-80.77, 40.07, -19.95, 3.95, -27.86, -30.76] 12.29s release j0 差 [0.08, 1.85, 1.05, 0.0, 1.58, 0.0] 送り直し [-64.16, 40.07, -19.95, 3.95, -27.86, -30.76] 21.21s hold_stall j0 差 [-0.09, 1.84, 1.05, 0.26, 2.02, 0.0] 送り直し [-36.21, 40.07, -19.95, 3.95, -27.86, -30.76] 22.89s release j0 差 [12.83, 1.5, 1.05, 0.18, 1.76, 0.08] 送り直し [-21.97, 44.03, -19.95, 3.95, -27.86, -30.76] 41.24s release j2 差 [0.0, 0.0, -13.71, 0.0, 0.0, 0.0] 送り直し [-21.97, 44.03, -33.13, 3.95, -27.86, -30.76] -- 受付なし 10 回. そのとき動いていた仕事: {'move(長押し)': 2, 'halt': 5, 'move': 3} ``` #### ゲームパッドの端末の出力（16:13 teleop_20261105_161347） ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts git add tools/gamepad_teleop.py tools/test_gamepad_teleop.py git commit -m "gamepad_teleop: 止めたあと他の関節を指令へ戻す・出発点を関節ごと に・1刻みの届いた判定を0.5°に" python3 tools/gamepad_teleop.py --execute [main f0d7e73] gamepad_teleop: 止めたあと他の関節を指令へ戻す・出発点を関節ごとに・1刻みの届いた判定を0.5°に 2 files changed, 137 insertions(+), 30 deletions(-) [記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261105_161347 [実機] daemon に送ります。起動したときの姿勢: +1.93 +40.07 -19.95 +3.95 -27.86 -30.76 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° → +0.93 +40.07 -19.95 +3.95 -27.86 -30.76 届いた（ずれ 1.15°） 届いた角度 +0.61 +41.22 -18.98 +3.77 -27.50 -30.76 [長押し] j0 を +0.70° → -27.42° まで（目標を 3 回送信。止めます） [長押し] j0 が 1 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） [止める] stop（hold_stall） 止まった角度 -27.42 +43.06 -17.84 +3.95 -25.57 -30.76 [送信] j0 -1.0° → -28.42 +40.07 -19.95 +3.95 -27.86 -30.76 届いた（ずれ 2.9°） 届いた角度 -28.74 +42.97 -18.01 +4.13 -25.66 -30.76 [送信] j0 -2.0° → -30.42 +40.07 -19.95 +3.95 -27.86 -30.76 届いた（ずれ 2.9°） 届いた角度 -30.14 +42.97 -18.01 +3.95 -26.36 -30.76 [長押し] j0 を -30.05° → -79.71° まで（目標を 5 回送信。止めます） [送信] j0 +2.0° → -78.77 +40.07 -19.95 +3.95 -27.86 -30.76 届いた（ずれ 2.46°） 届いた角度 -79.18 +42.18 -18.54 +3.86 -25.40 -30.93 [長押し] j0 を -79.10° → -64.24° まで（目標を 2 回送信。止めます） [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） [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° → -62.16 +40.07 -19.95 +3.95 -27.86 -30.76 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 2.29°） 届いた角度 -64.24 +42.36 -18.36 +3.86 -26.54 -30.84 [送信] j0 +1.0° → -61.16 +40.07 -19.95 +3.95 -27.86 -30.76 届いた（ずれ 2.29°） 届いた角度 -61.52 +42.36 -18.36 +3.77 -27.42 -30.93 [長押し] j0 を -61.52° → -36.12° まで（目標を 3 回送信。止めます） [長押し] j0 が 1 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） [止める] stop（hold_stall） 止まった角度 -36.21 +44.20 -17.31 +3.86 -25.66 -30.84 [送信] j0 +1.0° → -35.21 +44.03 -19.95 +3.95 -27.86 -30.76 届いた（ずれ 2.11°） 届いた角度 -34.80 +45.43 -18.54 +3.95 -25.75 -30.84 [長押し] j0 を -34.80° → -34.80° まで（目標を 1 回送信。止めます） [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 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） [送信] j2 -1.0° → -21.97 +44.03 -20.95 +3.95 -27.86 -30.76 届かなかった（ずれ 2.72°） 届いた角度 -22.06 +46.75 -19.42 +3.95 -27.24 -30.76 [送信] j2 -2.0° → -21.97 +44.03 -21.42 +3.95 -27.86 -30.76 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 2.72°） 届いた角度 -22.06 +46.75 -19.42 +3.95 -28.82 -30.76 [長押し] j2 を -19.42° → -19.42° まで（目標を 1 回送信。止めます） [送信] j2 -2.0° → -21.97 +44.03 -35.13 +3.95 -27.86 -30.76 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 2.72°） 届いた角度 -22.06 +46.75 -33.13 +3.95 -28.74 -30.76 [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° → -21.97 +44.03 -37.13 +3.95 -27.86 -30.76 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 4.0°） 届いた角度 -22.06 +46.75 -33.13 +3.95 -28.30 -30.76 [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] j2 -1.0° → -21.97 +44.03 -34.13 +3.95 -27.86 -30.76 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 2.72°） 届いた角度 -22.06 +46.75 -33.13 +3.95 -28.03 -30.76 [送信] HOME → +0.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 1.58°） 届いた角度 +0.35 +1.58 +0.17 +0.79 -0.52 -30.67 ^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_20261105_161347 ``` そこで、止めたあとは何も送らず、動かしていない関節の指令は変えない（重さで下がった分を拾わない）形にしました。1回押しの「届いた」は動かした関節だけで判定し、長押しが目標の手前で止まったら0.3秒で同じ目標を送り直すようにしました（commit 31a336c）。それでも、1回押しはあまり動きませんでした。 #### ゲームパッドの端末の出力（16:22 teleop_20261105_162224） ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts git add tools/gamepad_teleop.py tools/test_gamepad_teleop.py git commit -m "gamepad_teleop: 止めたあと送り直さない・1刻みは動かした関節だけで判定・長押しが止まったら送り直す" python3 tools/gamepad_teleop.py --execute [main 31a336c] gamepad_teleop: 止めたあと送り直さない・1刻みは動かした関節だけで判定・長押しが止まったら送り直す 2 files changed, 70 insertions(+), 23 deletions(-) [記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261105_162224 [実機] daemon に送ります。起動したときの姿勢: -0.17 +1.58 +0.96 +0.26 -0.17 -30.23 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° → -1.17 +1.58 +0.96 +0.26 -0.17 -30.23 届いた（ずれ 0.88°） 届いた角度 -0.96 +2.46 +1.75 +0.26 -0.08 -30.23 [長押し] j0 を -0.96° → -54.14° まで（目標を 4 回送信。止めます） [送信] j0 +1.0° → -72.38 +1.58 +0.96 +0.26 -0.17 -30.23 届いた（ずれ 0.88°） 届いた角度 -72.15 +2.46 +1.75 -0.08 -0.08 -30.14 [送信] j0 +1.0° → -71.38 +1.58 +0.96 +0.26 -0.17 -30.23 届いた（ずれ 0.88°） 届いた角度 -71.10 +2.46 +1.75 -0.08 -0.08 -30.14 [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） [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） [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° → -70.38 +1.58 +0.96 +0.26 -0.17 -30.23 届かなかった・無視されたので 1 回送り直した（ずれ 0.88°） 届いた角度 -71.10 +2.46 +1.75 -0.08 -0.08 -30.14 [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） [送信] j0 +2.0° → -69.10 +1.58 +0.96 +0.26 -0.17 -30.23 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 2.0°） 届いた角度 -71.10 +2.46 +1.75 -0.08 -0.08 -30.14 [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） [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° → -69.10 +1.58 -1.04 +0.26 -0.17 -30.23 届かなかった（ずれ 1.83°） 届いた角度 -68.81 +2.46 +0.79 -0.08 -0.08 -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 -1.0° → -69.10 +1.58 -0.21 +0.26 -0.17 -30.23 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 1.0°） 届いた角度 -68.81 +2.46 +0.79 -0.08 -0.08 -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 -1.0° → -69.10 +1.58 -1.21 +0.26 -0.17 -30.23 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 2.0°） 届いた角度 -68.81 +2.46 +0.79 +0.00 -0.08 -30.14 [送信] j0 +1.0° → -68.10 +1.58 -1.21 +0.26 -0.17 -30.23 届いた（ずれ 2.0°） 届いた角度 -67.85 +2.46 +0.79 +0.00 -0.08 -30.14 [長押し] j0 を -67.93° → +40.51° まで（目標を 9 回送信。止めます） [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） [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] j2 -1.0° → +59.15 +1.58 -2.21 +0.26 -0.17 -30.23 届かなかった（ずれ 1.6°） 届いた角度 +58.62 +2.98 -0.61 +0.26 +0.43 -30.14 [送信] HOME → +0.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 2.72°） 届いた角度 +2.72 +1.66 +0.70 +0.26 -0.61 -30.14 ^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_20261105_162224 ``` ## 16:26 1°・2°の小さな動きは、動かす関節だけを送ると12回中12回動いた（jog_probe small） 当て推量で直すのをやめ、小さな動きがどの送り方なら通るかを、実機で一度だけ確かめました。腕を少し前に倒した姿勢（j1 40°。直前にゲームパッドでいた姿勢）にして、根元 j0 を±1°と±2°ずつ、3通りの送り方で6回ずつ送りました。 | 送り方 | 1° | 2° | |---|---|---| | S1 6関節まとめて送る。ほかの関節は今読んだ角度 | 6回中5回動いた | 6回中6回 | | S2 6関節まとめて送る。ほかの関節は指令の角度（重さで下がった分とずれている。このときのゲームパッドの送り方） | 6回中5回 | 6回中6回 | | S3 j0 だけを send_angle で送る | 6回中6回（毎回0.79°） | 6回中6回（毎回2.19°） | 止まった姿勢から送れば、1°・2°の動きはどの送り方でもほぼ通りました。サーボは小さな動きにちゃんと反応します。動かす関節だけを送る S3 は、動いた量も毎回そろっていました。 #### jog_probe small の端末の出力（16:26） ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts git add tools/gamepad_teleop.py tools/test_gamepad_teleop.py tools/jog_probe.sh tools/pi/jog_probe_pi.py git commit -m "gamepad_teleop の直しと、jog_probe に小さな動きを比べる small の 組を足す" tools/jog_probe.sh small [main 2726d9d] gamepad_teleop の直しと、jog_probe に小さな動きを比べる small の組を足す 2 files changed, 80 insertions(+), 3 deletions(-) jog_probe 20261105_162617 (結果: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_162617_small) --- デーモンの状態 (止める前) mode=systemd pid=26153 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=26153 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) 始めの角度: [-0.43, 1.66, 0.7, 0.26, -0.26, -30.14] 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 16.0 ms / 最大 18.5 ms / 空で返った割合 0.0 腕を少し前に倒した姿勢 [0.0, 40.0, -20.0, 0.0, -30.0, -30.0] へ動かします (Enter で進む / q と Enter で終わる) 着いた角度: [-0.43, 41.13, -18.19, 0.26, -28.91, -30.14] (指令との差 j1 +1.13°) S1 1.0° を始めます (Enter で進む / q と Enter で終わる) [S1 1.0°] 動いた 5/6 動いた量: 0.86 0.86 0.86 0.86 0.86 -0.0 S1 2.0° を始めます (Enter で進む / q と Enter で終わる) [S1 2.0°] 動いた 6/6 動いた量: 2.2 2.37 1.93 2.27 2.18 2.36 S2 1.0° を始めます (Enter で進む / q と Enter で終わる) [S2 1.0°] 動いた 5/6 動いた量: 1.05 0.96 0.0 1.06 0.8 0.88 S2 2.0° を始めます (Enter で進む / q と Enter で終わる) [S2 2.0°] 動いた 6/6 動いた量: 2.18 2.36 2.01 2.27 2.1 2.28 S3 1.0° を始めます (Enter で進む / q と Enter で終わる) [S3 1.0°] 動いた 6/6 動いた量: 0.79 0.79 0.79 0.79 0.79 0.79 S3 2.0° を始めます (Enter で進む / q と Enter で終わる) [S3 2.0°] 動いた 6/6 動いた量: 2.19 2.19 2.19 2.19 2.19 2.19 HOME へ戻します (Enter で進む / q と Enter で終わる) 結果: /tmp/jog_probe_20261105_162617.json Connection to 192.168.2.1 closed. --- jog_probe_pi.py の終了コード: 0 結果の JSON: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_162617_small/result.json --- デーモンを戻す (systemctl start) mode=systemd pid=6649 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=6649 checker=no デーモンは戻った (5555 LISTEN) ``` #### diag/jog_probe_20261105_162617_small/result.json ```json {"started_at": "2022-10-13 16:18:45", "pymycobot": "2.9.6", "params": {"speed": 20, "stream_interval": 0.1, "stream_ahead": 3.0, "jog_speeds": [10, 30], "guard_deg": 25.0, "set": "small", "jog_dir": {"+1": 0, "-1": 1}}, "tests": {"read": {"median_ms": 16.0, "max_ms": 18.5, "empty_ratio": 0.0}, "small": {"S1_1": {"how": "S1", "step": 1.0, "n_moved": 5, "n": 6, "trials": [{"i": 0, "sign": 1, "q0": -0.43, "want": 0.57, "moved_deg": 0.86, "moved": true, "moved_at_sec": 0.12, "others_gap_deg": 1.81}, {"i": 1, "sign": -1, "q0": 0.43, "want": -0.57, "moved_deg": 0.86, "moved": true, "moved_at_sec": 0.2, "others_gap_deg": 2.78}, {"i": 2, "sign": 1, "q0": -0.43, "want": 0.57, "moved_deg": 0.86, "moved": true, "moved_at_sec": 0.17, "others_gap_deg": 3.66}, {"i": 3, "sign": -1, "q0": 0.43, "want": -0.57, "moved_deg": 0.86, "moved": true, "moved_at_sec": 0.2, "others_gap_deg": 4.82}, {"i": 4, "sign": 1, "q0": -0.43, "want": 0.57, "moved_deg": 0.86, "moved": true, "moved_at_sec": 0.17, "others_gap_deg": 6.05}, {"i": 5, "sign": -1, "q0": 0.43, "want": -0.57, "moved_deg": -0.0, "moved": false, "moved_at_sec": null, "others_gap_deg": 7.28}]}, "S1_2": {"how": "S1", "step": 2.0, "n_moved": 6, "n": 6, "trials": [{"i": 0, "sign": 1, "q0": 0.43, "want": 2.43, "moved_deg": 2.2, "moved": true, "moved_at_sec": 0.25, "others_gap_deg": 7.28}, {"i": 1, "sign": -1, "q0": 2.63, "want": 0.63, "moved_deg": 2.37, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 8.51}, {"i": 2, "sign": 1, "q0": 0.26, "want": 2.26, "moved_deg": 1.93, "moved": true, "moved_at_sec": 0.12, "others_gap_deg": 9.65}, {"i": 3, "sign": -1, "q0": 2.19, "want": 0.19, "moved_deg": 2.27, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 10.88}, {"i": 4, "sign": 1, "q0": -0.08, "want": 1.92, "moved_deg": 2.18, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 12.03}, {"i": 5, "sign": -1, "q0": 2.1, "want": 0.1, "moved_deg": 2.36, "moved": true, "moved_at_sec": 0.14, "others_gap_deg": 13.26}]}, "S2_1": {"how": "S2", "step": 1.0, "n_moved": 5, "n": 6, "trials": [{"i": 0, "sign": 1, "q0": -0.26, "want": 0.74, "moved_deg": 1.05, "moved": true, "moved_at_sec": 0.35, "others_gap_deg": 14.4}, {"i": 1, "sign": -1, "q0": 0.79, "want": -0.21, "moved_deg": 0.96, "moved": true, "moved_at_sec": 0.17, "others_gap_deg": 2.09}, {"i": 2, "sign": 1, "q0": -0.17, "want": 0.83, "moved_deg": 0.0, "moved": false, "moved_at_sec": null, "others_gap_deg": 2.09}, {"i": 3, "sign": -1, "q0": -0.17, "want": -1.17, "moved_deg": 1.06, "moved": true, "moved_at_sec": 0.19, "others_gap_deg": 2.09}, {"i": 4, "sign": 1, "q0": -1.23, "want": -0.23, "moved_deg": 0.8, "moved": true, "moved_at_sec": 0.17, "others_gap_deg": 2.09}, {"i": 5, "sign": -1, "q0": -0.43, "want": -1.43, "moved_deg": 0.88, "moved": true, "moved_at_sec": 0.19, "others_gap_deg": 2.09}]}, "S2_2": {"how": "S2", "step": 2.0, "n_moved": 6, "n": 6, "trials": [{"i": 0, "sign": 1, "q0": -1.31, "want": 0.69, "moved_deg": 2.18, "moved": true, "moved_at_sec": 0.2, "others_gap_deg": 2.09}, {"i": 1, "sign": -1, "q0": 0.87, "want": -1.13, "moved_deg": 2.36, "moved": true, "moved_at_sec": 0.14, "others_gap_deg": 2.09}, {"i": 2, "sign": 1, "q0": -1.49, "want": 0.51, "moved_deg": 2.01, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 2.09}, {"i": 3, "sign": -1, "q0": 0.52, "want": -1.48, "moved_deg": 2.27, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 2.09}, {"i": 4, "sign": 1, "q0": -1.75, "want": 0.25, "moved_deg": 2.1, "moved": true, "moved_at_sec": 0.13, "others_gap_deg": 2.09}, {"i": 5, "sign": -1, "q0": 0.35, "want": -1.65, "moved_deg": 2.28, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 2.09}]}, "S3_1": {"how": "S3", "step": 1.0, "n_moved": 6, "n": 6, "trials": [{"i": 0, "sign": 1, "q0": -1.93, "want": -0.93, "moved_deg": 0.79, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 2.09}, {"i": 1, "sign": -1, "q0": -1.14, "want": -2.14, "moved_deg": 0.79, "moved": true, "moved_at_sec": 0.2, "others_gap_deg": 2.09}, {"i": 2, "sign": 1, "q0": -1.93, "want": -0.93, "moved_deg": 0.79, "moved": true, "moved_at_sec": 0.17, "others_gap_deg": 2.09}, {"i": 3, "sign": -1, "q0": -1.14, "want": -2.14, "moved_deg": 0.79, "moved": true, "moved_at_sec": 0.2, "others_gap_deg": 2.09}, {"i": 4, "sign": 1, "q0": -1.93, "want": -0.93, "moved_deg": 0.79, "moved": true, "moved_at_sec": 0.19, "others_gap_deg": 2.09}, {"i": 5, "sign": -1, "q0": -1.14, "want": -2.14, "moved_deg": 0.79, "moved": true, "moved_at_sec": 0.22, "others_gap_deg": 2.09}]}, "S3_2": {"how": "S3", "step": 2.0, "n_moved": 6, "n": 6, "trials": [{"i": 0, "sign": 1, "q0": -1.93, "want": 0.07, "moved_deg": 2.19, "moved": true, "moved_at_sec": 0.2, "others_gap_deg": 2.09}, {"i": 1, "sign": -1, "q0": 0.26, "want": -1.74, "moved_deg": 2.19, "moved": true, "moved_at_sec": 0.16, "others_gap_deg": 2.09}, {"i": 2, "sign": 1, "q0": -1.93, "want": 0.07, "moved_deg": 2.19, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 2.09}, {"i": 3, "sign": -1, "q0": 0.26, "want": -1.74, "moved_deg": 2.19, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 2.09}, {"i": 4, "sign": 1, "q0": -1.93, "want": 0.07, "moved_deg": 2.19, "moved": true, "moved_at_sec": 0.14, "others_gap_deg": 2.09}, {"i": 5, "sign": -1, "q0": 0.26, "want": -1.74, "moved_deg": 2.19, "moved": true, "moved_at_sec": 0.14, "others_gap_deg": 2.09}]}}}, "start": [-0.43, 1.66, 0.7, 0.26, -0.26, -30.14], "small_pose_measured": [-0.43, 41.13, -18.19, 0.26, -28.91, -30.14]} ``` ## 16:28 十字キーは、動かす関節だけを send_angle で送る形にした 十字キーの1回押しも長押しも、動かす関節だけを send_angle で送る形にしました（commit b71ffb5）。HOME だけは今までどおり6関節まとめて送ります。 - ねらい：重さで下がった関節の指令とぶつからないようにし、ほかの関節を動かさない - 変わったこと：十字キーで送る指令から、動かさない5つの関節の角度が消えた - 見込める効果：ほかの関節がつられて動くこと、ずれの積み上がりが、仕組みとして起きなくなる。実際、このあとの記録では、j1 は起動時と終わりで 1.49°→1.14°、1.31°→2.54° と、ほとんど変わらなかった ほかの関節は止まったままになりましたが、今度は受付なしが目立ちました。1本の記録で40回です。 #### teleop_20261105_163144 を1回押しと止める処理ごとに並べた出力 ```text == teleop_20261105_163144 行 326 -- 1 回押し: 送った量と, 動かした関節が動いた量 2.94s j0 -1° → 動いた -0.88° ほかの関節の最大の変化 0.0° 届いた 待ち 0.34秒 送り直し 0回 8.50s j0 +2° → 動いた 2.02° ほかの関節の最大の変化 0.8° 届いた 待ち 0.03秒 送り直し 0回 16.76s j2 -1° → 動いた -2.37° ほかの関節の最大の変化 3.17° 届かなかった 待ち 8.16秒 送り直し 0回 25.35s j2 -1° → 動いた 0.0° ほかの関節の最大の変化 2.1° 動かなかった 待ち 3.16秒 送り直し 3回 30.41s j2 -1° → 動いた 0.0° ほかの関節の最大の変化 4.13° 動かなかった 待ち 2.77秒 送り直し 3回 36.51s j2 +1° → 動いた 0.7° ほかの関節の最大の変化 7.11° 届いた 待ち 0.37秒 送り直し 0回 41.90s j2 -1° → 動いた 0.61° ほかの関節の最大の変化 2.55° 届かなかった 待ち 8.14秒 送り直し 0回 54.53s j3 -1° → 動いた -0.53° ほかの関節の最大の変化 0.0° 届いた 待ち 3.31秒 送り直し 1回 60.27s j3 -1° → 動いた -0.97° ほかの関節の最大の変化 0.0° 届いた 待ち 0.33秒 送り直し 0回 68.20s j3 +1° → 動いた 0.53° ほかの関節の最大の変化 1.05° 届いた 待ち 3.44秒 送り直し 2回 72.90s j3 +1° → 動いた 1.05° ほかの関節の最大の変化 0.44° 届いた 待ち 0.35秒 送り直し 0回 77.89s j3 +1° → 動いた 1.23° ほかの関節の最大の変化 0.0° 届いた 待ち 0.35秒 送り直し 0回 78.90s j3 +1° → 動いた 0.53° ほかの関節の最大の変化 1.41° 届いた 待ち 2.36秒 送り直し 0回 82.36s j4 -1° → 動いた -2.28° ほかの関節の最大の変化 0.09° 届いた 待ち 0.35秒 送り直し 0回 86.78s j4 +1° → 動いた 1.85° ほかの関節の最大の変化 1.06° 届かなかった 待ち 8.1秒 送り直し 0回 97.10s j5 -1° → 動いた -0.53° ほかの関節の最大の変化 0.09° 届いた 待ち 3.34秒 送り直し 1回 105.77s j5 -2° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 2.74秒 送り直し 3回 111.65s j5 +1° → 動いた 0.52° ほかの関節の最大の変化 0.7° 届いた 待ち 1.98秒 送り直し 0回 116.60s j0 -1° → 動いた -4.04° ほかの関節の最大の変化 0.97° 届いた 待ち 0.35秒 送り直し 0回 121.42s j2 -1° → 動いた -1.85° ほかの関節の最大の変化 3.61° 届かなかった 待ち 8.14秒 送り直し 0回 130.01s j2 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 2.81秒 送り直し 3回 133.46s j2 +1° → 動いた 0.53° ほかの関節の最大の変化 0.53° 届かなかった 待ち 8.15秒 送り直し 0回 186.47s j4 -1° → 動いた -1.57° ほかの関節の最大の変化 0.0° 届いた 待ち 5.34秒 送り直し 2回 193.15s j4 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 2.78秒 送り直し 3回 196.91s j4 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 202.04s j4 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 2.79秒 送り直し 3回 208.44s j4 +1° → 動いた 1.59° ほかの関節の最大の変化 0.09° 届いた 待ち 4.91秒 送り直し 0回 230.75s j0 -1° → 動いた 0.0° ほかの関節の最大の変化 0.09° 動かなかった 待ち 2.83秒 送り直し 3回 237.26s j0 -1° → 動いた 0.0° ほかの関節の最大の変化 0.53° 届かなかった 待ち 13.0秒 送り直し 1回 -- 止める処理: 止める前に読んだ角度から, 止めたあとに読んだ角度までの差 (6 関節) 7.50s release j0 差 [-11.52, 0.97, 0.97, 0.0, 1.5, 0.0] 送り直し None 14.68s release j0 差 [21.27, 1.05, 0.96, 0.0, 1.59, 0.0] 送り直し None 35.76s release j2 差 [-0.09, 0.62, -6.06, 0.0, 3.25, 0.0] 送り直し None 40.81s release j2 差 [0.0, 0.79, 22.68, 0.0, 1.41, 0.0] 送り直し None 65.34s release j3 差 [0.0, 0.79, 0.62, -13.54, -0.44, 0.0] 送り直し None 77.12s release j3 差 [0.0, 0.0, 0.0, 14.94, 0.0, 0.0] 送り直し None 78.46s release j3 差 [0.0, 0.87, 0.61, 0.17, 1.23, 0.0] 送り直し None 85.54s release j4 差 [0.0, 1.06, 0.7, -0.53, 1.76, 0.0] 送り直し None 110.88s release j5 差 [0.0, 0.88, 0.7, -0.43, 1.49, -26.1] 送り直し None 115.84s release j5 差 [0.0, 0.0, 0.0, 0.09, 0.0, 7.56] 送り直し None 118.79s release j0 差 [-14.49, 0.79, 0.71, 0.08, 1.5, 0.0] 送り直し None 201.19s release j4 差 [0.0, -0.08, 0.0, 0.0, -6.68, 0.0] 送り直し None -- 受付なし 40 回. そのとき動いていた仕事: {'halt': 12, 'move': 23, 'move(長押し)': 2, 'home': 3} ``` #### ゲームパッドの端末の出力（16:31 teleop_20261105_163144） ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts git add tools/gamepad_teleop.py tools/test_gamepad_teleop.py git commit -m "gamepad_teleop: 十字キーは動かす関節だけを send_angle で送る" python3 tools/gamepad_teleop.py --execute [main b71ffb5] gamepad_teleop: 十字キーは動かす関節だけを send_angle で送る 2 files changed, 31 insertions(+), 16 deletions(-) [記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261105_163144 [実機] daemon に送ります。起動したときの姿勢: +0.70 +1.49 +1.75 -0.08 +0.26 -30.23 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 1.75°） 届いた角度 -0.26 +1.49 +1.75 -0.17 +0.87 -30.23 [送信] j0 -1.0° → -1.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 1.75°） 届いた角度 -1.14 +1.49 +1.75 -0.17 +0.87 -30.23 [長押し] j0 を -1.14° → -80.06° まで（目標を 8 回送信。止めます） [送信] j0 +2.0° → -89.58 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 2.37°） 届いた角度 -89.56 +1.66 +2.02 -0.17 +2.37 -30.23 [長押し] j0 を -89.20° → +21.44° まで（目標を 10 回送信。止めます） [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） [送信] j2 -1.0° → +42.71 +0.00 -1.00 +0.00 +0.00 -30.00 届かなかった（ずれ 2.99°） 届いた角度 +45.70 +1.49 +0.61 -0.35 +0.87 -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] j2 -1.0° → +42.71 +0.00 -0.39 +0.00 +0.00 -30.00 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 2.99°） 届いた角度 +45.70 +1.49 +0.61 -0.35 -1.23 -30.23 [送信] j2 -1.0° → +42.71 +0.00 -1.39 +0.00 +0.00 -30.00 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 2.99°） 届いた角度 +45.70 +1.49 +0.61 -0.35 +2.90 -30.23 [長押し] j2 を +0.61° → -50.27° まで（目標を 6 回送信。止めます） [送信] j2 +1.0° → +42.71 +0.00 -55.33 +0.00 +0.00 -30.00 届いた（ずれ 2.9°） 届いた角度 +45.61 +0.52 -55.63 -0.26 +1.23 -30.23 [長押し] j2 を -54.31° → +7.55° まで（目標を 6 回送信。止めます） [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） [送信] j2 -1.0° → +42.71 +0.00 +29.23 +0.00 +0.00 -30.00 届かなかった（ずれ 2.9°） 届いた角度 +45.61 +1.49 +30.84 -0.26 +0.17 -30.23 [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] j3 -1.0° → +42.71 +0.00 +29.23 -1.26 +0.00 -30.00 届いた・無視されたので 1 回送り直した（ずれ 2.9°） 届いた角度 +45.61 +1.49 +30.84 -0.79 +0.17 -30.23 [送信] j3 -1.0° → +42.71 +0.00 +29.23 -2.26 +0.00 -30.00 届いた（ずれ 2.9°） 届いた角度 +45.61 +1.49 +30.84 -1.84 +0.17 -30.23 [長押し] j3 を -1.84° → -89.20° まで（目標を 11 回送信。止めます） [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） [送信] j3 +1.0° → +42.71 +0.00 +29.23 -101.74 +0.00 -30.00 届いた・無視されたので 2 回送り直した（ずれ 2.9°） 届いた角度 +45.61 +1.23 +31.20 -102.21 -0.79 -30.23 [送信] j3 +1.0° → +42.71 +0.00 +29.23 -100.74 +0.00 -30.00 届いた（ずれ 2.9°） 届いた角度 +45.61 +1.23 +31.20 -101.16 -0.35 -30.23 [長押し] j3 を -101.16° → -21.88° まで（目標を 10 回送信。止めます） [送信] j3 +1.0° → +42.71 +0.00 +29.23 -5.94 +0.00 -30.00 届いた（ずれ 2.9°） 届いた角度 +45.61 +1.23 +31.20 -5.53 +1.84 -30.23 [長押し] j3 を -5.53° → -5.53° まで（目標を 1 回送信。止めます） [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） [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 j4 にしました [送信] j3 +1.0° → +42.71 +0.00 +29.23 -4.36 +0.00 -30.00 届いた（ずれ 2.9°） 届いた角度 +45.61 +1.31 +31.20 -4.83 +1.66 -30.23 [送信] j4 -1.0° → +42.71 +0.00 +29.23 -4.36 -1.00 -30.00 届いた（ずれ 2.9°） 届いた角度 +45.61 +1.31 +31.20 -4.74 -0.70 -30.23 [長押し] j4 を -0.70° → -60.38° まで（目標を 7 回送信。止めます） [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） [関節] 上下で動かす関節を j5 にしました [送信] j4 +1.0° → +42.71 +0.00 +29.23 -4.36 -57.62 -30.00 届かなかった（ずれ 2.9°） 届いた角度 +45.61 +1.31 +31.20 -4.65 -56.77 -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] j5 -1.0° → +42.71 +0.00 +29.23 -4.36 -57.62 -31.23 届いた・無視されたので 1 回送り直した（ずれ 2.9°） 届いた角度 +45.61 +1.31 +31.20 -4.57 -56.86 -30.76 [送信] j5 -2.0° → +42.71 +0.00 +29.23 -4.36 -57.62 -33.23 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 2.9°） 届いた角度 +45.61 +1.31 +31.20 -4.57 -58.53 -30.93 [長押し] j5 を -30.93° → -59.76° まで（目標を 3 回送信。止めます） [送信] j5 +1.0° → +42.71 +0.00 +29.23 -4.36 -57.62 -84.86 届いた（ずれ 2.9°） 届いた角度 +45.61 +1.49 +31.28 -4.92 -56.51 -85.34 [長押し] j5 を -85.34° → -31.90° まで（目標を 5 回送信。止めます） [送信] j0 -1.0° → +41.71 +0.00 +29.23 -4.36 -57.62 -24.34 届いた（ずれ 2.05°） 届いた角度 +41.57 +1.49 +31.28 -3.77 -56.51 -23.46 [長押し] j0 を +41.83° → +8.96° まで（目標を 4 回送信。止めます） [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 [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 -1.0° → -5.53 +0.00 +28.23 -4.36 -57.62 -24.34 届かなかった（ずれ 1.91°） 届いた角度 -5.62 +1.31 +30.14 -4.13 -58.62 -23.37 [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 -1.0° → -5.53 +0.00 +29.14 -4.36 -57.62 -24.34 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 1.31°） 届いた角度 -5.62 +1.31 +30.14 -4.13 -58.62 -23.37 [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 +1.0° → -5.53 +0.00 +30.14 -4.36 -57.62 -24.34 届かなかった（ずれ 1.31°） 届いた角度 -5.62 +1.31 +30.67 -4.21 -58.09 -23.29 [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 -0.26 +1.31 +1.84 -0.79 +0.43 -28.74 [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） [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° → +0.00 +0.00 +0.00 +0.00 -1.00 -30.00 届いた・無視されたので 2 回送り直した（ずれ 1.84°） 届いた角度 -0.26 +1.31 +1.84 -0.26 -1.14 -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] j4 +1.0° → +0.00 +0.00 +0.00 +0.00 +0.00 -30.00 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 1.84°） 届いた角度 -0.26 +1.31 +1.84 -0.26 -1.14 -29.70 [送信] j4 -1.0° → +0.00 +0.00 +0.00 +0.00 -1.00 -30.00 届いた（ずれ 1.84°） 届いた角度 -0.26 +1.31 +1.84 -0.26 -1.14 -29.70 [範囲] j4 を -95.59° → -90.00° に切った（J4_SAFE -90.00°） [長押し] j4 を -1.14° → -81.56° まで（目標を 9 回送信。止めます） [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° → +0.00 +0.00 +0.00 +0.00 -87.24 -30.00 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 1.75°） 届いた角度 -0.26 +1.23 +1.75 +0.43 -88.33 -29.70 [受付なし] HOME: 前の操作が終わっていません（押し直してください） [送信] j4 +1.0° → +0.00 +0.00 +0.00 +0.00 -86.24 -30.00 届いた（ずれ 1.75°） 届いた角度 -0.26 +1.14 +1.75 +0.35 -86.74 -29.70 [送信] HOME → +0.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 1.93°） 届いた角度 -0.26 +1.14 +1.75 +0.35 +1.93 -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] j0 -1.0° → -1.00 +0.00 +0.00 +0.00 +0.00 -30.00 動かなかった（次の押しは この目標の先から）・無視されたので 3 回送り直した（ずれ 1.75°） 届いた角度 -0.26 +1.14 +1.75 +0.26 -0.79 -29.79 [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 [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） [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） [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） [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） [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） [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [送信] j0 -1.0° → -2.00 +0.00 +0.00 +0.00 +0.00 -30.00 届かなかった・無視されたので 1 回送り直した（ずれ 1.75°） 届いた角度 -0.26 +1.14 +1.75 +0.26 -0.26 -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_20261105_163144 ``` ## 16:35 1回押しの待ちを短くした（受付なし 40回→28回） 受付なしの多くは、1回押しの「届いた」を待っている間に押したものでした。j2 のように重さで1〜2°手前で止まる関節では、届くのを8秒の上限まで待っていました。角度を読む間隔も0.3秒で、届いたと分かるまでに毎回0.3秒以上かかっていました（commit 72d9d96）。 - 1回押しは、動き出して0.25秒止まったら「手前で止まった」として戻る。指令はその目標のままにし、次の押しはその先から動く - 1回押しで角度を読む間隔を0.3秒から0.05秒に - 動き出さないときの送り直しは、0.5秒おきに3回から、0.3秒おきに2回に - 長押しを止めたあと角度を読むまでの待ちを0.3秒から0.1秒に 1回押しの待ちは中央の値で2.79秒から0.18秒になりました。それでも、数秒から十数秒まとめて受け付けない時間が残りました。いちばん長いのは約15秒で、長押しを離したあとの止める処理に11秒かかっていました。 #### teleop_20261105_163620 を1回押しと止める処理ごとに並べた出力 ```text == teleop_20261105_163620 行 386 -- 1 回押し: 送った量と, 動かした関節が動いた量 0.00s j0 -1° → 動いた -0.79° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 5.22s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 17.49s j2 -1° → 動いた 0.0° ほかの関節の最大の変化 1.49° 動かなかった 待ち 1.01秒 送り直し 2回 21.82s j2 +1° → 動いた 1.49° ほかの関節の最大の変化 0.0° 届いた 待ち 0.03秒 送り直し 0回 28.88s j0 +1° → 動いた 1.49° ほかの関節の最大の変化 0.08° 届いた 待ち 0.17秒 送り直し 0回 30.49s j4 -1° → 動いた -0.08° ほかの関節の最大の変化 2.28° 動かなかった 待ち 1.02秒 送り直し 2回 32.41s j4 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 1.04秒 送り直し 2回 39.96s j4 +1° → 動いた 0.52° ほかの関節の最大の変化 1.06° 届いた 待ち 0.1秒 送り直し 0回 44.55s j4 +1° → 動いた 1.32° ほかの関節の最大の変化 0.61° 届いた 待ち 0.19秒 送り直し 0回 45.29s j4 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 45.79s j4 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 46.24s j4 +1° → 動いた 0.88° ほかの関節の最大の変化 0.0° 手前で止まった 待ち 0.31秒 送り直し 0回 47.00s j4 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.03秒 送り直し 0回 47.21s j4 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 47.39s j4 +1° → 動いた 0.08° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 48.21s j4 +2° → 動いた 1.23° ほかの関節の最大の変化 0.0° 届いた 待ち 0.09秒 送り直し 0回 48.89s j4 +2° → 動いた 1.14° ほかの関節の最大の変化 0.0° 届いた 待ち 0.11秒 送り直し 0回 49.48s j4 +2° → 動いた 2.02° ほかの関節の最大の変化 0.0° 届いた 待ち 0.03秒 送り直し 0回 50.03s j4 +2° → 動いた 1.32° ほかの関節の最大の変化 0.0° 届いた 待ち 0.09秒 送り直し 0回 50.26s j4 +2° → 動いた 0.08° ほかの関節の最大の変化 0.0° 動かなかった 待ち 1.09秒 送り直し 2回 51.49s j4 +2° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 1.05秒 送り直し 2回 52.69s j4 +2° → 動いた 2.11° ほかの関節の最大の変化 0.0° 届いた 待ち 0.17秒 送り直し 0回 53.80s j4 +2° → 動いた 1.85° ほかの関節の最大の変化 0.0° 届いた 待ち 0.17秒 送り直し 0回 54.25s j4 +2° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 0.99秒 送り直し 2回 57.42s j4 +1° → 動いた 2.8° ほかの関節の最大の変化 0.0° 届いた 待ち 0.15秒 送り直し 0回 74.90s j4 +2° → 動いた 1.84° ほかの関節の最大の変化 0.0° 届いた 待ち 0.16秒 送り直し 0回 75.64s j4 +1° → 動いた 0.62° ほかの関節の最大の変化 0.0° 届いた 待ち 0.09秒 送り直し 0回 76.38s j4 +1° → 動いた 1.15° ほかの関節の最大の変化 0.0° 届いた 待ち 0.03秒 送り直し 0回 77.10s j4 +2° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 1.1秒 送り直し 2回 81.31s j5 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 5.59秒 送り直し 2回 94.98s j5 -1° → 動いた -1.23° ほかの関節の最大の変化 2.02° 手前で止まった 待ち 0.29秒 送り直し 0回 99.15s j5 +1° → 動いた 0.35° ほかの関節の最大の変化 1.23° 手前で止まった 待ち 0.31秒 送り直し 0回 104.70s j5 +1° → 動いた 0.35° ほかの関節の最大の変化 1.93° 手前で止まった 待ち 0.8秒 送り直し 1回 111.83s j2 -1° → 動いた 0.0° ほかの関節の最大の変化 0.88° 動かなかった 待ち 0.99秒 送り直し 2回 117.61s j3 +1° → 動いた 0.78° ほかの関節の最大の変化 0.97° 手前で止まった 待ち 0.33秒 送り直し 0回 122.34s j3 -1° → 動いた -1.06° ほかの関節の最大の変化 1.23° 届いた 待ち 0.24秒 送り直し 0回 128.60s j3 -1° → 動いた -0.17° ほかの関節の最大の変化 0.0° 届いた 待ち 0.79秒 送り直し 2回 132.55s j4 -1° → 動いた -1.41° ほかの関節の最大の変化 1.58° 手前で止まった 待ち 0.46秒 送り直し 0回 137.89s j3 +1° → 動いた 1.67° ほかの関節の最大の変化 0.53° 手前で止まった 待ち 0.61秒 送り直し 0回 142.76s j4 +1° → 動いた 0.09° ほかの関節の最大の変化 0.7° 届いた 待ち 0.09秒 送り直し 0回 147.91s j2 -1° → 動いた 0.0° ほかの関節の最大の変化 0.53° 動かなかった 待ち 1.04秒 送り直し 2回 149.40s j2 +1° → 動いた 0.53° ほかの関節の最大の変化 0.7° 手前で止まった 待ち 0.34秒 送り直し 0回 154.98s j3 -1° → 動いた -1.23° ほかの関節の最大の変化 0.88° 手前で止まった 待ち 0.73秒 送り直し 0回 156.36s j3 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 157.20s j3 +1° → 動いた 0.52° ほかの関節の最大の変化 0.08° 手前で止まった 待ち 0.43秒 送り直し 0回 159.75s j4 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 162.19s j4 +1° → 動いた 0.0° ほかの関節の最大の変化 0.09° 動かなかった 待ち 1.03秒 送り直し 2回 265.17s j4 -1° → 動いた 0.7° ほかの関節の最大の変化 0.61° 届いた 待ち 0.1秒 送り直し 0回 -- 止める処理: 止める前に読んだ角度から, 止めたあとに読んだ角度までの差 (6 関節) 4.40s release j0 差 [-8.35, 0.7, 0.62, -0.09, 1.22, 0.0] 送り直し None 15.94s release j0 差 [11.34, 1.14, 0.88, -0.18, 0.52, -0.09] 送り直し None 21.31s release j2 差 [0.0, -0.44, -26.1, 0.0, -1.13, 0.0] 送り直し None 24.97s release j2 差 [0.0, 0.0, 2.81, 0.0, 0.0, 0.0] 送り直し None 30.22s release j0 差 [16.69, 0.79, 0.7, -0.08, 1.4, -0.09] 送り直し None 32.06s release j4 差 [0.0, 0.0, 0.0, -0.09, -12.47, 0.0] 送り直し None 36.40s release j4 差 [0.0, 0.88, 0.71, 0.08, -12.56, 0.0] 送り直し None 43.79s release j4 差 [0.0, 0.96, 0.88, 0.0, 13.09, 0.0] 送り直し None 62.00s release j4 差 [0.0, 0.0, 0.0, 0.09, 9.14, 0.0] 送り直し None 98.12s release j5 差 [0.0, 0.79, 0.7, 0.0, 1.05, -21.09] 送り直し None 99.96s released_while_sending j5 差 [0.0, 0.7, 0.61, 0.0, 0.62, 0.88] 送り直し None 108.48s release j5 差 [0.0, 0.88, 0.97, 0.0, 1.41, 8.88] 送り直し None 116.19s release j2 差 [0.0, 0.18, -13.36, 0.0, 1.06, 0.0] 送り直し None 121.89s release j3 差 [0.0, 0.62, 0.61, -0.96, 0.53, 0.0] 送り直し None 125.89s release j3 差 [0.0, 0.0, 0.0, -1.4, 0.0, 0.0] 送り直し None 130.48s release j3 差 [0.0, 0.53, 0.53, -26.37, 1.23, 0.0] 送り直し None 135.50s release j4 差 [0.09, -0.09, 0.0, -0.18, -3.78, 0.0] 送り直し None 139.45s release j3 差 [0.0, 0.44, 0.35, 17.14, 0.27, 0.0] 送り直し None 144.55s release j4 差 [0.0, 0.52, 0.44, 0.09, 8.87, 0.0] 送り直し None 152.42s release j2 差 [0.0, 0.97, 26.18, 0.08, 1.58, 0.0] 送り直し None 161.43s release j4 差 [0.0, 0.0, 0.0, 0.09, -14.77, 0.0] 送り直し None 163.99s release j4 差 [0.0, 0.97, 0.88, 0.0, 3.78, -0.08] 送り直し None -- 受付なし 28 回. そのとき動いていた仕事: {'move(長押し)': 10, 'move': 17, 'halt': 1} ``` #### ゲームパッドの端末の出力（16:36 teleop_20261105_163620） ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts git add tools/gamepad_teleop.py tools/test_gamepad_teleop.py git commit -m "gamepad_teleop: 受付なしを減らす（止める待ち0.1秒・1刻みは止まっ たら戻る・読む間隔0.05秒）" python3 tools/gamepad_teleop.py --execute [main 72d9d96] gamepad_teleop: 受付なしを減らす（止める待ち0.1秒・1刻みは止まったら戻る・読む間隔0.05秒） 2 files changed, 47 insertions(+), 9 deletions(-) [記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261105_163620 [実機] daemon に送ります。起動したときの姿勢: -0.26 +1.14 +1.75 +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 +1.14 +1.75 +0.26 -0.26 -29.79 届いた（ずれ 0.21°） 届いた角度 -1.05 +1.14 +1.75 +0.26 -0.26 -29.79 [長押し] j0 を -0.96° → -93.95° まで（目標を 8 回送信。止めます） [送信] j0 +1.0° → -101.30 +1.14 +1.75 +0.26 -0.26 -29.79 届いた（ずれ 1.49°） 届いた角度 -100.98 +2.10 +2.72 +0.00 +1.23 -29.88 [長押し] j0 を -102.21° → -35.33° まで（目標を 6 回送信。止めます） [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） [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） [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [送信] j2 -1.0° → -23.99 +1.14 +0.75 +0.26 -0.26 -29.79 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.23°） 届いた角度 -23.99 +1.23 +2.98 -0.35 +1.93 -29.97 [長押し] j2 を +2.98° → -35.68° まで（目標を 6 回送信。止めます） [送信] j2 +1.0° → -23.99 +1.14 -60.78 +0.26 -0.26 -29.79 届いた（ずれ 0.61°） 届いた角度 -23.99 +0.61 -60.29 -0.35 -0.87 -29.88 [長押し] j2 を -60.29° → -6.50° まで（目標を 6 回送信。止めます） [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] j0 +1.0° → -22.99 +1.14 -3.69 +0.26 -0.26 -29.79 届いた（ずれ 7.38°） 届いた角度 -22.50 +0.79 +3.69 -0.35 -0.35 -29.88 [長押し] j0 を -22.93° → -13.09° まで（目標を 1 回送信。止めます） [送信] j4 -1.0° → +3.60 +1.14 -3.69 +0.26 -1.26 -29.79 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 8.34°） 届いた角度 +5.09 +1.66 +4.65 -0.43 +1.23 -29.88 [長押し] j4 を +1.23° → +0.79° まで（目標を 1 回送信。止めます） [送信] j4 -1.0° → +3.60 +1.14 -3.69 +0.26 -12.68 -29.79 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 8.34°） 届いた角度 +5.09 +1.66 +4.65 -0.52 -11.77 -29.88 [長押し] j4 を -11.77° → -74.53° まで（目標を 6 回送信。止めます） [範囲] j4 を -102.36° → -90.00° に切った（J4_SAFE -90.00°） [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° → +3.60 +1.14 -3.69 +0.26 -86.09 -29.79 届いた（ずれ 8.87°） 届いた角度 +5.09 +1.31 +5.18 -0.35 -86.57 -29.88 [長押し] j4 を -86.57° → -32.95° まで（目標を 7 回送信。止めます） [送信] j4 +1.0° → +3.60 +1.14 -3.69 +0.26 -18.86 -29.79 届いた（ずれ 8.52°） 届いた角度 +5.09 +1.49 +4.83 -0.35 -18.54 -29.79 [送信] j4 +1.0° → +3.60 +1.14 -3.69 +0.26 -17.86 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -17.75 -29.79 [送信] j4 +1.0° → +3.60 +1.14 -3.69 +0.26 -16.86 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -16.96 -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] j4 +1.0° → +3.60 +1.14 -3.69 +0.26 -15.86 -29.79 手前で止まった（次の押しは この目標の先から）（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -15.11 -29.79 [送信] j4 +1.0° → +3.60 +1.14 -3.69 +0.26 -14.86 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -15.11 -29.79 [送信] j4 +1.0° → +3.60 +1.14 -3.69 +0.26 -13.86 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -14.23 -29.79 [送信] j4 +1.0° → +3.60 +1.14 -3.69 +0.26 -12.86 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -13.27 -29.79 [送信] j4 +2.0° → +3.60 +1.14 -3.69 +0.26 -10.86 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -11.07 -29.79 [送信] j4 +2.0° → +3.60 +1.14 -3.69 +0.26 -8.86 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -9.14 -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] j4 +2.0° → +3.60 +1.14 -3.69 +0.26 -6.86 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -6.41 -29.79 [送信] j4 +2.0° → +3.60 +1.14 -3.69 +0.26 -4.86 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -5.09 -29.79 [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） [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° → +3.60 +1.14 -3.69 +0.26 -2.86 -29.79 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -4.57 -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] j4 +2.0° → +3.60 +1.14 -3.69 +0.26 -0.86 -29.79 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -4.57 -29.79 [送信] j4 +2.0° → +3.60 +1.14 -3.69 +0.26 -2.57 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -2.46 -29.79 [送信] j4 +2.0° → +3.60 +1.14 -3.69 +0.26 -0.57 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -0.61 -29.79 [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] j4 +2.0° → +3.60 +1.14 -3.69 +0.26 +1.43 -29.79 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 -0.61 -29.79 [送信] j4 +1.0° → +3.60 +1.14 -3.69 +0.26 +2.43 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.35 +2.28 -29.79 [長押し] j4 を +2.46° → +8.26° まで（目標を 1 回送信。止めます） [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） [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） [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） [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] j4 +2.0° → +3.60 +1.14 -3.69 +0.26 +19.40 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.26 +19.24 -29.79 [送信] j4 +1.0° → +3.60 +1.14 -3.69 +0.26 +20.40 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.26 +19.95 -29.79 [送信] j4 +1.0° → +3.60 +1.14 -3.69 +0.26 +21.40 -29.79 届いた（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.26 +21.18 -29.79 [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° → +3.60 +1.14 -3.69 +0.26 +23.40 -29.79 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.26 +21.18 -29.79 [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） [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） [送信] j5 -1.0° → +3.60 +1.14 -3.69 +0.26 +23.40 -30.79 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.26 +21.18 -29.79 [送信] j5 -1.0° → +3.60 +1.14 -3.69 +0.26 +23.40 -31.79 手前で止まった（次の押しは この目標の先から）（ずれ 8.43°） 届いた角度 +5.09 +1.49 +4.74 -0.26 +23.20 -31.02 [長押し] j5 を -31.02° → -62.84° まで（目標を 3 回送信。止めます） [送信] j5 +1.0° → +3.60 +1.14 -3.69 +0.26 +23.40 -82.93 手前で止まった（次の押しは この目標の先から）（ずれ 8.17°） 届いた角度 +5.09 +1.49 +4.48 -0.35 +24.60 -83.58 [止める] stop（released_while_sending） 止まった角度 +5.09 +2.19 +5.09 -0.35 +25.22 -82.70 [送信] j5 +1.0° → +3.60 +1.14 -3.69 +0.26 +23.40 -81.70 手前で止まった（次の押しは この目標の先から）・無視されたので 1 回送り直した（ずれ 8.34°） 届いた角度 +5.09 +1.31 +4.65 -0.35 +23.99 -82.35 [長押し] j5 を -82.35° → -36.12° まで（目標を 4 回送信。止めます） [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 [送信] j2 -1.0° → +3.60 +1.14 +4.62 +0.26 +23.40 -27.24 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 1.49°） 届いた角度 +5.09 +1.40 +5.62 -0.35 +24.52 -27.33 [長押し] j2 を +5.62° → -39.90° まで（目標を 6 回送信。止めます） [関節] 上下で動かす関節を j3 にしました [送信] j3 +1.0° → +3.60 +1.14 -53.26 +1.26 +23.40 -27.24 手前で止まった（次の押しは この目標の先から）（ずれ 2.08°） 届いた角度 +5.09 +0.96 -53.34 +0.43 +25.48 -27.24 [長押し] j3 を +0.43° → +72.59° まで（目標を 10 回送信。止めます） [送信] j3 -1.0° → +3.60 +1.14 -53.26 +70.63 +23.40 -27.24 届いた（ずれ 1.49°） 届いた角度 +5.09 +0.87 -53.87 +70.48 +24.25 -27.15 [長押し] j3 を +69.78° → +1.75° まで（目標を 7 回送信。止めます） [送信] j3 -1.0° → +3.60 +1.14 -53.26 -0.65 +23.40 -27.24 届いた・無視されたので 2 回送り直した（ずれ 1.49°） 届いた角度 +5.09 +0.87 -53.87 -0.17 +24.25 -27.15 [長押し] j3 を -0.17° → -0.17° まで（目標を 2 回送信。止めます） [関節] 上下で動かす関節を j4 にしました [送信] j4 -1.0° → +3.60 +1.14 -53.26 -26.54 +22.40 -27.24 手前で止まった（次の押しは この目標の先から）（ずれ 1.76°） 届いた角度 +5.09 +1.05 -53.43 -27.50 +24.16 -27.24 [長押し] j4 を +24.16° → -15.99° まで（目標を 6 回送信。止めます） [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 [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 +1.0° → +3.60 +1.14 -53.26 -25.54 -19.77 -27.24 手前で止まった（次の押しは この目標の先から）（ずれ 1.53°） 届いた角度 +5.09 +0.87 -53.43 -27.07 -20.30 -27.15 [長押し] j3 を -27.07° → -18.89° まで（目標を 1 回送信。止めます） [関節] 上下で動かす関節を j4 にしました [送信] j4 +1.0° → +3.60 +1.14 -53.26 -1.75 -18.77 -27.24 届いた（ずれ 1.49°） 届いた角度 +5.09 +1.23 -52.91 -1.14 -19.24 -27.15 [長押し] j4 を -19.16° → +2.81° まで（目標を 2 回送信。止めます） [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 [関節] 上下で動かす関節を j2 にしました [送信] j2 -1.0° → +3.60 +1.14 -54.26 -1.75 +11.68 -27.24 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 1.49°） 届いた角度 +5.09 +1.05 -53.17 -1.05 +11.68 -27.15 [送信] j2 +1.0° → +3.60 +1.14 -53.26 -1.75 +11.68 -27.24 手前で止まった（次の押しは この目標の先から）（ずれ 1.49°） 届いた角度 +5.09 +0.96 -52.64 -0.96 +10.98 -27.15 [長押し] j2 を -52.64° → -25.22° まで（目標を 5 回送信。止めます） [関節] 上下で動かす関節を j3 にしました [送信] j3 -1.0° → +3.60 +1.14 +0.96 -2.75 +11.68 -27.24 手前で止まった（次の押しは この目標の先から）（ずれ 1.49°） 届いた角度 +5.09 +1.49 +1.84 -2.10 +11.68 -27.24 [送信] j3 +1.0° → +3.60 +1.14 +0.96 -1.75 +11.68 -27.24 届いた（ずれ 1.49°） 届いた角度 +5.09 +1.49 +1.84 -2.10 +11.68 -27.24 [送信] j3 +1.0° → +3.60 +1.14 +0.96 -0.75 +11.68 -27.24 手前で止まった（次の押しは この目標の先から）（ずれ 1.49°） 届いた角度 +5.09 +1.49 +1.84 -1.58 +11.60 -27.24 [関節] 上下で動かす関節を j4 にしました [送信] j4 -1.0° → +3.60 +1.14 +0.96 -0.75 +10.68 -27.24 届いた（ずれ 1.49°） 届いた角度 +5.09 +1.49 +1.84 -1.31 +10.63 -27.15 [長押し] j4 を +10.63° → -15.02° まで（目標を 3 回送信。止めます） [送信] j4 +1.0° → +3.60 +1.14 +0.96 -0.75 -28.79 -27.24 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 1.49°） 届いた角度 +5.09 +1.49 +1.84 -1.05 -29.79 -27.07 [長押し] j4 を -29.79° → -16.43° まで（目標を 2 回送信。止めます） [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° → +3.60 +1.14 +0.96 -0.75 -13.65 -27.24 届いた（ずれ 1.85°） 届いた角度 +5.09 +1.93 +2.81 -1.14 -13.71 -27.15 ^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_20261105_163620 ``` ## 16:41 daemon が角度を読み直す待ちを0.2秒から0.02秒にした（受付なし 28回→13回） まとめて受け付けない時間の原因は、daemon が角度を読むところでした。アームが動いている最中は、角度の読み取りが空で返ることがよくあります。daemon はそのたびに0.2秒待って最大12回読み直すので、1回の読み取りに最長約2.6秒かかります。Mac 側も読めないと5回読み直すので、合わせて10秒を超えることがありました。しかも daemon は、送る命令のたびに、記録のためだけに角度を読んでいて、ここで読めないと送る命令の返事そのものが遅れていました。 daemon を次のように書き換えるスクリプト（`tools/daemon_fast_read.sh`）を作りました。書き換える前の daemon は、KIOXIA の `archive/mecharm_daemon_premerge_fastread_20261105_170254/` に写してあります。 - 読み直しの待ちを0.2秒から0.02秒に（jog_probe で直接読んだときは、0.02秒おきの読み直しですぐ読めていた） - 送る命令のあとの記録用の読み取りは1回だけにし、読めなくても送る命令はすぐ返す - ゲームパッドの止める処理の読み取りも1回だけにした（Mac 側。commit 617c3bd） - ねらい：アームが動いている最中の読み取りの失敗で、指令の返事と次の操作が何秒も止まらないようにする - 変わったこと：読めなかったときの待ちが、1回の読み取りで最長約2.6秒から約0.3秒になった。受付なしは28回から13回になり、1回押しの待ちの最大は5.59秒から1.27秒になった - 見込める効果：π0.5 の実機推論も同じ daemon を通るので、送る指令の返りが速くなり、前から気になっていた動きの合間の長さも短くなる見込み。推論ではまだ測っていない #### Pi の mecharm_daemon.py の差分（書き換える前 → stop を足し、読み直しを速くしたあと） ```diff --- mecharm_daemon.py（11/5 15:59 に Pi から持ち帰った版） +++ tools/pi/mecharm_daemon.py（stop と読み直しの変更のあと） @@ -18,7 +18,7 @@ SERIAL_PORT = "/dev/ttyAMA0" BAUDRATE = 1000000 GET_ANGLES_RETRIES = 12 -GET_ANGLES_INTERVAL_SEC = 0.2 +GET_ANGLES_INTERVAL_SEC = 0.02 # 2026-11-05: 0.2 → 0.02 (動いている間は空で返ることが多く, 1 回の読み取りに最長 2.6 秒かかっていた) _mc = None _server_sock = None @@ -54,6 +54,16 @@ return None +def read_angles_once_for_log(): + """送ったあとの記録用に 1 回だけ読む (2026-11-05). 読めなくても待たない. + 以前は読み直しつきで, 読めないと送る命令の返事が最長 2.6 秒遅れていた.""" + try: + a = _mc.get_angles() + except Exception: + return None + return a if isinstance(a, (list, tuple)) and len(a) == 6 else None + + def handle_command(cmd_obj): """コマンドを処理してレスポンス dict を返す。""" global _fresh_mode_state @@ -78,7 +88,7 @@ if wait > 0: time.sleep(wait) - current_angles = read_angles_with_retry("send_angles_after", log_fail=False) + current_angles = read_angles_once_for_log() log(f"send_angles 後の現在角度: {current_angles}") return {"ok": True, "result": result, "elapsed_ms": elapsed_ms} @@ -104,7 +114,7 @@ if wait > 0: time.sleep(wait) - current_angles = read_angles_with_retry("send_angle_after", log_fail=False) + current_angles = read_angles_once_for_log() log(f"send_angle 後の現在角度: {current_angles}") return {"ok": True, "result": result, "elapsed_ms": elapsed_ms} @@ -235,6 +245,20 @@ return {"ok": True, "angles": list(a)} return {"ok": True, "angles": None, "raw": repr(a)[:80]} + # 2026-11-05: 動いている途中で止める (ゲームパッドの長押しを離したとき・L2+R2). + # jog_probe (diag/jog_probe_20261105_*) で jog_stop と stop はどちらも効かない回があったので両方呼ぶ. + elif cmd == "stop": + res = {} + for name in ("jog_stop", "stop"): + try: + res[name] = getattr(_mc, name)() + except Exception as e: + res[name] = f"{type(e).__name__}: {e}" + log(f"stop: {res}") + if all(isinstance(v, str) for v in res.values()): + return {"ok": False, "error": f"stop failed: {res}"} + return {"ok": True, "result": res} + else: return {"ok": False, "error": f"unknown cmd: {cmd}"} ``` #### daemon の読み直しを速くしたときと、ゲームパッドの端末の出力（17:03 teleop_20261105_170313） ```text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts git add tools/gamepad_teleop.py tools/daemon_fast_read.sh git commit -m "daemon の読み直しを速くするスクリプト・止めるときの読み取りは1回 だけ" tools/daemon_fast_read.sh git add tools/pi/mecharm_daemon.py git commit -m "daemon の読み直しを0.02秒にした版を tools/pi に置く" python3 tools/gamepad_teleop.py --execute [main 617c3bd] daemon の読み直しを速くするスクリプト・止めるときの読み取りは1回だけ 2 files changed, 111 insertions(+), 1 deletion(-) create mode 100755 tools/daemon_fast_read.sh 今の daemon の写し: /Volumes/KIOXIA/r2r2r-data/archive/mecharm_daemon_premerge_fastread_20261105_170254/mecharm_daemon.py 読み取りを速くしました --- 差分 21c21 < GET_ANGLES_INTERVAL_SEC = 0.2 --- > GET_ANGLES_INTERVAL_SEC = 0.02 # 2026-11-05: 0.2 → 0.02 (動いている間は空で返ることが多く, 1 回の読み取りに最長 2.6 秒かかっていた) 54a55,64 > > > def read_angles_once_for_log(): > """送ったあとの記録用に 1 回だけ読む (2026-11-05). 読めなくても待たない. > 以前は読み直しつきで, 読めないと送る命令の返事が最長 2.6 秒遅れていた.""" > try: > a = _mc.get_angles() > except Exception: > return None > return a if isinstance(a, (list, tuple)) and len(a) == 6 else None 81c91 < current_angles = read_angles_with_retry("send_angles_after", log_fail=False) --- > current_angles = read_angles_once_for_log() 107c117 < current_angles = read_angles_with_retry("send_angle_after", log_fail=False) --- > current_angles = read_angles_once_for_log() ping → {'ok': True, 'daemon': 'mecharm_daemon', 'fresh_mode': 0} get_angles → {'ok': True, 'angles': [5.09, 1.31, 2.81, -0.96, -13.62, -26.98]} できました。記録: /Volumes/KIOXIA/r2r2r-data/archive/mecharm_daemon_premerge_fastread_20261105_170254 [main c7992ca] daemon の読み直しを0.02秒にした版を tools/pi に置く 1 file changed, 13 insertions(+), 3 deletions(-) [記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261105_170313 [実機] daemon に送ります。起動したときの姿勢: +5.09 +1.31 +2.81 -0.96 -13.62 -26.98 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° → +4.09 +1.31 +2.81 -0.96 -13.62 -26.98 届いた（ずれ 0.05°） 届いた角度 +4.04 +1.31 +2.81 -0.96 -13.62 -26.98 [長押し] j0 を +4.30° → -66.97° まで（目標を 7 回送信。止めます） [関節] 上下で動かす関節を j2 にしました [送信] j2 -1.0° → -74.53 +1.31 +1.81 -0.96 -13.62 -26.98 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.46°） 届いた角度 -76.99 +1.49 +3.86 -0.08 -12.12 -26.71 [長押し] j2 を +3.86° → -49.65° まで（目標を 8 回送信。止めます） [送信] j2 +1.0° → -74.53 +1.31 -61.75 -0.96 -13.62 -26.98 届いた（ずれ 2.37°） 届いた角度 -76.90 +0.52 -61.96 -0.43 -13.18 -26.71 [長押し] j2 を -61.17° → -4.83° まで（目標を 7 回送信。止めます） [送信] j0 +1.0° → -73.53 +1.31 -2.63 -0.96 -13.62 -26.98 届いた（ずれ 2.11°） 届いた角度 -73.21 +1.58 -0.70 -0.35 -11.51 -26.71 [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° → -72.53 +1.31 -2.63 -0.96 -13.62 -26.98 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.11°） 届いた角度 -73.38 +1.58 -0.70 -0.70 -11.51 -26.71 [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° → -71.53 +1.31 -2.63 -0.96 -13.62 -26.98 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 1.93°） 届いた角度 -73.38 +1.58 -0.70 -0.70 -12.39 -26.71 [送信] j0 -1.0° → -72.53 +1.31 -2.63 -0.96 -13.62 -26.98 届いた（ずれ 1.93°） 届いた角度 -72.77 +1.58 -0.70 -0.70 -12.39 -26.71 [送信] j0 +1.0° → -71.53 +1.31 -2.63 -0.96 -13.62 -26.98 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 1.93°） 届いた角度 -72.33 +1.58 -0.70 -0.70 -13.53 -26.71 [送信] j0 +1.0° → -70.53 +1.31 -2.63 -0.96 -13.62 -26.98 届いた（ずれ 2.02°） 届いた角度 -70.40 +1.58 -0.61 -0.35 -13.53 -26.71 [送信] j0 +2.0° → -68.53 +1.31 -2.63 -0.96 -13.62 -26.98 届いた（ずれ 2.02°） 届いた角度 -68.20 +1.49 -0.61 -0.61 -13.53 -26.71 [送信] j0 +2.0° → -66.53 +1.31 -2.63 -0.96 -13.62 -26.98 届いた（ずれ 2.02°） 届いた角度 -66.79 +1.49 -0.61 -0.70 -13.53 -26.71 [長押し] j0 を -66.44° → -66.44° まで（目標を 1 回送信。止めます） [送信] j0 +1.0° → -57.97 +1.31 -2.63 -0.96 -13.62 -26.98 届いた（ずれ 2.02°） 届いた角度 -57.65 +1.49 -0.61 -1.05 -13.62 -26.80 [送信] j0 +1.0° → -56.97 +1.31 -2.63 -0.96 -13.62 -26.98 届いた（ずれ 2.02°） 届いた角度 -56.77 +1.49 -0.61 -1.23 -13.62 -26.80 [送信] j0 +1.0° → -55.97 +1.31 -2.63 -0.96 -13.62 -26.98 届いた（ずれ 2.02°） 届いた角度 -55.54 +1.49 -0.61 -1.23 -13.62 -26.80 [送信] j0 -1.0° → -56.97 +1.31 -2.63 -0.96 -13.62 -26.98 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.02°） 届いた角度 -56.07 +1.49 -0.61 -1.14 -13.62 -26.80 [送信] j0 -1.0° → -57.97 +1.31 -2.63 -0.96 -13.62 -26.98 届いた（ずれ 2.02°） 届いた角度 -58.35 +1.49 -0.61 -0.96 -13.62 -26.80 [送信] j0 -1.0° → -58.97 +1.31 -2.63 -0.96 -13.62 -26.98 届いた（ずれ 2.02°） 届いた角度 -59.06 +1.49 -0.61 -0.96 -13.62 -26.80 [送信] j0 -1.0° → -59.97 +1.31 -2.63 -0.96 -13.62 -26.98 届いた（ずれ 2.02°） 届いた角度 -59.50 +1.49 -0.61 -0.96 -13.62 -26.80 [送信] j0 -1.0° → -60.97 +1.31 -2.63 -0.96 -13.62 -26.98 届いた（ずれ 2.02°） 届いた角度 -61.17 +1.49 -0.61 -0.96 -13.62 -26.80 [関節] 上下で動かす関節を j3 にしました [送信] j3 -1.0° → -60.97 +1.31 -2.63 -1.96 -13.62 -26.98 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.02°） 届いた角度 -61.17 +1.49 -0.61 -0.96 -13.62 -26.80 [長押し] j3 を -0.96° → -8.61° まで（目標を 1 回送信。止めます） [送信] j3 +1.0° → -60.97 +1.31 -2.63 -13.15 -13.62 -26.98 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 3.06°） 届いた角度 -60.90 +1.49 +0.43 -13.88 -12.21 -26.89 [送信] j3 +1.0° → -60.97 +1.31 -2.63 -12.15 -13.62 -26.98 手前で止まった（次の押しは この目標の先から）（ずれ 3.06°） 届いた角度 -60.90 +1.49 +0.43 -12.74 -12.21 -26.89 [長押し] j3 を -12.74° → +63.98° まで（目標を 10 回送信。止めます） [送信] j3 -1.0° → -60.97 +1.31 -2.63 +63.16 -13.62 -26.98 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 4.03°） 届いた角度 -61.08 +2.46 +1.40 +64.16 -13.53 -26.89 [送信] j3 -1.0° → -60.97 +1.31 -2.63 +62.16 -13.62 -26.98 手前で止まった（次の押しは この目標の先から）（ずれ 2.8°） 届いた角度 -60.99 +1.58 +0.17 +63.36 -13.27 -26.89 [長押し] j3 を +63.36° → -0.26° まで（目標を 7 回送信。止めます） [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） [送信] j3 +1.0° → -60.97 +1.31 -2.63 -7.52 -13.62 -26.98 手前で止まった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.8°） 届いた角度 -60.90 +1.49 +0.17 -8.17 -11.60 -26.89 [送信] j3 +1.0° → -60.97 +1.31 -2.63 -6.52 -13.62 -26.98 手前で止まった（次の押しは この目標の先から）（ずれ 2.8°） 届いた角度 -60.99 +1.49 +0.17 -7.03 -11.77 -26.89 [止める] stop（released_while_sending） 止まった角度 -61.08 +1.49 +0.17 -3.69 -12.21 -26.89 [送信] j3 +1.0° → -60.97 +1.31 -2.63 -2.69 -13.62 -26.98 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.8°） 届いた角度 -61.08 +1.49 +0.17 -3.69 -12.74 -26.89 [関節] 上下で動かす関節を j4 にしました [送信] j4 -1.0° → -60.97 +1.31 -2.63 -2.69 -14.62 -26.98 届いた（ずれ 2.8°） 届いた角度 -61.08 +1.49 +0.17 -2.98 -14.15 -26.89 [範囲] j4 を -99.99° → -90.00° に切った（J4_SAFE -90.00°） [範囲] j4 -103.76° は送らない：範囲の端にいて、押した向きに進めない（範囲 [-90.00, -90.00]・J4_SAFE） [送らない] j4 -15.0°（長押し 30） [長押し] j4 を -14.23° → -84.99° まで（目標を 10 回送信。止めます） [止める] stop（hold_not_sent） 止まった角度 -61.08 +2.10 +0.52 -2.90 -89.12 -26.89 [送信] j4 +1.0° → -60.97 +1.31 -2.63 -2.69 -88.12 -26.98 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.37°） 届いた角度 -61.17 +1.14 -0.26 -3.16 -88.76 -26.89 [長押し] j4 を -88.76° → -45.35° まで（目標を 4 回送信。止めます） [関節] 上下で動かす関節を j5 にしました [送信] j5 -1.0° → -60.97 +1.31 -2.63 -2.69 -37.08 -27.98 手前で止まった（次の押しは この目標の先から）（ずれ 2.89°） 届いた角度 -61.08 +1.58 +0.26 -3.16 -38.05 -27.24 [長押し] j5 を -27.24° → -49.92° まで（目標を 3 回送信。止めます） [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 [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 [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] j5 +1.0° → -60.97 +1.31 -2.63 -2.69 -37.08 -63.59 手前で止まった（次の押しは この目標の先から）（ずれ 2.63°） 届いた角度 -60.90 +1.49 +0.00 -3.16 -37.52 -64.24 [長押し] j5 を -64.24° → -40.16° まで（目標を 3 回送信。止めます） [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 -1.0° → -60.97 +1.31 -2.63 -2.69 -37.08 -26.92 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.63°） 届いた角度 -60.90 +1.49 +0.00 -3.16 -38.23 -25.75 [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 [送信] j2 -1.0° → -60.97 +1.31 -3.63 -2.69 -37.08 -26.92 手前で止まった（次の押しは この目標の先から）（ずれ 2.99°） 届いた角度 -61.08 +1.49 -2.02 -2.98 -40.07 -25.75 [長押し] j2 を -2.02° → -44.03° まで（目標を 4 回送信。止めます） [送信] j2 +1.0° → -60.97 +1.31 -54.54 -2.69 -37.08 -26.92 届いた（ずれ 3.34°） 届いた角度 -61.17 +0.61 -54.93 -2.81 -40.42 -26.10 [長押し] j2 を -54.14° → -2.37° まで（目標を 5 回送信。止めます） [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] j1 -1.0° → -60.97 +0.31 +5.00 -2.69 -37.08 -26.92 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 1.35°） 届いた角度 -61.17 +1.66 +5.00 -2.90 -37.79 -26.36 [長押し] j1 を +1.66° → -26.89° まで（目標を 3 回送信。止めます） [送信] j1 +1.0° → -60.97 -30.81 +5.00 -2.69 -37.08 -26.92 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 3.26°） 届いた角度 -60.99 -31.37 +5.00 -2.98 -40.34 -26.45 [長押し] j1 を -31.37° → -25.40° まで（目標を 1 回送信。止めます） [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 +1.0° → -60.97 -3.92 +5.00 -2.69 -37.08 -26.92 届いた（ずれ 2.73°） 届いた角度 -61.08 -4.04 +5.00 -3.07 -39.81 -26.54 [長押し] j1 を -3.16° → +20.56° まで（目標を 3 回送信。止めます） [送信] j0 -1.0° → -61.97 +24.43 +5.00 -2.69 -37.08 -26.92 届いた（ずれ 0.97°） 届いた角度 -61.61 +24.43 +5.88 -3.16 -38.05 -26.63 [長押し] j0 を -62.31° → -91.49° まで（目標を 3 回送信。止めます） [送信] j0 +1.0° → -100.51 +24.43 +5.00 -2.69 -37.08 -26.92 届いた（ずれ 1.85°） 届いた角度 -100.54 +25.57 +6.85 -3.16 -36.47 -26.89 [長押し] j0 を -100.63° → +51.76° まで（目標を 13 回送信。止めます） [送信] j0 -1.0° → +54.89 +24.43 +5.00 -2.69 -37.08 -26.92 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 0.56°） 届いた角度 +55.45 +24.25 +5.53 -3.16 -37.00 -26.89 [送信] j0 -1.0° → +53.89 +24.43 +5.00 -2.69 -37.08 -26.92 届いた（ずれ 0.56°） 届いた角度 +53.61 +24.25 +5.53 -3.25 -37.00 -26.89 [長押し] j0 を +54.05° → -36.12° まで（目標を 9 回送信。止めます） [送信] j1 -1.0° → -35.41 +23.43 +5.00 -2.69 -37.08 -26.92 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 1.97°） 届いた角度 -35.77 +25.40 +5.62 -2.46 -37.00 -26.98 [長押し] j1 を +25.40° → -12.48° まで（目標を 5 回送信。止めます） [送信] j1 +1.0° → -35.41 -19.30 +5.00 -2.69 -37.08 -26.92 届いた（ずれ 0.88°） 届いた角度 -35.68 -18.80 +5.09 -2.63 -37.96 -26.98 [長押し] j1 を -18.80° → +38.67° まで（目標を 6 回送信。止めます） [送信] j0 +1.0° → -34.41 +48.07 +5.00 -2.69 -37.08 -26.92 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 1.53°） 届いた角度 -35.94 +48.25 +5.80 -2.46 -36.38 -26.98 [送信] j0 +1.0° → -33.41 +48.07 +5.00 -2.69 -37.08 -26.92 届いた（ずれ 0.71°） 届いた角度 -33.22 +48.25 +5.71 -2.10 -37.44 -26.98 [長押し] j0 を -33.75° → +14.94° まで（目標を 6 回送信。止めます） [送信] j1 -1.0° → +19.86 +47.07 +5.00 -2.69 -37.08 -26.92 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.32°） 届いた角度 +18.98 +49.39 +6.32 -2.19 -36.65 -27.07 [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 -1.0° → +19.86 +47.07 +5.00 -2.69 -38.08 -26.92 動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.81°） 届いた角度 +22.67 +49.39 +5.27 -2.81 -36.91 -27.07 [長押し] j4 を -36.91° → -36.91° まで（目標を 1 回送信。止めます） [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° → +19.86 +47.07 +5.00 -2.69 -38.88 -26.92 手前で止まった（次の押しは この目標の先から）（ずれ 2.81°） 届いた角度 +22.67 +49.30 +5.18 -2.81 -38.14 -27.07 [長押し] j4 を -38.14° → -50.71° まで（目標を 2 回送信。止めます） [送信] j0 +1.0° → +20.86 +47.07 +5.00 -2.69 -61.61 -26.92 届いた（ずれ 2.23°） 届いた角度 +20.74 +49.30 +5.27 -3.16 -63.54 -27.07 [長押し] j0 を +20.91° → +37.00° まで（目標を 2 回送信。止めます） [送信] j0 -1.0° → +47.25 +47.07 +5.00 -2.69 -61.61 -26.92 届いた（ずれ 2.23°） 届いた角度 +47.37 +49.30 +5.27 -2.98 -63.54 -27.07 [長押し] j0 を +47.19° → +7.55° まで（目標を 4 回送信。止めます） ``` #### teleop_20261105_170313 を1回押しと止める処理ごとに並べた出力 ```text == teleop_20261105_170313 行 549 -- 1 回押し: 送った量と, 動かした関節が動いた量 0.00s j0 -1° → 動いた -1.05° ほかの関節の最大の変化 0.0° 届いた 待ち 0.1秒 送り直し 0回 6.46s j2 -1° → 動いた 0.0° ほかの関節の最大の変化 3.34° 動かなかった 待ち 1.04秒 送り直し 2回 10.85s j2 +1° → 動いた 0.44° ほかの関節の最大の変化 0.79° 届いた 待ち 0.18秒 送り直し 0回 15.45s j0 +1° → 動いた 3.95° ほかの関節の最大の変化 1.93° 届いた 待ち 0.22秒 送り直し 0回 15.85s j0 +1° → 動いた -0.35° ほかの関節の最大の変化 0.0° 動かなかった 待ち 1.04秒 送り直し 2回 17.75s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 1.06秒 送り直し 2回 19.45s j0 -1° → 動いた 0.61° ほかの関節の最大の変化 0.0° 届いた 待ち 0.16秒 送り直し 0回 20.55s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 1.05° 動かなかった 待ち 1.0秒 送り直し 2回 23.57s j0 +1° → 動いた 1.93° ほかの関節の最大の変化 0.35° 届いた 待ち 0.16秒 送り直し 0回 25.57s j0 +2° → 動いた 2.2° ほかの関節の最大の変化 0.35° 届いた 待ち 0.17秒 送り直し 0回 26.57s j0 +2° → 動いた 1.5° ほかの関節の最大の変化 0.35° 届いた 待ち 0.16秒 送り直し 0回 28.40s j0 +1° → 動いた 1.58° ほかの関節の最大の変化 0.18° 届いた 待ち 0.09秒 送り直し 0回 29.67s j0 +1° → 動いた 1.32° ほかの関節の最大の変化 0.0° 届いた 待ち 0.16秒 送り直し 0回 30.50s j0 +1° → 動いた 1.5° ほかの関節の最大の変化 0.0° 届いた 待ち 0.11秒 送り直し 0回 31.89s j0 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 0.99秒 送り直し 2回 33.24s j0 -1° → 動いた -2.28° ほかの関節の最大の変化 0.09° 届いた 待ち 0.3秒 送り直し 0回 34.20s j0 -1° → 動いた -1.06° ほかの関節の最大の変化 0.0° 届いた 待ち 0.09秒 送り直し 0回 34.90s j0 -1° → 動いた -0.27° ほかの関節の最大の変化 0.0° 届いた 待ち 0.09秒 送り直し 0回 35.66s j0 -1° → 動いた -1.06° ほかの関節の最大の変化 0.0° 届いた 待ち 0.24秒 送り直し 0回 38.51s j3 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 1.07秒 送り直し 2回 41.15s j3 +1° → 動いた 0.27° ほかの関節の最大の変化 0.97° 動かなかった 待ち 1.09秒 送り直し 2回 43.28s j3 +1° → 動いた 0.97° ほかの関節の最大の変化 0.0° 手前で止まった 待ち 0.3秒 送り直し 0回 47.60s j3 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 1.06秒 送り直し 2回 49.24s j3 -1° → 動いた -0.8° ほかの関節の最大の変化 1.23° 手前で止まった 待ち 0.4秒 送り直し 0回 54.39s j3 +1° → 動いた 0.35° ほかの関節の最大の変化 1.14° 手前で止まった 待ち 1.27秒 送り直し 2回 56.49s j3 +1° → 動いた 1.05° ほかの関節の最大の変化 0.09° 手前で止まった 待ち 0.37秒 送り直し 0回 57.33s j3 +1° → 動いた 0.0° ほかの関節の最大の変化 0.09° 動かなかった 待ち 1.05秒 送り直し 2回 59.55s j4 -1° → 動いた -1.41° ほかの関節の最大の変化 0.71° 届いた 待ち 0.02秒 送り直し 0回 64.03s j4 +1° → 動いた 0.18° ほかの関節の最大の変化 1.14° 動かなかった 待ち 1.02秒 送り直し 2回 71.15s j5 -1° → 動いた -0.35° ほかの関節の最大の変化 1.05° 手前で止まった 待ち 0.41秒 送り直し 0回 81.45s j5 +1° → 動いた 0.35° ほかの関節の最大の変化 1.23° 手前で止まった 待ち 0.31秒 送り直し 0回 83.97s j5 -1° → 動いた 0.17° ほかの関節の最大の変化 0.71° 動かなかった 待ち 1.04秒 送り直し 2回 88.34s j2 -1° → 動いた -2.02° ほかの関節の最大の変化 1.75° 手前で止まった 待ち 0.62秒 送り直し 0回 91.49s j2 +1° → 動いた 0.61° ほかの関節の最大の変化 1.24° 届いた 待ち 0.09秒 送り直し 0回 97.63s j1 -1° → 動いた 0.0° ほかの関節の最大の変化 0.97° 動かなかった 待ち 0.99秒 送り直し 2回 100.24s j1 +1° → 動いた 0.0° ほかの関節の最大の変化 0.26° 動かなかった 待ち 1.01秒 送り直し 2回 103.86s j1 +1° → 動いた 0.88° ほかの関節の最大の変化 0.09° 届いた 待ち 0.1秒 送り直し 0回 105.79s j0 -1° → 動いた -0.44° ほかの関節の最大の変化 0.09° 届いた 待ち 0.17秒 送り直し 0回 107.89s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.01秒 送り直し 0回 115.19s j0 -1° → 動いた 0.0° ほかの関節の最大の変化 1.15° 動かなかった 待ち 0.98秒 送り直し 2回 116.43s j0 -1° → 動いた -1.84° ほかの関節の最大の変化 0.09° 届いた 待ち 0.16秒 送り直し 0回 122.16s j1 -1° → 動いた 0.0° ほかの関節の最大の変化 0.88° 動かなかった 待ち 0.99秒 送り直し 2回 125.64s j1 +1° → 動いた 0.71° ほかの関節の最大の変化 1.41° 届いた 待ち 0.2秒 送り直し 0回 129.65s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 1.01秒 送り直し 2回 130.89s j0 +1° → 動いた 2.72° ほかの関節の最大の変化 1.06° 届いた 待ち 0.17秒 送り直し 0回 134.28s j1 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 0.98秒 送り直し 2回 137.10s j4 -1° → 動いた -0.26° ほかの関節の最大の変化 3.69° 動かなかった 待ち 1.02秒 送り直し 2回 139.57s j4 -1° → 動いた -0.44° ほかの関節の最大の変化 1.41° 手前で止まった 待ち 0.58秒 送り直し 0回 142.86s j0 +1° → 動いた -1.93° ほかの関節の最大の変化 1.93° 届いた 待ち 0.09秒 送り直し 0回 144.54s j0 -1° → 動いた -0.88° ほかの関節の最大の変化 0.08° 届いた 待ち 0.17秒 送り直し 0回 197.21s j4 -1° → 動いた -1.32° ほかの関節の最大の変化 0.09° 届いた 待ち 0.81秒 送り直し 0回 198.45s j4 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 1.01秒 送り直し 2回 -- 止める処理: 止める前に読んだ角度から, 止めたあとに読んだ角度までの差 (6 関節) 3.69s release j0 差 [-7.56, 0.88, 0.7, 0.6, 1.32, 0.0] 送り直し None 10.35s release j2 差 [-0.09, -0.26, -13.1, -0.09, -0.44, 0.0] 送り直し None 13.44s release j2 差 [0.0, 0.88, 2.2, 0.0, 1.58, 0.0] 送り直し None 27.22s release j0 差 [7.47, 0.0, 0.0, 0.0, 0.0, -0.09] 送り直し None 40.20s release j3 差 [0.18, 0.79, 0.69, -5.54, 1.32, 0.0] 送り直し None 47.03s release j3 差 [0.09, 0.79, 0.8, 0.18, -0.18, 0.0] 送り直し None 53.00s release j3 差 [0.09, 0.7, 0.62, -8.26, 1.06, 0.0] 送り直し None 57.13s released_while_sending j3 差 [-0.09, 0.0, 0.0, 3.34, -0.44, 0.0] 送り直し None 63.53s hold_not_sent j4 差 [0.09, 0.61, 0.44, 0.0, -0.36, 0.0] 送り直し None 66.90s release j4 差 [0.18, 0.88, 0.69, 0.0, 8.27, 0.0] 送り直し None 80.04s release j5 差 [0.18, 1.14, 0.88, 0.18, 0.53, -14.67] 送り直し None 83.05s release j5 差 [0.0, 0.0, 0.0, 0.0, 0.0, 8.52] 送り直し None 91.19s release j2 差 [0.0, -0.17, -11.51, 0.09, -0.62, -0.09] 送り直し None 94.10s release j2 差 [0.18, 0.88, 7.37, 0.0, 1.41, 0.0] 送り直し None 99.86s release j1 差 [0.09, -4.92, 0.0, -0.08, -1.05, 0.0] 送り直し None 101.91s release j1 差 [-0.09, 15.3, 0.0, 0.0, 0.09, 0.0] 送り直し None 105.25s release j1 差 [0.09, 3.87, 0.8, 0.0, 1.58, -0.09] 送り直し None 107.62s release j0 差 [-10.02, 0.97, 0.62, 0.96, 1.23, 0.0] 送り直し None 114.00s release j0 差 [4.13, 1.15, 0.88, -0.88, 1.5, 0.0] 送り直し None 120.80s release j0 差 [0.71, 1.15, 0.79, -0.36, 1.41, -0.09] 送り直し None 125.34s release j1 差 [0.18, -7.82, 0.44, 0.0, 0.17, 0.0] 送り直し None 128.58s release j1 差 [-0.09, 9.4, 0.62, 0.17, 1.31, 0.0] 送り直し None 133.66s release j0 差 [4.92, 1.14, 0.62, -0.27, 1.41, -0.09] 送り直し None 138.42s release j4 差 [0.0, 1.14, 0.44, 0.09, -0.97, 0.0] 送り直し None 141.40s release j4 差 [0.0, 1.23, 0.62, 0.09, -10.9, 0.0] 送り直し None 144.21s release j0 差 [11.25, 0.0, 0.0, -0.79, 0.0, 0.0] 送り直し None 146.64s release j0 差 [-6.68, 1.14, 0.61, 0.35, 1.59, 0.0] 送り直し None 201.64s release j4 差 [0.0, 0.79, 0.79, 0.0, -0.52, 0.0] 送り直し None -- 受付なし 13 回. そのとき動いていた仕事: {'move': 2, 'halt': 5, 'move(長押し)': 6} ``` ## 17:08 押した瞬間には送らず、離したら1刻み・押し続けたら長押しのどちらかだけを送る形にした（受付なし 13回→0回） 残っていたのは、十字キーの向きを変えたときの細かい動きです。今までは、押すとまず1°動き、0.4秒押し続けたら長押しの動きに変わっていたので、向きを変えるたびに、1°動いて少し止まってから動き出す形になっていました。さらに、前の長押しを止める処理と重なると、押した瞬間の1回が受付なしになっていました。 - 押した瞬間には送らない。0.4秒より前に離せば1刻み、押し続ければ長押しの、どちらか片方だけを送る（commit 452a3b6） - 動いている最中に押した十字キーは捨てず、前の動きや止める処理が終わってから送る。何回か押したときは最後の1回だけで、1秒以内に送れなければ捨てる（あとから急に動かさないため）。爪と HOME は今までどおり、動いている間は受付なし そのかわり、短く押したときは離した瞬間に動くので、今までより0.1〜0.2秒遅れて動き出します。最後の記録では受付なしが0回になり、1回押しの待ちは中央の値で0.17秒でした。1回だけ、1回押しが7.75秒かかった場面が残っています（j1 の2°押しで、最初の送信から送り直しまで約7秒あいていた。原因はまだ調べていない）。 #### teleop_20261105_171125 を1回押しと止める処理ごとに並べた出力 ```text == teleop_20261105_171125 行 235 -- 1 回押し: 送った量と, 動かした関節が動いた量 30.78s j1 +1° → 動いた 2.02° ほかの関節の最大の変化 1.05° 手前で止まった 待ち 0.59秒 送り直し 0回 31.46s j1 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 32.00s j1 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.03秒 送り直し 0回 34.30s j1 +2° → 動いた 0.0° ほかの関節の最大の変化 1.84° 動かなかった 待ち 7.75秒 送り直し 2回 42.25s j1 -1° → 動いた 0.88° ほかの関節の最大の変化 0.35° 手前で止まった 待ち 0.3秒 送り直し 0回 44.90s j2 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 1.02秒 送り直し 2回 46.01s j2 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 46.93s j2 +1° → 動いた 1.49° ほかの関節の最大の変化 0.0° 届いた 待ち 0.17秒 送り直し 0回 48.05s j2 +1° → 動いた 0.35° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 48.89s j2 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回 50.04s j2 +2° → 動いた 1.58° ほかの関節の最大の変化 0.0° 届いた 待ち 0.16秒 送り直し 0回 50.95s j2 +2° → 動いた 1.5° ほかの関節の最大の変化 0.0° 届いた 待ち 0.17秒 送り直し 0回 52.14s j2 +2° → 動いた 1.49° ほかの関節の最大の変化 0.0° 届いた 待ち 0.16秒 送り直し 0回 53.18s j2 +2° → 動いた 2.02° ほかの関節の最大の変化 0.0° 手前で止まった 待ち 0.6秒 送り直し 0回 -- 止める処理: 止める前に読んだ角度から, 止めたあとに読んだ角度までの差 (6 関節) 3.06s release j0 差 [-9.84, 0.0, 0.0, 0.0, 0.0, 0.0] 送り直し None 6.72s release j0 差 [15.11, 0.97, 0.88, -0.09, 1.49, 0.0] 送り直し None 10.85s release j2 差 [0.0, 0.18, -4.04, 0.0, 0.61, 0.0] 送り直し None 13.29s release j2 差 [0.0, 0.96, 3.6, 0.0, 1.5, 0.0] 送り直し None 17.58s release j4 差 [0.0, 0.79, 0.71, 0.0, 8.7, 0.0] 送り直し None 22.03s release j4 差 [0.0, 0.96, 0.87, 0.0, 1.23, 0.0] 送り直し None 26.51s release j1 差 [0.0, -4.04, -0.09, 0.0, -0.35, 0.0] 送り直し None 29.95s release j1 差 [-0.08, 2.11, 0.96, 0.0, 1.76, 0.0] 送り直し None 56.94s release j0 差 [-3.87, 1.14, 0.35, 0.97, 1.4, 0.17] 送り直し None 60.59s release j0 差 [6.95, 1.05, 0.44, -0.62, 1.23, -0.08] 送り直し None 257.83s controller_disconnected jNone 差 [-0.09, 1.05, 0.79, 0.09, 1.48, 0.0] 送り直し None -- 受付なし 0 回. そのとき動いていた仕事: {} ``` ## 7本の記録を同じ数え方で並べた表 #### 7本の記録の比べ（src/teleop_stats.py の出力） ```markdown | 記録 | 行 | 1回押し 送った | 動かした関節が0.3°以上動いた | 受付なし | 止める | 長押しの目標を送った回数 | 1回押しの待ち 中央/最大(秒) | 起動時と終わりの j1 | |---|---|---|---|---|---|---|---|---| | 160038 | 376 | 30 | 4 | 4 | 29 | 103 | 0.02 / 0.34 | +4.83 → +37.00 | | 161347 | 118 | 12 | 7 | 10 | 6 | 16 | 1.73 / 8.11 | +40.07 → +46.75 | | 162224 | 86 | 10 | 6 | 22 | 2 | 15 | 2.79 / 8.85 | +1.58 → +2.98 | | 163144 | 326 | 29 | 20 | 40 | 12 | 84 | 2.79 / 13.00 | +1.49 → +1.14 | | 163620 | 386 | 48 | 27 | 28 | 22 | 104 | 0.18 / 5.59 | +1.14 → +2.54 | | 170313 | 549 | 52 | 32 | 13 | 28 | 138 | 0.34 / 1.27 | +1.31 → +2.54 | | 171125 | 235 | 14 | 8 | 0 | 11 | 58 | 0.17 / 7.75 | +1.49 → +30.67 | ``` 1回押しの「動いた」は、動かした関節が0.3°以上動いた回数です。最後の記録の j1 が30.67°で終わっているのは、j1 を長押しで動かしたためで、ずれではありません。 ## なめらかさは speed 20 以上でしか出ないが、修正に使うには足りている 送り方をいろいろ変えても、mechArm 270 のサーボはゆっくり動かすと0.2秒ごとに進んで止まります。長押しで大きく運び、1回押しの1°・2°で合わせる形なら、AI の動きを直す道具としては足りていると判断しました。 【図解】LOG446_hold_and_step.html ## 次に確かめること | 順番 | 確かめること | 見る数字 | |---|---|---| | 1 | π0.5 の実機推論で失敗しかけたところを、このゲームパッドで直す | 1回の直しにかかった時間・直した回数 | | 2 | daemon の読み直しを速くしたあと、推論の動きの合間が短くなったか | 推論の1回の送信の返り・1つの動作にかかる時間 | | 3 | 1回押しが7秒以上かかった場面の原因 | その送信の前後の daemon のログ | | 4 | 十字キーの右で根元がどちらに回るか（今は右がプラス）を決める | ― | ## 18:00 LinkedIn の自動投稿のトークンを作り直した この回の SNS を予約したとき、LinkedIn の自動投稿に使うトークン（投稿してよいという合図の文字列）が12月23日ごろに切れることが分かりました。トークンは60日で切れます（2026-10-24 に作ったもの）。そのままだと、それより後に予約した LinkedIn の投稿（この回の分は2027年1月6日）は出ません。そこで、この場で作り直しました。 | 順番 | やったこと | だれが | |---|---|---| | 1 | LinkedIn の開発者ページ（[LinkedIn Developers](https://www.linkedin.com/developers/apps)）で、App「Pixels to Motors Autopost」の OAuth Token Tools を開き、scope に `openid`・`profile`・`w_member_social` を選んでトークンを作った | 人 | | 2 | トークンを KIOXIA の `keys/linkedin_token.txt` に保存した（チャットには貼らない） | 人 | | 3 | 中身を画面に出さずに、LinkedIn の `https://api.linkedin.com/v2/userinfo` に問い合わせ、使えることを確かめた | Claude | | 4 | GitHub の r2r2r-content の Actions の Secret `LINKEDIN_ACCESS_TOKEN` を、ブラウザで上書きした（Update secret） | 人 | | 5 | 次に切れる前の 2026-12-31 10:00 に、作り直しのリマインダーを予約した | Claude | 4は、はじめ Claude が代わりにやるつもりでしたが、Claude の作業環境から GitHub へつなぐ経路では、Actions の Secret をさわれない決まりになっていました。そのときの返事です（トークンの中身は出していません）。 #### Claude の作業環境から Secret を上書きしようとしたときの返事 ```text failed to fetch public key: HTTP 403: Access to this GitHub Actions path is not permitted through this proxy. (https://api.github.com/repos/PixelstoMotors/r2r2r-content/actions/secrets/public-key) ``` #### トークンが使えるかを確かめたときの出力 ```text トークンは有効 True ``` 次にトークンが切れるのは2027年1月4日ごろです。作り直しは、上の1・2・4を人がブラウザで行い、3を Claude が確かめる形になります。 ## この回のコード（全文） ### gamepad_teleop.py（commit 452a3b6） #### tools/gamepad_teleop.py ```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. 短く押せば 1 刻み. (2026-11-05: 押した瞬間には送らない. 0.4 秒より前に離せば 1 刻み, 押し続ければ長押しの どちらか片方だけを送る. 動いている間に押した十字キーは, 最後の 1 つだけ 終わってから送る) (2026-11-05 作り直し. 3° 先を 0.1 秒おきに送り直す形はカクついた. jog_probe の 3 回の実機で, 送り直すたびに加速からやり直すこと, ゆっくりの速さではどの命令も 0.2 秒ごとに止まることが分かった) 押して HOLD_START_SEC (0.4 秒) たっても押していれば, 「いま読んだ角度から HOLD_AHEAD_DEG (15°) 先」を speed 20 (毎秒約 40°) で 1 回だけ送り, アーム自身の加速・減速で動かす. HOLD_INTERVAL_SEC (0.1 秒) おきに 角度を読み, 目標まで残り HOLD_REFILL_DEG (5°) 以下になったら次の 15° 先を送る. 離したら daemon の stop (jog_stop と stop) を送って, その場で止める (行きすぎは実機で約 3°). stop が届かなくても, アームは送ってある目標 (最大 15° 先) で止まる. 長押しの送信では届いたかを待たない. 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 2026-11-05 から, 停止のときも daemon の stop を送り, 動いている途中の動き (HOME を含む) も止める 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: - 十字キー (1 刻み・長押し) は, 動かす関節だけを send_angle で送る (2026-11-05. ほかの関節には指令を送らない). HOME は send_angles で 6 関節. 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 daemon の stop で止める (2026-11-05 に daemon へ stop を足した. tools/daemon_add_stop.sh. stop のない古い daemon なら, 今の角度へ send_angles して止める. ただしこれは実機で効かない回があった) 1 回の出発点 (2026-11-05 に関節ごとにした): 関節ごとに, 直前の指令と送る前に読んだ角度が 3° 以内なら 指令, 離れていれば 読んだ角度 (start_pose). 動かす関節は, 直前の指令に届いていなければ 読んだ角度. 長押しを止めたあとは何も送らない. 止まった関節だけ止まった角度を指令にし, ほかの関節の指令は変えない (重さで下がった分を出発点にすると, 止めるたびにずれが積み上がった. 下がった j1 を指令へ送り直す形は, 届かない指令のせいで次の指令が無視されやすくなったので 11/5 16:13 にやめた). 動かさない関節は, 指令と読んだ角度が 10° 以内なら指令のまま (START_FALLBACK_DEG). 1 刻みの「届いた」は, 動かした関節だけを見て 0.5° 以内 (STEP_REACH_TOL_DEG). 動かなければ 3 回まで送り直し, それでも動かなければ戻る. 長押しで目標の手前で止まったら, 0.3 秒で同じ目標を送り直す (3 回まで). (以前の説明: 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 daemon_request = 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 global daemon_request 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 daemon_request = _vsp._daemon_request 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°) STEP_REACH_TOL_DEG = 0.5 # 1 刻み (1°・2°) で, 動かした関節が届いたかの判定 (2026-11-05. 3° では動かなくても「届いた」になり, # 1° と 2° の違いが出なかった. 実機の記録で 1 刻みの 30 回中 23 回は 1 ° も動いていなかった) # ---- 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 STEP_PENDING_MAX_SEC = 1.0 # 離したときの 1 刻みを, 前の仕事が終わるまで待つ上限 (古い押しを後から動かさない) HOLD_INTERVAL_SEC = 0.1 # 長押しで目標を送り直す間隔 HOLD_AHEAD_DEG = 15.0 # 長押しの目標 = 読んだ角度からこれだけ先 (2026-11-05 に 3 → 15. 離すと stop で止める) HOLD_REFILL_DEG = 5.0 # 目標まで残りがこれ以下になったら次の目標を送る (送るたびに加速からやり直すので, 送る回数を減らす) HALT_SETTLE_SEC = 0.1 # stop を送ってから角度を読むまで (11/5 に 0.3 → 0.1. 止める間に押した操作が受付なしになっていた) STEP_POLL_SEC = 0.05 # 1 刻みで角度を読む間隔 (11/5. 0.3 秒おきでは, 届いたと分かるまで毎回 0.3 秒以上かかった) STEP_SETTLE_SEC = 0.25 # 1 刻みで動き出したあと, これだけ角度が変わらなければ「止まった」として戻る # (重さで 1〜2° 手前で止まる関節で, 届くのを 8 秒待って受付なしが続いた) STEP_IGNORED_CHECK_SEC = 0.3 # 1 刻みで動き出さなければ送り直すまで (6 関節の送り方の 0.5 秒より短く) STEP_MAX_RESENDS = 2 # 1 刻みの送り直しの上限 (動かないときに 3 秒近く待たないように) HOLD_STALL_SEC = 1.5 # 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 (11/5 に 1.0 → 1.5. 送り直す間を持たせる) HOLD_RESEND_AFTER_SEC = 0.3 # 長押しで目標の手前で止まったら (この時間たっても前の読みから動いていない), 同じ目標を送り直す HOLD_MAX_RESENDS = 3 # 1 つの目標を送り直す回数の上限 START_FALLBACK_DEG = 10.0 # 動かさない関節は, 指令と読んだ角度がこれより離れていなければ 指令のまま (重さで 3〜6° 下がるのを拾わない) HOLD_STALL_DEG = 0.3 DRY_HOLD_MAX_DEG = 1.5 # ドライランの長押しで 1 回読むごとに目標へ寄せる量 (0.1 秒おきに読むので 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 start_pose(cmd, measured): """次の出発点: 関節ごとに, 指令と読んだ角度が START_FALLBACK_DEG (10°) 以内なら指令, 離れていれば読んだ角度. (11/5: 3° にしていたら, 腕を伸ばした姿勢で j1 が重さで 3〜6° 下がり, 読んだ角度を拾ってずれが積み上がった) (重さで 1〜2° 沈んだ分を読んだ角度でなぞると, 送るたびにずれが積み上がる. 2026-11-05. 手で動かされた・止められたなど 3° より離れていれば, 古い指令から大きく動かさない)""" cmd = np.asarray(cmd, dtype=float) q = np.asarray(measured, dtype=float) return np.where(np.abs(cmd - q) <= START_FALLBACK_DEG, cmd, q) 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 @staticmethod def _send(target, joint): """joint があれば その関節だけ send_angle で送る (ほかの関節には指令を送らない. 2026-11-05 の jog_probe small で 12 回中 12 回動き, 動いた量もそろった. 6 関節まとめて送ると, 重さで下がった関節の指令とぶつかって ゲームパッドでは動かないことが多かった). joint が None (HOME) なら send_angles で 6 関節.""" if joint is None: return daemon_send_angles([float(v) for v in target], speed=SPEED, wait=rpc.SEND_WAIT, timeout_override=SEND_RPC_TIMEOUT_SEC) resp = daemon_request({"cmd": "send_angle", "joint_id": int(joint) + 1, "angle": float(target[joint]), "speed": SPEED, "wait": rpc.SEND_WAIT}, timeout_override=SEND_RPC_TIMEOUT_SEC) if not resp.get("ok"): raise RuntimeError(f"send_angle: {resp.get('error')}") return resp def send_and_check(self, target, gate, quitting, check=True, joint=None): """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: self._send(target, joint)) 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: self._send(target, joint)) 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 step = joint is not None check_sec = STEP_IGNORED_CHECK_SEC if step else IGNORED_CHECK_SEC max_resends = STEP_MAX_RESENDS if step else IGNORED_MAX_RESENDS poll = STEP_POLL_SEC if step else POLL_SLEEP q_seen, t_change = None, t0 # 1 刻み: 動かした関節の角度が最後に変わった時刻 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)) if gate.cancel.is_set(): # 停止 (L2+R2) が入った: 届くのを待たずに戻り, すぐに stop を送らせる (2026-11-05 レビュー 必須 1) return dict(base, reached=None, halted_during_check=True, reached_angles=_r(last), reach_err=None if err is None else round(err, 3), elapsed_sec=round(time.monotonic() - t0, 2)) 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) err_j = None if joint is None else abs(float(a[joint] - target[joint])) # 1 刻みは 動かした関節だけで判定する (ほかの関節は重さで 3〜6° 下がっていても「届いた」にする. 11/5) if (err_j <= STEP_REACH_TOL_DEG) if err_j is not None else (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 joint is None else abs(float(a[joint] - pre[joint])) if step: if q_seen is None or abs(float(a[joint]) - q_seen) > 0.05: q_seen, t_change = float(a[joint]), time.monotonic() elif moved >= IGNORED_MOVE_DEG and time.monotonic() - t_change >= STEP_SETTLE_SEC: # 動き出して止まった (重さで手前で止まった): 待たずに戻る. 指令はこの目標のまま (次の押しはこの先から) return dict(base, reached=False, settled=True, reached_angles=_r(a), reach_err=round(err, 3), elapsed_sec=round(time.monotonic() - t0, 2)) if (len(resends) >= max_resends and moved < IGNORED_MOVE_DEG and time.monotonic() - t_last_send >= check_sec): # 送り直しても動かない: 待ちの上限 (8 秒) まで待たずに戻る return dict(base, reached=False, not_moved=True, reached_angles=_r(a), reach_err=round(err, 3), elapsed_sec=round(time.monotonic() - t0, 2)) if (len(resends) < max_resends and moved < IGNORED_MOVE_DEG and time.monotonic() - t_last_send >= 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: self._send(target, joint)) 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) 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 halt(self): """動いている途中で止める (2026-11-05). daemon の stop (jog_stop と stop). stop のない古い daemon なら 今の角度へ send_angles する. そのあと HALT_SETTLE_SEC 待って角度を読む. 停止の鍵 (SendGate) は通さない (止める命令は停止のあとにも送る). 送れなくても停止にはしない (止める → 失敗 → 止める の繰り返しを避ける).""" t_send = time.time() out = {"t_halt": t_send} try: resp = daemon_request({"cmd": "stop"}, timeout_override=SEND_RPC_TIMEOUT_SEC) except Exception as e: resp = None out["halt_error"] = f"{type(e).__name__}: {e}" if resp is not None and resp.get("ok"): out.update(halt="stop", halt_result=resp.get("result")) else: if resp is not None: out["halt_daemon_resp"] = resp q = self.read() if q is not None: try: daemon_send_angles([float(v) for v in q], speed=SPEED, wait=rpc.SEND_WAIT, timeout_override=SEND_RPC_TIMEOUT_SEC) out["halt"] = "send_current" except Exception as e: out["halt_error"] = f"{type(e).__name__}: {e}" else: out["halt_error"] = out.get("halt_error") or "read_failed" time.sleep(HALT_SETTLE_SEC) out["measured_after_halt"] = _r(self.read_once()) # 読めなくても読み直さない (11/5. 止める処理が 11 秒かかった) return out def read_once(self): """daemon に 1 回だけ角度を聞く (Mac 側では読み直さない). 読めなければ None.""" try: resp = daemon_request({"cmd": "get_angles"}, timeout_override=SEND_RPC_TIMEOUT_SEC) except Exception: return None a = resp.get("angles") if resp.get("ok") else None return np.array([float(v) for v in a]) if a is not None and len(a) == 6 else None 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() self.hold_target = None # 長押しで送った目標. 読むたびに DRY_HOLD_MAX_DEG ずつ寄せる def read(self): if self.hold_target is not None: self.q = self.q + np.clip(self.hold_target - self.q, -DRY_HOLD_MAX_DEG, DRY_HOLD_MAX_DEG) return self.q.copy() def halt(self): self.hold_target = None return {"halt": "dry", "measured_after_halt": _r(self.q), "dry": True} def send_and_check(self, target, gate, quitting, check=True, joint=None): 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: 読むたびに少しずつ目標へ寄せる (待たない) self.hold_target = np.asarray(target, dtype=float).copy() return {"sent": True, "reached": None, "no_check": True, "t_send": t_send, "dry": True} self.hold_target = None 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 self.hold_last_sent_id = None # 長押しの目標を送った長押しの id (その長押しが終わったら止める) self.hold_sent = None # 最後に送った長押しの目標 {q (送る前に読んだ角度), t, resent} self.halt_pending = None # 止める命令を送る予定 {reason, hold_id, measured_at_request} self.step_pending = None # 離したときの 1 刻みで, 前の仕事が終わるのを待っているもの # ---- 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, reason="hold_end"): 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"（目標を {h['n_sent']} 回送信。止めます）") if msg: self.out(msg) if self.hold_last_sent_id == h["id"]: # 長押しの目標 (最大 15° 先) へ向かって動いているので止める (離した・停止・端・進まない・ほかのボタン) self.request_halt(reason, hold_id=h["id"], joint=h["joint"]) self.hold = None def request_halt(self, reason, hold_id=None, joint=None): """止める命令を送る予定にする. 送っている仕事があれば, それが終わってすぐに送る (daemon の通信は 1 本なので). joint: 長押しで動かしていた関節 (止めたあと, ほかの関節を指令の角度へ戻すため).""" if self.halt_pending is None: self.halt_pending = {"reason": reason, "hold_id": hold_id, "joint": joint, "measured_at_request": _r(self.measured)} self.hold_last_sent_id = None self.hold_sent = None self._dispatch_halt() def _dispatch_halt(self): if self.halt_pending is None or self.busy: return hp = self.halt_pending self.halt_pending = None e = self._entry(None, "halt", accepted=True, halt_reason=hp["reason"], hold_id=hp["hold_id"], halt_joint=hp.get("joint"), measured_at_request=hp["measured_at_request"]) self.busy = True self.pending = e self.gate = None # 止める命令は停止の鍵で取り消さない snap = {"cmd": self.cmd.copy(), "cmd_reached": self.cmd_reached, "hold_last_sent_id": None, "halt_joint": hp.get("joint")} self.spawn(lambda: self._run_job(("halt",), snap, SendGate())) 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 if e.get("sent") is True: 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）", reason="hold_stall") def enter_stop(self, reason, button=None, kind="stop"): was = self.stopped self.stopped = True self._end_hold(reason="stop") 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 stop で止めます" 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() if not was: # 動いている途中の動き (長押し・HOME・1 刻み) を止める. 止まっている腕に送っても何も起きない self.request_halt(reason) 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 if self.stopped: self._request(self._entry(button, "move", joint=j, delta=sign * self.step), ("move", j, 0.0, None)) return # 停止中: 受付なしを 1 行書くだけ (_request が断る) # 2026-11-05: 押した瞬間には送らない. 離したのが HOLD_START_SEC より前なら 1 刻み (release), # 押し続けたら長押し (tick) の, どちらか片方だけを送る. 押した瞬間に 1 刻みを送ると, # 向きを変えるたびに「1° 動く → 止まる → 動き出す」になり, 前の長押しを止める処理とも重なって受付なしになった 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 - HOLD_INTERVAL_SEC} 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"] and self.hold["n"] == 0: # 長押しになる前に離した: 1 刻みを送る (動いている間なら, 終わってから送る. 1 秒たったら捨てる) h = self.hold self.hold = None self.step_pending = {"button": button, "joint": h["joint"], "delta": h["sign"] * self.step, "hold_id": h["id"], "at": now} self._dispatch_step(now) elif self.hold is not None and button == self.hold["button"]: hid = self.hold["id"] self._end_hold(reason="release") # 離したら長押しを止める (目標を送っていれば stop も送る) 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 _dispatch_step(self, now=None): sp = self.step_pending if sp is None or self.busy or self.halt_pending is not None: return self.step_pending = None if now is not None and now - sp["at"] > STEP_PENDING_MAX_SEC: self._finish(self._entry(sp["button"], "move", joint=sp["joint"], delta=sp["delta"], accepted=False, reason="step_expired")) return e = self._entry(sp["button"], "move", joint=sp["joint"], delta=sp["delta"], hold_id=sp["hold_id"], hold_n=0) self._request(e, ("move", sp["joint"], sp["delta"], None)) def tick(self, now): self._dispatch_halt() self._dispatch_step(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, "hold_last_sent_id": self.hold_last_sent_id, "hold_sent": None if self.hold_sent is None else dict(self.hold_sent)} 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 = start_pose(cmd, q) # ほかの関節は 関節ごとに 指令から (3° 以内なら) start[j] = q[j] res["start_source"] = "hold" if gap_o <= REACH_TOL_DEG else "mixed" res["cmd_gap_deg"] = round(gap_o, 3) res["hold_lead_deg"] = round(abs(float(cmd[j] - q[j])), 3) lead = float(cmd[j] - q[j]) * float(np.sign(d)) hs = snap.get("hold_sent") if snap.get("hold_last_sent_id") == hold_id and lead > HOLD_REFILL_DEG: if (hs is not None and hs["resends"] < HOLD_MAX_RESENDS and time.monotonic() - hs["t"] >= HOLD_RESEND_AFTER_SEC and abs(float(q[j]) - float(hs["last_q"][j])) < IGNORED_MOVE_DEG): # 目標の手前で止まった (次の目標が無視され, 前の目標で止まった. 11/5 の実機で 3 回): # 待たずに同じ目標を送り直す res["command"] = _r(cmd) res["_target"] = cmd.copy() res["hold_resend"] = True res.update(self.arm.send_and_check(cmd, gate, self.quitting, check=False, joint=j)) return # この長押しの目標へ向かっている途中: 送らない (送るたびに加速からやり直してカクつく) res.update(sent=False, why="lead_ok", hold_remaining_deg=round(lead, 3)) return 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): if snap.get("hold_last_sent_id") == hold_id and lead > REACH_TOL_DEG: # 範囲の端の目標へ向かっている途中: 端まで行かせる (ここで止めると端の手前 5° で止まる) res.update(sent=False, why="lead_ok", hold_remaining_deg=round(lead, 3), at_limit_target=True) return # 範囲の端の目標をもう送ってあり, ほぼ着いた: 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, joint=j)) 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))) cmd0 = np.asarray(snap["cmd"], dtype=float) start = start_pose(cmd0, q) if not snap["cmd_reached"] or abs(float(cmd0[j] - q[j])) > REACH_TOL_DEG: start[j] = q[j] # 動かす関節が届いていない・3° より離れていれば, 読んだ角度から res["start_source"] = "command" if start[j] == cmd0[j] else "measured" # 動かす関節の出発点 res["others_from_measured"] = [k for k in range(6) if k != j and start[k] != cmd0[k]] 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, joint=j)) 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] == "halt": res.update(self.arm.halt()) q = res.get("measured_after_halt") hj = snap.get("halt_joint") if False and q is not None and hj is not None and not self.stopped: # 11/5 16:13 にやめた: 重さで届かない j1 の指令を送ると, そのあとの指令が無視されやすくなった # stop のあと, 動かしていない関節が 1〜2° 下がる (11/5 の記録で j1 +1°・j4 +1.5° 前後, 毎回). # 止まった関節は止まった角度, ほかの関節は指令の角度で送り直して元に戻す. # 戻さずに読んだ角度を次の出発点にすると, 止めるたびにずれが積み上がった (j1 が 5° → 40°) pin = np.asarray(snap["cmd"], dtype=float).copy() pin[hj] = float(q[hj]) lo, hi, _ls, _hs = joint_window() if np.all(pin >= lo - LIMIT_EPS_DEG) and np.all(pin <= hi + LIMIT_EPS_DEG): res["pin_command"] = _r(pin) res["_pin"] = pin r2 = self.arm.send_and_check(pin, gate, self.quitting, check=False) res["pin_sent"] = r2.get("sent") else: res["pin_command"] = None res["pin_refused"] = "out_of_window" 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] == "halt": self._apply_halt(e, res) return if job[0] == "move" and sent is True and res.get("no_check") and e.get("hold_id") is not None: if self._hold_alive(e["hold_id"]): self.hold_last_sent_id = e["hold_id"] mb = e.get("measured_before") if res.get("hold_resend"): if self.hold_sent is not None: self.hold_sent["resends"] += 1 self.hold_sent["t"] = time.monotonic() if mb is not None: self.hold_sent["last_q"] = list(mb) elif mb is not None: self.hold_sent = {"q": list(mb), "last_q": list(mb), "t": time.monotonic(), "resends": 0} else: # 送っている間に離された・止められた: 送った目標へ動き出しているので止める self.request_halt("released_while_sending", hold_id=e["hold_id"], joint=job[1]) if (job[0] == "move" and res.get("why") == "lead_ok" and self.hold_sent is not None and e.get("measured_before") is not None): self.hold_sent["last_q"] = list(e["measured_before"]) # 次の確かめで「止まったか」を見るため 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) # 1 刻みが送り直しても動かなかったとき (サーボが小さな動きに反応しない) も, 指令はその目標のままにする. # 次の押しはそこから 1 刻み先になるので, 押した分が積み上がって動き出す (3° 離れるまで. start_pose) self.cmd_reached = True if (res.get("no_check") or res.get("not_moved") or res.get("settled")) \ 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 res.get("why") == "lead_ok": self._hold_progress(e, job) # 目標へ向かっている途中 (送っていない). 進み具合だけ見る 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 ("動かなかった（次の押しは この目標の先から）" if res.get("not_moved") else ("手前で止まった（次の押しは この目標の先から）" if res.get("settled") 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 res.get("why") != "lead_ok" and e.get("hold_id") is not None and self._hold_alive(e["hold_id"])): self._end_hold(reason="hold_not_sent") self.gate = None self._finish(e) if res.get("error"): self.enter_stop(f"arm_error: {res['error']}", kind="arm_error") self._dispatch_halt() self._dispatch_step() def _apply_halt(self, e, res): pin = res.pop("_pin", None) e.pop("_pin", None) # _apply で先に e へ入っている (JSON にしない) e.update(res) q = res.get("measured_after_halt") if q is not None: self.measured = np.asarray(q, dtype=float) if pin is not None and res.get("pin_sent") is True: self.cmd = np.asarray(pin, dtype=float) # 止まった関節は止まった角度, ほかは指令のまま self.cmd_reached = True elif q is not None and e.get("halt_joint") is not None: # 長押しを止めた: 止まった関節だけ止まった角度にする. ほかの関節の指令は変えない (重さで下がった分を拾わない) self.cmd[e["halt_joint"]] = float(q[e["halt_joint"]]) self.cmd_reached = True elif q is not None: # 停止 (L2+R2) で HOME などの途中で止めた: 止まった所を指令にする (古い目標へ急に動かさない) self.cmd = np.asarray(q, dtype=float).copy() self.cmd_reached = True else: self.cmd_reached = False before = e.get("measured_at_request") if q is not None and before is not None: d = np.asarray(q, dtype=float) - np.asarray(before, dtype=float) e["moved_after_request_deg"] = _r(d) how = {"stop": "stop", "send_current": "今の角度へ送り直し（daemon に stop がない）", "dry": "ドライラン"}.get(res.get("halt"), "送れなかった") if res.get("halt_error"): self.out(f"[止める] 止める命令を送れませんでした: {res['halt_error']}（L2+R2 で停止・必要なら電源を切ってください）") elif e.get("halt_reason") not in ("release", "hold_end"): self.out(f"[止める] {how}（{e.get('halt_reason')}） 止まった角度 {_fmt(q)}") self.gate = None self._finish(e) self._dispatch_halt() self._dispatch_step() # ---- 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 done and (self.halt_pending is not None or self.hold_last_sent_id is not None or (self.hold is not None and self.hold_last_sent_id == self.hold["id"])): # 長押しの目標へ動いている途中で終わった: stop を 1 回だけ送る (新しく動かす指令ではない. レビュー 推奨 3) try: r = self.arm.halt() except Exception as ex: r = {"halt_error": f"{type(ex).__name__}: {ex}"} self.halt_pending = None self.hold_last_sent_id = None e = self._entry(None, "halt", accepted=True, halt_reason="exit") e.update(r) self._finish(e) 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89件・commit 452a3b6） #### tools/test_gamepad_teleop.py ```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 types import time 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, joint=None): 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 halt(self): self.halts = getattr(self, "halts", 0) + 1 return {"halt": "stop", "measured_after_halt": gt._r(self.q)} 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, joint=None): 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 halt(self): self.halts = getattr(self, "halts", 0) + 1 self.target = self.q.copy() # stop: その場で止まる return {"halt": "stop", "measured_after_halt": gt._r(self.q)} 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 (2026-11-05 作り直し): 0.4 秒で「読んだ角度 + 15° 先」を 1 回送り, 0.1 秒おきに読んで, 残り 5° 以下になったら次の 15° 先を送る. 届くのを待たない. 長押しが終わったら stop を送る.""" 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() # 押した瞬間には送らない (11/5) for t in (0.1, 0.3, 0.39): tp.tick(t); tp.poll() self.assertEqual(len(arm.sent), 0) t = 0.4 for _ in range(30): tp.tick(t); tp.poll() t += 0.1 rows = [r for r in log.rows if r["kind"] == "move" and r.get("hold_n", 0) >= 1] sends = [r for r in rows if r.get("sent") is True] waits = [r for r in rows if r.get("why") == "lead_ok"] self.assertGreaterEqual(len(sends), 2) # 30 回読んで, 送ったのは数回だけ self.assertLessEqual(len(sends), 4) self.assertEqual(len(arm.sent), len(sends)) # 1 刻みは送らない (長押しだけ) self.assertEqual(len(sends) + len(waits), 30) for r in sends: # 動かす関節は 読んだ角度 + 15°, 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"]) for r in waits: # 送らなかったのは, 残りが 5° より多いとき self.assertGreater(r["hold_remaining_deg"], gt.HOLD_REFILL_DEG) for r in sends[1:]: # 次を送ったのは, 残りが 5° 以下になってから self.assertLessEqual(r["hold_lead_deg"], gt.HOLD_REFILL_DEG + 1e-9) n = len(arm.sent) tp.release(gt.BTN_RIGHT, t) tp.poll() for t2 in (t + 0.2, t + 0.5): tp.tick(t2); tp.poll() self.assertEqual(len(arm.sent), n) # 離したら stop だけ (送り直しはしない. 11/5 16:13) self.assertEqual(arm.halts, 1) # 離したら stop を 1 回送る self.assertEqual(arm.sent[-1][1:], HOME[1:]) halt = [r for r in log.rows if r["kind"] == "halt"] self.assertEqual(len(halt), 1) self.assertEqual(halt[0]["halt_reason"], "release") self.assertTrue(any("[長押し] j0" in o for o in out)) # 離したときに 1 行 q = arm.q.copy() for _ in range(5): arm.read() self.assertTrue(np.allclose(arm.q, q)) # stop のあと動かない self.assertTrue(np.allclose(tp.cmd, q)) # 止まった所が次の出発点 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], -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), 0) 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), 0) self.assertEqual(arm.grips, [0]) 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), 1) 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), 1) 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), 0) self.assertIsNone(tp.hold) def test_limit_ends_hold_without_repeating_lines(self): start = [0.0, 80.0, 0.0, 0.0, 0.0, -30.0] arm = LagArm(start=start, lag_step=0.5) tp, log, out = make_arm(arm) tp.press(gt.BTN_DOWN, 0.0); tp.poll() # 80 → 80.5 tp.tick(0.4); tp.poll() # 読んだ角度 + 15 → 90.87 に切る self.assertAlmostEqual(arm.sent[-1][1], 90.87) t = 0.5 for _ in range(60): # 端へ向かっている間は送らず, 端の手前 3° 以内で長押しを止める if tp.hold is None: break tp.tick(t); tp.poll() t += 0.1 self.assertIsNone(tp.hold) self.assertGreater(arm.q[1], 90.87 - gt.REACH_TOL_DEG - 0.3) # 端の 5° 手前で止めない n_rows = len(log.rows) for t2 in (t + 0.1, t + 0.5, t + 2.0): tp.tick(t2); tp.poll() self.assertEqual(len(arm.sent), 1) # 長押しの 1 回だけ self.assertEqual(len(log.rows), n_rows) refused = [r for r in log.rows if r.get("refused")] self.assertEqual(refused[-1]["refused"][0]["why"], "at_limit") self.assertTrue(any(r.get("at_limit_target") for r in log.rows)) self.assertEqual(arm.halts, 1) 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.assertEqual(log.rows[-1].get("why"), "lead_ok") # 目標へ向かっている途中なので 送らない 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(20): 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 15° まで self.assertLessEqual(len(arm.sent), 2 + gt.HOLD_MAX_RESENDS) # 1 刻み + 長押しの 1 回 + 送り直し (3 回まで) self.assertEqual(arm.halts, 1) # 止めたときに stop を送る 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) tp.poll() # 離したときの stop が終わる 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 TestHalt(unittest.TestCase): """止める命令 (2026-11-05): 長押しの終わり・停止で daemon の stop を送る.""" def test_stop_during_home_sends_halt(self): tp, arm, log, spawned = make([5.0, 0, 0, 0, 0, -30], sync=False) tp.press(gt.BTN_HOME, 0.0); tp.tick(1.0) spawned.pop()(); tp.poll() # HOME を送った (FakeArm はすぐ着くが, 実機は動いている途中) tp.set_triggers(1.0, 1.0) self.assertEqual(len(spawned), 1) # 停止中でも stop は送る spawned.pop()(); tp.poll() self.assertEqual(arm.halts, 1) self.assertTrue(tp.stopped) def test_halt_waits_for_running_job_and_is_not_cancelled(self): tp, arm, log, spawned = make(sync=False) tp.press(gt.BTN_RIGHT, 0.0) tp.tick(0.4) # 長押しの 1 回目 (まだ走らせていない) job = spawned.pop() job(); tp.poll() # 送った tp.tick(0.5) # 読むだけの仕事 check = spawned.pop() tp.release(gt.BTN_RIGHT, 0.55) # 離した: 走っている仕事があるので stop は待つ self.assertEqual(spawned, []) check(); tp.poll() self.assertEqual(len(spawned), 1) # 仕事が終わってから stop tp.set_triggers(1.0, 1.0) # stop を送る前に停止しても, stop は取り消さない spawned.pop()(); tp.poll() self.assertGreaterEqual(arm.halts, 1) def test_halt_pins_other_joints_no_drift(self): # stop のあと j1 が 1° 沈む (11/5 の実機). 止めるたびに 読んだ角度を出発点にすると積み上がった arm = LagArm(start=[0, 30.0, 0, 0, 0, -30], lag_step=5.0) tp, log, out = make_arm(arm) orig_halt = arm.halt def sag_halt(): arm.q[1] += 1.0 arm.target[1] += 1.0 return orig_halt() arm.halt = sag_halt t = 0.0 for _ in range(5): # 長押しを 5 回 tp.press(gt.BTN_RIGHT, t); tp.poll() for k in range(4): tp.tick(t + 0.4 + 0.1 * k); tp.poll() tp.release(gt.BTN_RIGHT, t + 0.8); tp.poll() t += 2.0 self.assertAlmostEqual(tp.cmd[1], 30.0) # 指令の j1 は動かない self.assertTrue(all(abs(s_[1] - 30.0) < 1e-9 for s_ in arm.sent)) halts = [r for r in log.rows if r["kind"] == "halt"] self.assertEqual(len(halts), 5) self.assertTrue(all("pin_sent" not in r for r in halts)) # 止めたあとは何も送らない def test_daemon_arm_step_ignores_other_joints_sag(self): # j1 が重さで 5° 下がっていても, 動かした j0 が着けば「届いた」 (11/5) saved = {k: getattr(gt, k) for k in ("daemon_send_angles", "rpc", "wr", "SPEED", "POLL_SLEEP", "REACH_TIMEOUT_SEC", "daemon_request")} try: gt.daemon_request = lambda c, **k: {"ok": True} gt.rpc = types.SimpleNamespace(SEND_WAIT=0, read_angles=lambda: np.array([1.0, 45.0, 0, 0, 0, -30])) gt.wr = types.SimpleNamespace(_compute_arrival_timeout=lambda d: 8.0) gt.daemon_send_angles = lambda a, **k: None gt.SPEED, gt.POLL_SLEEP, gt.REACH_TIMEOUT_SEC = 20, 0.0, 8.0 r = gt.DaemonArm().send_and_check(np.array([1.0, 40.0, 0, 0, 0, -30]), gt.SendGate(), threading.Event(), joint=0) self.assertTrue(r["reached"]) finally: for k, v in saved.items(): setattr(gt, k, v) def test_daemon_arm_step_settles_short_without_waiting(self): # j2 が重さで 1.6° 手前で止まる: 8 秒待たずに「手前で止まった」で戻る (11/5) saved = {k: getattr(gt, k) for k in ("daemon_send_angles", "rpc", "wr", "SPEED", "POLL_SLEEP", "REACH_TIMEOUT_SEC", "daemon_request")} try: seq = iter([0.0, -0.3, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6] + [-0.6] * 200) gt.rpc = types.SimpleNamespace(SEND_WAIT=0, read_angles=lambda: np.array([0.0, 0, next(seq), 0, 0, -30])) gt.wr = types.SimpleNamespace(_compute_arrival_timeout=lambda d: 8.0) gt.daemon_request = lambda c, **k: {"ok": True} gt.SPEED, gt.POLL_SLEEP, gt.REACH_TIMEOUT_SEC = 20, 0.3, 8.0 t0 = time.monotonic() r = gt.DaemonArm().send_and_check(np.array([0.0, 0, -2.0, 0, 0, -30]), gt.SendGate(), threading.Event(), joint=2) self.assertLess(time.monotonic() - t0, 1.0) self.assertTrue(r["settled"]) self.assertEqual(r["resends"], []) finally: for k, v in saved.items(): setattr(gt, k, v) def test_hold_resends_when_stopped_short(self): # 次の目標が無視されて前の目標の手前で止まった: 0.3 秒たったら同じ目標を送り直す (11/5) arm = LagArm(lag_step=0.0) tp, log, out = make_arm(arm) tp.press(gt.BTN_RIGHT, 0.0); tp.poll() tp.tick(0.4); tp.poll() # 15° 先を送った (でも動かない) tp.hold_sent["t"] -= 1.0 # 送ってから 1 秒たったことにする tp.tick(0.5); tp.poll() self.assertEqual(log.rows[-1].get("hold_resend"), True) self.assertEqual(arm.sent[-1], arm.sent[-2]) # 同じ目標 self.assertEqual(tp.hold_sent["resends"], 1) def test_daemon_arm_step_not_moved_returns_and_resends(self): saved = {k: getattr(gt, k) for k in ("daemon_send_angles", "rpc", "wr", "SPEED", "POLL_SLEEP", "REACH_TIMEOUT_SEC", "IGNORED_CHECK_SEC", "daemon_request")} try: sends = [] gt.rpc = types.SimpleNamespace(SEND_WAIT=0, read_angles=lambda: np.array([0.0, 0, 0, 0, 0, -30])) gt.wr = types.SimpleNamespace(_compute_arrival_timeout=lambda d: 8.0) gt.daemon_send_angles = lambda a, **k: self.fail("1 刻みで 6 関節を送った") gt.daemon_request = lambda c, **k: (sends.append(c) or {"ok": True}) gt.SPEED, gt.POLL_SLEEP, gt.REACH_TIMEOUT_SEC, gt.IGNORED_CHECK_SEC = 20, 0.0, 8.0, 0.01 t0 = time.monotonic() r = gt.DaemonArm().send_and_check(np.array([1.0, 0, 0, 0, 0, -30]), gt.SendGate(), threading.Event(), joint=0) self.assertLess(time.monotonic() - t0, 1.0) # 8 秒待たない self.assertFalse(r["reached"]) # 1° 動かなければ「届いた」にしない (3° の判定では届いたになっていた) self.assertTrue(r["not_moved"]) self.assertEqual(len(sends), 1 + gt.STEP_MAX_RESENDS) self.assertEqual({(c["cmd"], c["joint_id"], c["angle"]) for c in sends}, {("send_angle", 1, 1.0)}) finally: for k, v in saved.items(): setattr(gt, k, v) def test_not_moved_step_accumulates(self): tp, arm, log, _ = make() def nm(target, gate, quitting, check=True, joint=None): gate.run(lambda: arm.sent.append([float(v) for v in target])) return {"sent": True, "reached": False, "not_moved": True, "reached_angles": gt._r(arm.q)} arm.send_and_check = nm press(tp, gt.BTN_RIGHT) press(tp, gt.BTN_RIGHT) self.assertAlmostEqual(arm.sent[-1][0], 1.0) # 動かなくても 押した分は積み上がる (0.5 → 1.0) def test_short_press_does_not_send_halt(self): tp, arm, log, _ = make() press(tp, gt.BTN_RIGHT) tp.tick(0.5); tp.poll() self.assertEqual(getattr(arm, "halts", 0), 0) def test_halt_error_does_not_stop_or_loop(self): tp, arm, log, _ = make() arm.halt = lambda: {"halt_error": "boom", "measured_after_halt": None} tp.press(gt.BTN_RIGHT, 0.0); tp.poll() tp.tick(0.4); tp.poll() tp.release(gt.BTN_RIGHT, 0.5); tp.poll() self.assertFalse(tp.stopped) self.assertFalse(tp.busy) self.assertEqual(sum(r["kind"] == "halt" for r in log.rows), 1) def test_daemon_arm_halt_falls_back_without_stop_cmd(self): calls = [] saved = {k: getattr(gt, k) for k in ("daemon_request", "daemon_send_angles", "rpc", "SPEED", "HALT_SETTLE_SEC")} try: gt.daemon_request = lambda c, timeout_override=None: (calls.append(("req", c)) or {"ok": False, "error": "unknown cmd: stop"}) gt.daemon_send_angles = lambda a, **k: calls.append(("send", a)) gt.rpc = types.SimpleNamespace(SEND_WAIT=0, read_angles=lambda: np.array([1.0, 2, 3, 4, 5, -30])) gt.SPEED = 20 gt.HALT_SETTLE_SEC = 0.0 r = gt.DaemonArm().halt() self.assertEqual(r["halt"], "send_current") self.assertEqual(calls[0], ("req", {"cmd": "stop"})) self.assertEqual(calls[1], ("send", [1.0, 2.0, 3.0, 4.0, 5.0, -30.0])) gt.daemon_request = lambda c, timeout_override=None: {"ok": True, "result": {"jog_stop": 0, "stop": 0}} calls.clear() r = gt.DaemonArm().halt() self.assertEqual(r["halt"], "stop") self.assertEqual(calls, []) finally: for k, v in saved.items(): setattr(gt, k, v) def test_daemon_arm_check_returns_when_stopped(self): # HOME の途中で L2+R2: 届くのを待たずに戻る (戻れば すぐ stop を送れる. レビュー 必須 1) saved = {k: getattr(gt, k) for k in ("daemon_send_angles", "rpc", "wr", "SPEED", "POLL_SLEEP", "REACH_TIMEOUT_SEC")} try: gate = gt.SendGate() reads = [] def read_angles(): reads.append(1) if len(reads) == 3: gate.cancel_now() # 動いている途中で停止 return np.array([20.0, 0, 0, 0, 0, -30]) - len(reads) gt.rpc = types.SimpleNamespace(SEND_WAIT=0, read_angles=read_angles) gt.wr = types.SimpleNamespace(_compute_arrival_timeout=lambda d: 8.0) gt.daemon_send_angles = lambda a, **k: None gt.SPEED, gt.POLL_SLEEP, gt.REACH_TIMEOUT_SEC = 20, 0.0, 8.0 t0 = time.monotonic() r = gt.DaemonArm().send_and_check(np.array(HOME), gate, threading.Event()) self.assertLess(time.monotonic() - t0, 1.0) self.assertTrue(r["halted_during_check"]) self.assertLessEqual(len(reads), 4) finally: for k, v in saved.items(): setattr(gt, k, v) def test_arm_error_also_sends_halt(self): tp, arm, log, _ = make() def bad(target, gate, quitting, check=True, joint=None): gate.run(lambda: None) return {"sent": "unknown", "error": "send_failed: timeout"} arm.send_and_check = bad press(tp, gt.BTN_RIGHT); tp.poll() self.assertTrue(tp.stopped) self.assertEqual(arm.halts, 1) self.assertEqual(sum(r["kind"] == "halt" for r in log.rows), 1) # 失敗しても繰り返さない def test_exit_during_hold_sends_halt_once(self): tp, arm, log, _ = make() tp.press(gt.BTN_RIGHT, 0.0); tp.poll() tp.tick(0.4); tp.poll() # 長押しの目標を送った self.assertTrue(tp.shutdown()) self.assertEqual(arm.halts, 1) self.assertEqual([r for r in log.rows if r["kind"] == "halt"][-1]["halt_reason"], "exit") def test_exit_when_idle_sends_nothing(self): tp, arm, log, _ = make() press(tp, gt.BTN_RIGHT) self.assertTrue(tp.shutdown()) self.assertEqual(getattr(arm, "halts", 0), 0) def test_dry_arm_hold_moves_on_read_and_halt_stops(self): arm = gt.DryArm() tp, log, out = make_arm(arm) tp.press(gt.BTN_RIGHT, 0.0); tp.poll() t = 0.4 for _ in range(20): tp.tick(t); tp.poll() t += 0.1 self.assertGreater(arm.q[0], 15.0) # 読むたびに寄っていく tp.release(gt.BTN_RIGHT, t); tp.poll() q = arm.read().copy() self.assertTrue(np.allclose(arm.read(), q)) 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_while_busy_starts_hold_when_free(self): # 11/5: 動いている間に押して押し続けていれば, 空いてから長押しになる (向きを変えたとき受付なしにしない) 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) self.assertIsNotNone(tp.hold) tp.tick(0.4) # まだ空いていない: 送らない self.assertEqual(len(spawned), 1) spawned.pop(0)() # 爪の仕事が終わる tp.poll() for t in (0.6, 0.8, 1.0): tp.tick(t) while spawned: spawned.pop(0)() tp.poll() self.assertGreaterEqual(len(arm.sent), 1) self.assertAlmostEqual(arm.sent[0][1], gt.HOLD_AHEAD_DEG) 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) tp.tick(0.4) # 長押しの 1 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), 0) 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), 1) 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, check=True, joint=None): 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, check=True, joint=None): 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, []) move = [r for r in log.rows if r["kind"] == "move"][0] self.assertEqual(move["why"], "halted_before_send") self.assertTrue(tp.busy) # 停止の stop を送る仕事 (前の仕事が終わってから) spawned.pop()() tp.poll() self.assertFalse(tp.busy) self.assertEqual(arm.halts, 1) self.assertEqual([r for r in log.rows if r["kind"] == "halt"][0]["halt_reason"], "L2+R2") 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() self.assertEqual(len(spawned), 1) # 最後の十字キー (下) だけ 終わってから送る 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, []) # 動いている間の十字キーは, 最後の 1 つだけ 終わってから送る (11/5). 爪と HOME は受付なし self.assertEqual(arm.sent[0], [0.5, 0, 0, 0, 0, -30]) busy = [r for r in log.rows if r.get("reason") == "busy"] self.assertEqual(len(busy), 2) 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 → 終わってから送る (11/5) 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.assertIn(("move", True), [k[:2] for k in 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"], [1.0, 0, 0, 0, 0, -30]) # 動いている間の押しは 終わってから (11/5) self.assertEqual(moves[2]["command"], [1.0, 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.object(gt, "daemon_request", lambda c, **k: (sends.append(("send_angle", c["joint_id"], c["angle"])) or {"ok": True})), \ 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, [("send_angle", 1, 0.5)]) # 十字キーは動かす関節だけを送る (11/5) 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() ``` ### jog_probe.sh #### 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 "$0")" && pwd)" SET=base case "${1:-}" in "") ;; stop) SET=stop ;; # 2026-11-05: 止め方を比べる (jog_stop / stop / 今の角度へ send_angles) hold) SET=hold ;; # 2026-11-05: 遠い目標を途中で止める・jog_stop の確かさ small) SET=small ;; # 2026-11-05: 1°・2° の小さな動きがどの送り方なら通るか *) echo "使い方: $0 [stop|hold|small]" >&2; exit 2 ;; esac if [ ! -d "$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" [ "$SET" != base ] && OUT="${OUT}_$SET" if [ -e "$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 --set $SET" local rc=$? 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]}" ``` ### jog_probe_pi.py #### 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, jog_stop・stop・今の角度へ send_angles を送ってそのテストを止める。 --set stop (2026-11-05 追加): 1 回目 (11/5 15:34) で, jog_stop のあとも j0 が同じ速さで動き続けたため, 止め方を比べる。jog (speed 5・10) と, 遠い目標への 1 回の send_angles (speed 10・20) を 1 秒動かし, jog_stop / stop / hold (今の角度へ send_angles) のどれで止まるかと, 止める命令のあとに進んだ角度を測る。 jog_angle の向きは, 1 回目の実機で 1 を送ると j0 が減った (説明書きと逆) ので, JOG_DIR で合わせる。 --set hold (2026-11-05 追加): 2 回目 (15:39) で, jog は send_angles では止まらず (hold が効かない), stop は効いたり効かなかったり, jog_stop も 1 回目は効かなかった。遠い目標への send_angles は 1 秒で目標に着いてしまい, 途中で止める試しになっていなかった。そこで, G: 遠い目標 (20°) へ送り, 動いている途中 (0.4〜0.5 秒) で止める (hold / stop) H: jog speed 10 を jog_stop で止めるのを 3 回 (止まる確かさ) を測る。 --set small (2026-11-05 追加): ゲームパッドの 1 刻み (1°・2°) が動いたり動かなかったりする. どの送り方なら 小さな動きが通るかを測る. 腕を少し前に倒した姿勢 SMALL_POSE (j1 が重さで指令より下がる. 11/5 の実機で 3〜6°) で, j0 を ±1° と ±2° ずつ, 次の 3 通りで 6 回ずつ送り, 1 秒のうちに 0.5° 以上動いたかを数える. S1 send_angles: ほかの関節は「いま読んだ角度」 S2 send_angles: ほかの関節は「姿勢の指令の角度」(重さで下がった分とずれている. ゲームパッドの今の送り方) S3 send_angle: j0 だけ (ほかの関節には指令を送らない) 最後に HOME へ戻す。 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 JOG_DIR = {+1: 0, -1: 1} # 11/5 の実機: direction=1 で j0 が減った, 0 で増えた FAR_DEG = 20.0 AFTER_STOP_SEC_STOP_SET = 1.5 FAILS = {"n": 0} SMALL_POSE = [0.0, 40.0, -20.0, 0.0, -30.0, -30.0] # 11/5 16:13 のゲームパッドで実際にいた姿勢に近い SMALL_STEPS = (1.0, 2.0) SMALL_REPEAT = 6 SMALL_WAIT_SEC = 1.0 SMALL_MOVED_DEG = 0.5 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 not (a and len(a) == 6): FAILS["n"] += 1 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) guard_halt(mc, [float(x) for x in a]) return samples, True if on_tick is not None: on_tick(t, [float(x) for x in a]) return samples, False def guard_halt(mc, a): """守りに当たったとき: jog_stop・stop・今の角度への send_angles を全部送る""" for f in (lambda: mc.jog_stop(), lambda: mc.stop(), lambda: mc.send_angles(a, SPEED)): try: f() except Exception: pass def halt(mc, how): """止め方を 1 つだけ使う. hold は今の角度を読んでそこへ send_angles""" if how == "jog_stop": mc.jog_stop() elif how == "stop": mc.stop() elif how == "hold": a = read_angles(mc, tries=3) if a is not None: mc.send_angles(a, SPEED) else: raise ValueError(how) def stop_set_result(mc, start, samples, after, t_cmd, t_stop, sign): s = summarize(samples + after, t_cmd, t_stop, sign) s["read_fails"] = FAILS["n"] q_end = after[-1][1] if after else None s["end_from_start_deg"] = None if q_end is None else round(q_end - start[0], 2) # 止める命令から 1.5 秒のあいだに, 最後に 0.1° より動いた時刻 (止まるまでの時間) return s def test_jog_stopset(mc, start, sign, speed, how): FAILS["n"] = 0 t_cmd = now() mc.jog_angle(1, JOG_DIR[sign], speed) samples, guard = run_sampling(mc, start, JOG_SEC, sign) t_stop = now() if not guard: halt(mc, how) after, _ = run_sampling(mc, start, AFTER_STOP_SEC_STOP_SET, sign) s = stop_set_result(mc, start, samples, after, t_cmd, t_stop, sign) s.update(how=how, speed=speed, guard=guard) return s, samples + after, t_cmd, t_stop def test_far_stopset(mc, start, sign, speed, how, sec=JOG_SEC): FAILS["n"] = 0 target = list(start) target[0] = start[0] + sign * FAR_DEG t_cmd = now() mc.send_angles(target, speed) samples, guard = run_sampling(mc, start, sec, sign) t_stop = now() if not guard: halt(mc, how) after, _ = run_sampling(mc, start, AFTER_STOP_SEC_STOP_SET, sign) s = stop_set_result(mc, start, samples, after, t_cmd, t_stop, sign) s.update(how=how, speed=speed, guard=guard) return s, samples + after, t_cmd, t_stop def test_small(mc, how, step): """j0 を ±step ずつ SMALL_REPEAT 回. 毎回 送る前に読み, 1 秒のあいだ読んで 0.5° 以上動いたかを見る.""" trials = [] sign = +1 for i in range(SMALL_REPEAT): stdin_quit() q = read_angles(mc) if q is None: trials.append({"i": i, "error": "read_failed"}) continue want = q[0] + sign * step if how == "S1": target = list(q) target[0] = want mc.send_angles(target, SPEED) elif how == "S2": target = list(SMALL_POSE) target[0] = want mc.send_angles(target, SPEED) else: mc.send_angle(1, want, SPEED) t0 = now() moved_at, q_end = None, q[0] while now() - t0 < SMALL_WAIT_SEC: a = read_angles(mc, tries=3) if a is not None: q_end = a[0] if moved_at is None and abs(a[0] - q[0]) >= SMALL_MOVED_DEG: moved_at = now() - t0 moved = (q_end - q[0]) * sign trials.append({"i": i, "sign": sign, "q0": round(q[0], 2), "want": round(want, 2), "moved_deg": round(moved, 2), "moved": moved_at is not None, "moved_at_sec": None if moved_at is None else round(moved_at, 2), "others_gap_deg": round(max(abs(q[k] - SMALL_POSE[k]) for k in range(1, 5)), 2)}) sign = -sign n_ok = sum(1 for t in trials if t.get("moved")) print(" [{} {}°] 動いた {}/{} 動いた量: {}".format(how, step, n_ok, len(trials), " ".join(str(t.get("moved_deg")) for t in trials)), flush=True) return {"how": how, "step": step, "n_moved": n_ok, "n": len(trials), "trials": trials} def run_small_set(mc, result): ask("\n腕を少し前に倒した姿勢 {} へ動かします".format(SMALL_POSE)) mc.send_angles(SMALL_POSE, SPEED) a, ok = wait_arrive(mc, SMALL_POSE, 15.0) time.sleep(1.0) a = read_angles(mc) print(" 着いた角度: {} (指令との差 j1 {:+.2f}°)".format(a, None if a is None else a[1] - SMALL_POSE[1]), flush=True) result["small_pose_measured"] = a out = {} for how in ("S1", "S2", "S3"): for step in SMALL_STEPS: ask("\n{} {}° を始めます".format(how, step)) out["{}_{}".format(how, int(step))] = test_small(mc, how, step) result["tests"]["small"] = out ask("\nHOME へ戻します") mc.send_angles(HOME, SPEED) wait_arrive(mc, HOME, 15.0) 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", "read_fails", "end_from_start_deg", "guard"] 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) ap.add_argument("--set", choices=["base", "stop", "hold", "small"], default="base") 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, "set": args.set, "jog_dir": {"+1": JOG_DIR[+1], "-1": JOG_DIR[-1]}}, "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_stop = [ ("E_jog5_jogstop", lambda: test_jog_stopset(mc, start, +1, 5, "jog_stop")), ("E_jog5_stop", lambda: test_jog_stopset(mc, start, -1, 5, "stop")), ("E_jog5_hold", lambda: test_jog_stopset(mc, start, +1, 5, "hold")), ("E_jog10_stop", lambda: test_jog_stopset(mc, start, -1, 10, "stop")), ("E_jog10_hold", lambda: test_jog_stopset(mc, start, +1, 10, "hold")), ("F_far10_stop", lambda: test_far_stopset(mc, start, -1, 10, "stop")), ("F_far10_hold", lambda: test_far_stopset(mc, start, +1, 10, "hold")), ("F_far20_hold", lambda: test_far_stopset(mc, start, -1, 20, "hold"))] plan_hold = [ ("G_far5_hold_0.5s", lambda: test_far_stopset(mc, start, +1, 5, "hold", 0.5)), ("G_far10_hold_0.5s", lambda: test_far_stopset(mc, start, -1, 10, "hold", 0.5)), ("G_far20_hold_0.4s", lambda: test_far_stopset(mc, start, +1, 20, "hold", 0.4)), ("G_far10_stop_0.5s", lambda: test_far_stopset(mc, start, -1, 10, "stop", 0.5)), ("H_jog10_jogstop_1", lambda: test_jog_stopset(mc, start, +1, 10, "jog_stop")), ("H_jog10_jogstop_2", lambda: test_jog_stopset(mc, start, -1, 10, "jog_stop")), ("H_jog10_jogstop_3", lambda: test_jog_stopset(mc, start, +1, 10, "jog_stop"))] 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]))] if args.set == "small": run_small_set(mc, result) plan = [] elif args.set == "stop": plan = plan_stop elif args.set == "hold": plan = plan_hold 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()) ``` ### daemon_add_stop.sh #### tools/daemon_add_stop.sh ```bash #!/bin/bash # daemon_add_stop.sh — Pi の mecharm_daemon.py に「stop」の命令を 1 つ書き足して起動し直す (2026-11-05) # # tools/daemon_add_stop.sh # # なぜ: ゲームパッドの長押しを「15° 先へ 1 回送り, 離したら止める」形にするため (jog_probe 3 回の結果). # 今の daemon には動いている途中で止める命令がない. # 足す命令: {"cmd": "stop"} → mc.jog_stop() と mc.stop() を順に呼ぶ (どちらかが効かなかった試しがあるので両方). # ほかの命令は 1 文字も変えない (unknown cmd の else の直前に足すだけ). # 流れ: # 1. Pi で今動いている /home/ubuntu/mecharm_daemon.py を Mac に持ち帰り, KIOXIA の archive/ に写しを残す # 2. すでに stop があれば何もしない. なければ書き足し, 構文を確かめる # 3. Pi へ一時名で送ってから入れ替え, systemd で起動し直し, ping と stop が返事をするか確かめる # うまくいかなければ, 元に戻すコマンドを出して止まる # 流す前に: ゲームパッドなど daemon を使うものを止め, アームを HOME など安全な姿勢にしておく # (daemon を起動し直すと MyCobot の初期化が走る) # 書き足した daemon は tools/pi/mecharm_daemon.py にも置く (これからの手元の正. ルートの mecharm_daemon.py は古い版なので触らない) set -u PI=ubuntu@192.168.2.1 KEY="$HOME/.ssh/id_rsa_pi" SSH=(ssh -n -i "$KEY" -o ConnectTimeout=5 "$PI") UNIT=mecharm-daemon.service HERE="$(cd "$(dirname "$0")" && pwd)" ROOT="$(dirname "$HERE")" DATA_ROOT=/Volumes/KIOXIA/r2r2r-data [ -d "$DATA_ROOT/archive" ] || { echo "ABORT: $DATA_ROOT/archive がない (KIOXIA がマウントされていない?)"; exit 1; } STAMP=$(date +%Y%m%d_%H%M%S) BK="$DATA_ROOT/archive/mecharm_daemon_premerge_$STAMP" mkdir "$BK" || exit 1 WORK=$(mktemp -d) scp -i "$KEY" -q -o ConnectTimeout=5 "$PI:/home/ubuntu/mecharm_daemon.py" "$WORK/before.py" || { echo "ABORT: Pi から持ち帰れない"; exit 1; } cp "$WORK/before.py" "$BK/mecharm_daemon.py" || { echo "ABORT: 写しを残せない (Pi の daemon は変えていません)"; exit 1; } echo "今の daemon の写し: $BK/mecharm_daemon.py" python3 - "$WORK/before.py" "$WORK/after.py" <<'PY' import sys src = open(sys.argv[1], encoding="utf-8").read() if 'cmd == "stop"' in src: print("すでに stop があります。書き足しません") open(sys.argv[2], "w", encoding="utf-8").write(src) sys.exit(0) for need in ("_mc", "def log("): assert need in src, f"daemon に {need} がない (書き足す命令が動かない)" anchor = ''' else: return {"ok": False, "error": f"unknown cmd: {cmd}"}''' assert src.count(anchor) == 1, "書き足す場所 (unknown cmd の else) が 1 つに決まらない" add = ''' # 2026-11-05: 動いている途中で止める (ゲームパッドの長押しを離したとき・L2+R2). # jog_probe (diag/jog_probe_20261105_*) で jog_stop と stop はどちらも効かない回があったので両方呼ぶ. elif cmd == "stop": res = {} for name in ("jog_stop", "stop"): try: res[name] = getattr(_mc, name)() except Exception as e: res[name] = f"{type(e).__name__}: {e}" log(f"stop: {res}") if all(isinstance(v, str) for v in res.values()): return {"ok": False, "error": f"stop failed: {res}"} return {"ok": True, "result": res} ''' out = src.replace(anchor, add + anchor) compile(out, "mecharm_daemon.py", "exec") open(sys.argv[2], "w", encoding="utf-8").write(out) print("stop を書き足しました") PY [ $? = 0 ] || { echo "ABORT: 書き足せない (Pi の daemon は変えていません)"; exit 1; } cp "$WORK/after.py" "$BK/mecharm_daemon_with_stop.py" || exit 1 cp "$WORK/after.py" "$HERE/pi/mecharm_daemon.py" || exit 1 RESTORE="scp -i $KEY $BK/mecharm_daemon.py $PI:/home/ubuntu/mecharm_daemon.py && ssh -i $KEY $PI sudo systemctl restart $UNIT" fail() { echo "ABORT: $1"; echo "元に戻すには: $RESTORE"; exit 1; } echo "--- 差分" diff "$WORK/before.py" "$WORK/after.py" scp -i "$KEY" -q -o ConnectTimeout=5 "$WORK/after.py" "$PI:/home/ubuntu/mecharm_daemon.py.new" || { echo "ABORT: Pi へ送れない (Pi の daemon は変えていません)"; exit 1; } "${SSH[@]}" "python3 -m py_compile /home/ubuntu/mecharm_daemon.py.new && mv /home/ubuntu/mecharm_daemon.py.new /home/ubuntu/mecharm_daemon.py" \ || { echo "ABORT: Pi で入れ替えられない (Pi の daemon は変えていません)"; exit 1; } "${SSH[@]}" "sudo systemctl restart $UNIT" || fail "systemctl restart が失敗した" UP=no for i in 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15; do sleep 2 "${SSH[@]}" "ss -ltn | grep -q ':5555 '" && { UP=yes; break; } done [ "$UP" = yes ] || fail "30 秒たっても 5555 が開かない" python3 - <<'PY' import json, socket s = socket.create_connection(("192.168.2.1", 5555), timeout=5) f = s.makefile("rwb") for c in ({"cmd": "ping"}, {"cmd": "stop"}): f.write((json.dumps(c) + "\n").encode()); f.flush() r = json.loads(f.readline().decode()) print(c["cmd"], "→", r) assert r.get("ok"), c["cmd"] + " が ok を返さない" s.close() PY [ $? = 0 ] || fail "ping か stop が ok を返さない" echo "できました。記録: $BK" ``` ### daemon_fast_read.sh #### tools/daemon_fast_read.sh ```bash #!/bin/bash # daemon_fast_read.sh — Pi の mecharm_daemon.py の角度の読み直しを速くして起動し直す (2026-11-05) # # tools/daemon_fast_read.sh # # なぜ: 動いている間は get_angles が空で返ることが多く, daemon は 0.2 秒待って 12 回まで読み直す (1 回最長約 2.6 秒). # 送る命令のたびに記録用にも読むので, 送る命令の返事も遅れ, ゲームパッドが最長 15 秒受け付けなかった. # 変えること: 読み直しの待ち 0.2 → 0.02 秒. 送ったあとの記録用の読み取りは 1 回だけ (読めなくても待たない). # ほかは 1 文字も変えない. AI の実機推論も同じ daemon を通る (送る命令の返りが速くなるだけ). # 流れ: # 1. Pi で今動いている /home/ubuntu/mecharm_daemon.py を Mac に持ち帰り, KIOXIA の archive/ に写しを残す # 2. すでに書き換えてあれば何もしない. なければ書き換え, 構文を確かめる # 3. Pi へ一時名で送ってから入れ替え, systemd で起動し直し, ping と get_angles が返事をするか確かめる # うまくいかなければ, 元に戻すコマンドを出して止まる # 流す前に: ゲームパッドなど daemon を使うものを止め, アームを HOME など安全な姿勢にしておく # (daemon を起動し直すと MyCobot の初期化が走る) # 書き足した daemon は tools/pi/mecharm_daemon.py にも置く (これからの手元の正. ルートの mecharm_daemon.py は古い版なので触らない) set -u PI=ubuntu@192.168.2.1 KEY="$HOME/.ssh/id_rsa_pi" SSH=(ssh -n -i "$KEY" -o ConnectTimeout=5 "$PI") UNIT=mecharm-daemon.service HERE="$(cd "$(dirname "$0")" && pwd)" ROOT="$(dirname "$HERE")" DATA_ROOT=/Volumes/KIOXIA/r2r2r-data [ -d "$DATA_ROOT/archive" ] || { echo "ABORT: $DATA_ROOT/archive がない (KIOXIA がマウントされていない?)"; exit 1; } STAMP=$(date +%Y%m%d_%H%M%S) BK="$DATA_ROOT/archive/mecharm_daemon_premerge_fastread_$STAMP" mkdir "$BK" || exit 1 WORK=$(mktemp -d) scp -i "$KEY" -q -o ConnectTimeout=5 "$PI:/home/ubuntu/mecharm_daemon.py" "$WORK/before.py" || { echo "ABORT: Pi から持ち帰れない"; exit 1; } cp "$WORK/before.py" "$BK/mecharm_daemon.py" || { echo "ABORT: 写しを残せない (Pi の daemon は変えていません)"; exit 1; } echo "今の daemon の写し: $BK/mecharm_daemon.py" python3 - "$WORK/before.py" "$WORK/after.py" <<'PY' import re, sys src = open(sys.argv[1], encoding="utf-8").read() if "read_angles_once_for_log" in src: print("すでに書き換えてあります。書き換えません") open(sys.argv[2], "w", encoding="utf-8").write(src) sys.exit(0) out = src n = len(re.findall(r"^GET_ANGLES_INTERVAL_SEC = 0\.2$", out, flags=re.M)) assert n == 1, "GET_ANGLES_INTERVAL_SEC = 0.2 が 1 つに決まらない" out = re.sub(r"^GET_ANGLES_INTERVAL_SEC = 0\.2$", "GET_ANGLES_INTERVAL_SEC = 0.02 # 2026-11-05: 0.2 → 0.02 (動いている間は空で返ることが多く, 1 回の読み取りに最長 2.6 秒かかっていた)", out, flags=re.M) for label in ("send_angles_after", "send_angle_after"): old = f'read_angles_with_retry("{label}", log_fail=False)' assert out.count(old) == 1, f"{old} が 1 つに決まらない" out = out.replace(old, f'read_angles_once_for_log()') anchor = "def handle_command(cmd_obj):" assert out.count(anchor) == 1 helper = '''def read_angles_once_for_log(): """送ったあとの記録用に 1 回だけ読む (2026-11-05). 読めなくても待たない. 以前は読み直しつきで, 読めないと送る命令の返事が最長 2.6 秒遅れていた.""" try: a = _mc.get_angles() except Exception: return None return a if isinstance(a, (list, tuple)) and len(a) == 6 else None ''' out = out.replace(anchor, helper + anchor) compile(out, "mecharm_daemon.py", "exec") open(sys.argv[2], "w", encoding="utf-8").write(out) print("読み取りを速くしました") PY [ $? = 0 ] || { echo "ABORT: 書き足せない (Pi の daemon は変えていません)"; exit 1; } cp "$WORK/after.py" "$BK/mecharm_daemon_fast_read.py" || exit 1 cp "$WORK/after.py" "$HERE/pi/mecharm_daemon.py" || exit 1 RESTORE="scp -i $KEY $BK/mecharm_daemon.py $PI:/home/ubuntu/mecharm_daemon.py && ssh -i $KEY $PI sudo systemctl restart $UNIT" fail() { echo "ABORT: $1"; echo "元に戻すには: $RESTORE"; exit 1; } echo "--- 差分" diff "$WORK/before.py" "$WORK/after.py" scp -i "$KEY" -q -o ConnectTimeout=5 "$WORK/after.py" "$PI:/home/ubuntu/mecharm_daemon.py.new" || { echo "ABORT: Pi へ送れない (Pi の daemon は変えていません)"; exit 1; } "${SSH[@]}" "python3 -m py_compile /home/ubuntu/mecharm_daemon.py.new && mv /home/ubuntu/mecharm_daemon.py.new /home/ubuntu/mecharm_daemon.py" \ || { echo "ABORT: Pi で入れ替えられない (Pi の daemon は変えていません)"; exit 1; } "${SSH[@]}" "sudo systemctl restart $UNIT" || fail "systemctl restart が失敗した" UP=no for i in 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15; do sleep 2 "${SSH[@]}" "ss -ltn | grep -q ':5555 '" && { UP=yes; break; } done [ "$UP" = yes ] || fail "30 秒たっても 5555 が開かない" python3 - <<'PY' import json, socket s = socket.create_connection(("192.168.2.1", 5555), timeout=5) f = s.makefile("rwb") for c in ({"cmd": "ping"}, {"cmd": "get_angles"}): f.write((json.dumps(c) + "\n").encode()); f.flush() r = json.loads(f.readline().decode()) print(c["cmd"], "→", r) assert r.get("ok"), c["cmd"] + " が ok を返さない" s.close() PY [ $? = 0 ] || fail "ping か get_angles が ok を返さない" echo "できました。記録: $BK" ``` ### Pi の mecharm_daemon.py（stop を足し、読み直しを速くしたあと） #### tools/pi/mecharm_daemon.py ```python #!/usr/bin/env python3 """ mecharm_daemon.py Pi 側で常駐する MyCobot 制御デーモン。 TCP socket で Mac からの JSON コマンドを受け取り、永続化された MyCobot 経由で実機に転送する。 """ import json import socket import sys import time import signal import traceback from pymycobot.mycobot import MyCobot DAEMON_HOST = "0.0.0.0" DAEMON_PORT = 5555 SERIAL_PORT = "/dev/ttyAMA0" BAUDRATE = 1000000 GET_ANGLES_RETRIES = 12 GET_ANGLES_INTERVAL_SEC = 0.02 # 2026-11-05: 0.2 → 0.02 (動いている間は空で返ることが多く, 1 回の読み取りに最長 2.6 秒かかっていた) _mc = None _server_sock = None _running = True _fresh_mode_state = 0 def log(msg): print(f"[DAEMON {time.strftime('%H:%M:%S')}] {msg}", flush=True) def init_mycobot(): global _mc log(f"MyCobot 初期化中 ({SERIAL_PORT}, baud={BAUDRATE})...") _mc = MyCobot(SERIAL_PORT, BAUDRATE) log("✓ MyCobot 初期化完了") warmup_angles = read_angles_with_retry("startup_warmup", log_fail=False) log(f"startup_warmup angles={warmup_angles}") def read_angles_with_retry(label="get_angles", log_fail=True): """pymycobot の空配列対策つき角度取得。""" angles = None for attempt in range(GET_ANGLES_RETRIES): angles = _mc.get_angles() if isinstance(angles, (list, tuple)) and len(angles) == 6: if attempt > 0: log(f"{label}: get_angles success retry={attempt} angles={angles}") return angles time.sleep(GET_ANGLES_INTERVAL_SEC) if log_fail: log(f"{label}: get_angles empty/invalid after {GET_ANGLES_RETRIES} retries: {angles}") return None def read_angles_once_for_log(): """送ったあとの記録用に 1 回だけ読む (2026-11-05). 読めなくても待たない. 以前は読み直しつきで, 読めないと送る命令の返事が最長 2.6 秒遅れていた.""" try: a = _mc.get_angles() except Exception: return None return a if isinstance(a, (list, tuple)) and len(a) == 6 else None def handle_command(cmd_obj): """コマンドを処理してレスポンス dict を返す。""" global _fresh_mode_state cmd = cmd_obj.get("cmd") if cmd == "ping": return {"ok": True, "daemon": "mecharm_daemon", "fresh_mode": _fresh_mode_state} elif cmd == "send_angles": try: angles = cmd_obj["angles"] speed = int(cmd_obj.get("speed", 20)) wait = float(cmd_obj.get("wait", 0)) if len(angles) != 6: return {"ok": False, "error": f"angles must be length 6, got {len(angles)}"} log(f"send_angles 呼び出し前: angles={angles}, speed={speed}, wait={wait}") t0 = time.perf_counter() result = _mc.send_angles(angles, speed) elapsed_ms = (time.perf_counter() - t0) * 1000.0 log(f"send_angles 呼び出し後: result={result}, elapsed_ms={elapsed_ms:.1f}") if wait > 0: time.sleep(wait) current_angles = read_angles_once_for_log() log(f"send_angles 後の現在角度: {current_angles}") return {"ok": True, "result": result, "elapsed_ms": elapsed_ms} except Exception as e: log(f"send_angles 例外: {type(e).__name__}: {e}") log(traceback.format_exc().rstrip()) return {"ok": False, "error": f"{type(e).__name__}: {e}"} elif cmd == "send_angle": try: joint_id = int(cmd_obj["joint_id"]) angle = float(cmd_obj["angle"]) speed = int(cmd_obj.get("speed", 20)) wait = float(cmd_obj.get("wait", 0)) if not (1 <= joint_id <= 6): return {"ok": False, "error": f"joint_id must be 1..6, got {joint_id}"} log(f"send_angle 呼び出し前: joint_id={joint_id}, angle={angle}, speed={speed}, wait={wait}") t0 = time.perf_counter() result = _mc.send_angle(joint_id, angle, speed) elapsed_ms = (time.perf_counter() - t0) * 1000.0 log(f"send_angle 呼び出し後: result={result}, elapsed_ms={elapsed_ms:.1f}") if wait > 0: time.sleep(wait) current_angles = read_angles_once_for_log() log(f"send_angle 後の現在角度: {current_angles}") return {"ok": True, "result": result, "elapsed_ms": elapsed_ms} except Exception as e: log(f"send_angle 例外: {type(e).__name__}: {e}") log(traceback.format_exc().rstrip()) return {"ok": False, "error": f"{type(e).__name__}: {e}"} elif cmd == "get_angles": # DAY190: mc.get_angles() は起動直後や通信直後に [] / None を返すことがある。 a = read_angles_with_retry("get_angles") if a is None: return { "ok": False, "error": f"get_angles returned empty/invalid after {GET_ANGLES_RETRIES} retries", } return {"ok": True, "angles": a} elif cmd == "set_fresh_mode": value = int(cmd_obj["value"]) if value not in (0, 1): return {"ok": False, "error": f"value must be 0 or 1, got {value}"} try: _mc.set_fresh_mode(value) except AttributeError: return {"ok": False, "error": "set_fresh_mode is not available in this pymycobot environment"} _fresh_mode_state = value log(f"set_fresh_mode({value})") return {"ok": True, "fresh_mode": _fresh_mode_state} elif cmd == "set_gripper": state = int(cmd_obj["state"]) speed = int(cmd_obj.get("speed", 100)) wait = float(cmd_obj.get("wait", 0)) # DAY175 対策: 連続送信時の動作不具合回避のため事前 sleep time.sleep(2) result = _mc.set_gripper_state(state, speed) if wait > 0: time.sleep(wait) return {"ok": True, "result": result} # DAY261: 値ベース把持 cmd (純追記). # state ベースの set_gripper とは独立。閉じ切らない目標値で握って押し込み力を # 残す検証用。値域ガード必須 (value 0-100 / speed 1-100)。範囲外は # ハードに送らず error を返す。応答フォーマットは set_gripper と同形 {ok, result}。 elif cmd == "set_gripper_value": try: value = int(cmd_obj["value"]) speed = int(cmd_obj.get("speed", 100)) except (KeyError, TypeError, ValueError) as e: return {"ok": False, "error": f"bad args: {type(e).__name__}: {e}"} if not (0 <= value <= 100): return {"ok": False, "error": f"value must be 0..100, got {value}"} if not (1 <= speed <= 100): return {"ok": False, "error": f"speed must be 1..100, got {speed}"} try: result = _mc.set_gripper_value(value, speed) except AttributeError: return {"ok": False, "error": "set_gripper_value is not available in this pymycobot environment"} except Exception as e: return {"ok": False, "error": f"{type(e).__name__}: {e}"} log(f"set_gripper_value(value={value}, speed={speed}) result={result}") return {"ok": True, "result": result} # DAY259 グリッパー保持診断 (A-2)。読み取り専用の getter のみ追加。 # pymycobot の純 getter (シリアル read のみ・モーター駆動しない) を想定。 # 例外はクライアントへ転送するだけで、daemon は落とさない。 elif cmd == "get_gripper_value": try: val = _mc.get_gripper_value() return {"ok": True, "value": int(val) if val is not None else None} except Exception as e: return {"ok": False, "error": f"{type(e).__name__}: {e}"} elif cmd == "is_gripper_moving": try: flag = _mc.is_gripper_moving() return {"ok": True, "moving": bool(flag) if flag is not None else None} except Exception as e: return {"ok": False, "error": f"{type(e).__name__}: {e}"} # ---- LOG352 (2026-10-19): ストリーミング再生用の 2 コマンド (純追記) -------- # 既存 send_angles / get_angles は 1 文字も変えない (本線 run_pick_place.py が依存)。 # # 背景: 既存 send_angles は送信後に read_angles_with_retry() を呼ぶ。 # 動作中の _mc.get_angles() は空リストを返しやすく、12 回 x (読み ~0.11s + # sleep 0.2s) = 約 3.7 秒ブロックする。0.1 秒周期で送り続ける補間ストリーミング # 再生 (record_teach_demo.py) では、474 送信中 27 回がこの 3.7 秒を踏み、 # tick 周期が平均 0.46-0.55s まで伸びた (公称 0.1s / 実測 2026-10-19)。 # _mc.send_angles() 自体は平均 10.4ms なので、遅いのは読み直しだけ。 # Pi 直の waypoint_streaming_replay.py は送信後に角度を読まない。それと同じ # 送り方を daemon 経由でも使えるようにする。 elif cmd == "send_angles_fast": # 送信後に角度を読み直さない send_angles。 # 応答は _mc.send_angles() の実行時間だけ (実測 ~10ms)。 # 到達確認は呼び出し側が区間の終わりで既存 get_angles を使って行う。 try: angles = cmd_obj["angles"] speed = int(cmd_obj.get("speed", 20)) if not isinstance(angles, (list, tuple)) or len(angles) != 6: return {"ok": False, "error": f"angles must be length 6, got {len(angles) if isinstance(angles, (list, tuple)) else type(angles).__name__}"} t0 = time.perf_counter() result = _mc.send_angles(list(angles), speed) elapsed_ms = (time.perf_counter() - t0) * 1000.0 # 1 送信 1 行だけログに残す (今回の原因特定は daemon ログで出来た)。 log(f"send_angles_fast: angles={angles}, speed={speed}, " f"result={result}, elapsed_ms={elapsed_ms:.1f}") return {"ok": True, "result": result, "elapsed_ms": elapsed_ms} except Exception as e: log(f"send_angles_fast 例外: {type(e).__name__}: {e}") log(traceback.format_exc().rstrip()) return {"ok": False, "error": f"{type(e).__name__}: {e}"} elif cmd == "get_angles_once": # 1 回だけ読んで、読めなければ angles=None を返す (リトライしない)。 # 記録用の観測に使う。読めないことは異常ではないので ok=True で返す # (ok=False にすると呼び出し側の _daemon_request が例外にしてしまう)。 # 既存 get_angles (12 回リトライ) は到達確認用にそのまま残す。 try: a = _mc.get_angles() except Exception as e: return {"ok": True, "angles": None, "error": f"{type(e).__name__}: {e}"} if isinstance(a, (list, tuple)) and len(a) == 6: return {"ok": True, "angles": list(a)} return {"ok": True, "angles": None, "raw": repr(a)[:80]} # 2026-11-05: 動いている途中で止める (ゲームパッドの長押しを離したとき・L2+R2). # jog_probe (diag/jog_probe_20261105_*) で jog_stop と stop はどちらも効かない回があったので両方呼ぶ. elif cmd == "stop": res = {} for name in ("jog_stop", "stop"): try: res[name] = getattr(_mc, name)() except Exception as e: res[name] = f"{type(e).__name__}: {e}" log(f"stop: {res}") if all(isinstance(v, str) for v in res.values()): return {"ok": False, "error": f"stop failed: {res}"} return {"ok": True, "result": res} else: return {"ok": False, "error": f"unknown cmd: {cmd}"} def serve_client(client_sock, addr): log(f"接続: {addr}") buf = b"" try: while _running: data = client_sock.recv(4096) if not data: break buf += data while b"\n" in buf: line, buf = buf.split(b"\n", 1) line = line.strip() if not line: continue try: cmd_obj = json.loads(line.decode("utf-8")) log(f"cmd received: {cmd_obj.get('cmd')}") response = handle_command(cmd_obj) except Exception as e: response = {"ok": False, "error": f"{type(e).__name__}: {e}"} log(f"コマンド処理エラー: {e}") resp_line = (json.dumps(response) + "\n").encode("utf-8") client_sock.sendall(resp_line) except ConnectionResetError: log(f"接続リセット: {addr}") except Exception as e: log(f"クライアントエラー: {e}") finally: client_sock.close() log(f"切断: {addr}") def shutdown_handler(signum, frame): global _running log(f"シグナル受信 ({signum}), シャットダウン開始") _running = False if _mc is not None: try: _mc.set_fresh_mode(0) log("set_fresh_mode(0)") except Exception: pass if _server_sock: try: _server_sock.close() except Exception: pass sys.exit(0) def main(): global _server_sock signal.signal(signal.SIGTERM, shutdown_handler) signal.signal(signal.SIGINT, shutdown_handler) init_mycobot() _server_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) _server_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) _server_sock.bind((DAEMON_HOST, DAEMON_PORT)) _server_sock.listen(1) log(f"ポート {DAEMON_PORT} で待ち受け中...") try: while _running: try: client_sock, addr = _server_sock.accept() except OSError: break serve_client(client_sock, addr) finally: if _mc is not None: try: _mc.set_fresh_mode(0) log("set_fresh_mode(0)") except Exception: pass _server_sock.close() log("シャットダウン完了") if __name__ == "__main__": main() ``` ### 記録を数えるスクリプト #### teleop_stats.py（7本の記録を同じ数え方で並べる） ```python """LOG446: 11/5 のゲームパッドの記録 7 本を、同じ数え方で並べる.""" import json, sys, collections, statistics from pathlib import Path ROOT = Path("/mnt/user-data/uploads/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop") RUNS = ["160038", "161347", "162224", "163144", "163620", "170313", "171125"] print("| 記録 | 行 | 1回押し 送った | 動かした関節が0.3°以上動いた | 受付なし | 止める | 長押しの目標を送った回数 | 1回押しの待ち 中央/最大(秒) | 起動時と終わりの j1 |") print("|---|---|---|---|---|---|---|---|---|") for r in RUNS: rows = [json.loads(l) for l in open(ROOT / f"teleop_20261105_{r}" / "log.jsonl")] short = [x for x in rows if x["kind"] == "move" and (x.get("hold_n") or 0) == 0 and x.get("sent") is True] moved = 0 els = [] for x in short: j = x["joint"]; mb = x.get("measured_before"); ra = x.get("reached_angles") if mb and ra and abs(ra[j] - mb[j]) >= 0.3: moved += 1 if x.get("elapsed_sec") is not None: els.append(x["elapsed_sec"]) busy = sum(1 for x in rows if x.get("reason") == "busy") halts = sum(1 for x in rows if x["kind"] == "halt") hold_sent = sum(1 for x in rows if x["kind"] == "move" and (x.get("hold_n") or 0) >= 1 and x.get("sent") is True) angs = [x.get("measured_before") for x in rows if x.get("measured_before")] j1 = f"{angs[0][1]:+.2f} → {angs[-1][1]:+.2f}" if angs else "-" med = statistics.median(els) if els else None print(f"| {r} | {len(rows)} | {len(short)} | {moved} | {busy} | {halts} | {hold_sent} | " f"{'-' if med is None else f'{med:.2f}'} / {'-' if not els else f'{max(els):.2f}'} | {j1} |") ``` #### teleop_details.py（1本の記録を1回押しと止める処理ごとに並べる） ```python """LOG446: ゲームパッドの記録 1 本を, 1 回押しと止める処理ごとに並べる (11/5 の不具合を調べたときの数え方). 使い方: python3 teleop_details.py """ import json, sys, collections from pathlib import Path d = Path(sys.argv[1]) rows = [json.loads(l) for l in open(d / "log.jsonl")] t0 = rows[0]["t_unix"] print(f"== {d.name} 行 {len(rows)}") print("-- 1 回押し: 送った量と, 動かした関節が動いた量") for r in rows: if r["kind"] == "move" and (r.get("hold_n") or 0) == 0 and r.get("sent") is True: j = r["joint"]; mb = r.get("measured_before"); ra = r.get("reached_angles"); c = r["command"] mv = None if not (mb and ra) else round(ra[j] - mb[j], 2) oth = None if not (mb and ra) else round(max(abs(ra[k] - mb[k]) for k in range(6) if k != j), 2) tag = "届いた" if r.get("reached") else ("手前で止まった" if r.get("settled") else ("動かなかった" if r.get("not_moved") else "届かなかった")) print(f"{r['t_unix']-t0:7.2f}s j{j} {r['delta']:+.0f}° → 動いた {mv}° ほかの関節の最大の変化 {oth}° " f"{tag} 待ち {r.get('elapsed_sec')}秒 送り直し {len(r.get('resends') or [])}回") print("-- 止める処理: 止める前に読んだ角度から, 止めたあとに読んだ角度までの差 (6 関節)") for r in rows: if r["kind"] == "halt": print(f"{r['t_unix']-t0:7.2f}s {r.get('halt_reason')} j{r.get('halt_joint')} 差 {r.get('moved_after_request_deg')} " f"送り直し {r.get('pin_command')}") busy = [r for r in rows if r.get("reason") == "busy"] last = None; cause = collections.Counter() for r in rows: if r.get("reason") == "busy": cause[last] += 1 elif r.get("accepted") and r["kind"] in ("move", "halt", "home", "grip_close", "grip_open"): last = r["kind"] + ("(長押し)" if (r.get("hold_n") or 0) > 0 else "") print(f"-- 受付なし {len(busy)} 回. そのとき動いていた仕事: {dict(cause)}") ``` #### plot_jog_probe.py（jog_probe の生の記録を図にする） ```python """LOG446: jog_probe の生の記録 (時刻と j0 の角度) を, 送り方ごとに並べた図にする.""" import json import matplotlib matplotlib.use("Agg") import matplotlib.pyplot as plt from matplotlib import font_manager D = "/mnt/user-data/uploads/KIOXIA/r2r2r-data/diag/" runs = {"base": "jog_probe_20261105_153401", "stop": "jog_probe_20261105_153952_stop", "hold": "jog_probe_20261105_154332_hold"} R = {k: json.load(open(D + v + "/result.json")) for k, v in runs.items()} for f in font_manager.findSystemFonts(): if "NotoSansCJK" in f or "NotoSansJP" in f: font_manager.fontManager.addfont(f) plt.rcParams["font.family"] = ["Noto Sans CJK JP"] INK, PAPER = "#0d0d0d", "#f5f5f0" panels = [ ("A 1回だけ送る (+10°, speed 20)", "base", "A_step_10deg", "-"), ("B 0.1秒おきに3°先を送り直す (前のゲームパッド)", "base", "B_stream", "-"), ("C B + fresh_mode", "base", "C_stream_fresh", "-"), ("D jog speed 30", "base", "D_jog_speed30", "-"), ("E jog speed 5 (階段状)", "stop", "E_jog5_jogstop", "-"), ("G 20°先へ送り 0.5秒で stop (今のゲームパッド)", "hold", "G_far10_stop_0.5s", "-"), ] fig, axes = plt.subplots(3, 2, figsize=(12, 9), facecolor=PAPER) for ax, (title, run, key, ls) in zip(axes.flat, panels): t = R[run]["tests"][key] s = t["samples"] x = [a for a, q in s if a <= 2.0] y = [q - s[0][1] for a, q in s if a <= 2.0] ax.set_facecolor(PAPER) ax.plot(x, y, color=INK, lw=1.8, marker="o", ms=2.5) if t.get("t_stop"): ax.axvline(t["t_stop"], color=INK, lw=1, ls="--") ax.text(t["t_stop"] + 0.03, ax.get_ylim()[0] if False else min(y) , "止める命令", fontsize=9, color=INK) ax.set_title(title, fontsize=11, color=INK, loc="left") ax.set_xlim(0, 2.0) ax.grid(color=INK, alpha=0.15) for sp in ax.spines.values(): sp.set_color(INK); sp.set_linewidth(1.2) ax.tick_params(colors=INK, labelsize=9) for ax in axes[-1]: ax.set_xlabel("送ってからの秒", color=INK) for ax in axes[:, 0]: ax.set_ylabel("j0 の動いた角度 (°)", color=INK) fig.suptitle("mechArm 270 の根元 j0 を、送り方を変えて動かした生の記録 (2026-11-05 jog_probe)", color=INK, fontsize=13, x=0.01, ha="left") fig.tight_layout(rect=(0, 0, 1, 0.96)) fig.savefig("/mnt/user-data/outputs/LOG446_images/LOG446_04_jog_probe_traces.png", dpi=110, facecolor=PAPER) print("ok") ``` ### この回の commit #### r2r2r-scripts の commit（11/5 15:34〜17:08） ```text 452a3b6 2026-11-05 17:11:25 +0900 gamepad_teleop: 押した瞬間には送らず、離したら1刻み・押し続けたら長押しのどちらかだけ送る c7992ca 2026-11-05 17:03:11 +0900 daemon の読み直しを0.02秒にした版を tools/pi に置く 617c3bd 2026-11-05 17:02:53 +0900 daemon の読み直しを速くするスクリプト・止めるときの読み取りは1回だけ 72d9d96 2026-11-05 16:36:19 +0900 gamepad_teleop: 受付なしを減らす（止める待ち0.1秒・1刻みは止まったら戻る・読む間隔0.05秒） b71ffb5 2026-11-05 16:31:42 +0900 gamepad_teleop: 十字キーは動かす関節だけを send_angle で送る 2726d9d 2026-11-05 16:26:17 +0900 gamepad_teleop の直しと、jog_probe に小さな動きを比べる small の組を足す 31a336c 2026-11-05 16:22:22 +0900 gamepad_teleop: 止めたあと送り直さない・1刻みは動かした関節だけで判定・長押しが止まったら送り直す f0d7e73 2026-11-05 16:13:45 +0900 gamepad_teleop: 止めたあと他の関節を指令へ戻す・出発点を関節ごとに・1刻みの届いた判定を0.5°に e0bf052 2026-11-05 16:00:35 +0900 daemon に stop を足した版を tools/pi に置く 4e99c9d 2026-11-05 15:59:53 +0900 gamepad_teleop: 長押しを15°先へ1回送る形にし、離したら daemon の stop で止める b577a13 2026-11-05 15:43:32 +0900 jog_probe: 遠い目標を途中で止める hold の組を足す dcdf3f1 2026-11-05 15:39:52 +0900 jog_probe: 止め方を比べる stop の組を足す (jog の向きは実機に合わせる) 2c28f88 2026-11-05 15:34:01 +0900 jog_probe: j0 を4通りで動かし、なめらかさと限界を測る ``` ## この回の実機の記録（全量） ### 16:00 の記録 runs/experiments/gamepad_teleop/teleop_20261105_160038/meta.json ```json { "run_stem": "teleop_20261105_160038", "started_at": "2026-11-05T16:00:43", "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": "2026-11-05T16:00:51" } ], "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": [ -0.61, 4.83, 5.0, -0.08, 0.96, -29.61 ], "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": 15.0, "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": "e0bf05203a2af9acc41eb611f0db51a00c5ba4df", "script_status": "clean" }, "script_copy": "gamepad_teleop.py", "script_sha256": "be5c7372080646069412ba5a528239fde63807099c8b1a7ec11fd914d7d9846c", "ended_at": "2026-11-05T16:13:43", "end_reason": "ctrl_c", "n_sent": 133 } ``` ### 16:00 の記録 runs/experiments/gamepad_teleop/teleop_20261105_160038/log.jsonl（376行） ```json {"seq": 1, "t": "2026-11-05T16:00:52.689", "t_unix": 1793862052.69, "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": [-0.61, 4.83, 5.0, -0.08, 0.96, -29.61], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.61, 4.83, 5.0, -0.08, 0.96, -29.61], "sent": true, "timeout_sec": 8.0, "t_send": 1793862052.760244, "measured_before_send": [-0.61, 4.83, 5.0, -0.08, 0.96, -29.61], "resends": [], "reached": true, "reached_angles": [-1.93, 5.53, 5.8, -0.08, 0.17, -29.61], "reach_err": 0.8, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 2, "t": "2026-11-05T16:00:53.167", "t_unix": 1793862053.168, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 1, "held_sec": 0.479, "accepted": true, "measured_before": [-1.58, 5.53, 5.8, -0.08, 0.17, -29.61], "start_source": "hold", "cmd_gap_deg": 0.8, "hold_lead_deg": 0.03, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-16.58, 4.83, 5.0, -0.08, 0.96, -29.61], "sent": true, "reached": null, "no_check": true, "t_send": 1793862053.194277, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 3, "t": "2026-11-05T16:00:53.285", "t_unix": 1793862053.286, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 2, "held_sec": 0.597, "accepted": true, "measured_before": [-1.4, 5.53, 5.8, -0.08, 0.17, -29.61], "start_source": "hold", "cmd_gap_deg": 0.8, "hold_lead_deg": 15.18, "sent": false, "why": "lead_ok", "hold_remaining_deg": 15.18, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 4, "t": "2026-11-05T16:00:53.389", "t_unix": 1793862053.39, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 3, "held_sec": 0.7, "accepted": true, "measured_before": [-3.33, 5.53, 5.8, -0.08, 0.17, -29.61], "start_source": "hold", "cmd_gap_deg": 0.8, "hold_lead_deg": 13.25, "sent": false, "why": "lead_ok", "hold_remaining_deg": 13.25, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 5, "t": "2026-11-05T16:00:53.489", "t_unix": 1793862053.49, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 4, "held_sec": 0.801, "accepted": true, "measured_before": [-6.85, 5.53, 5.8, -0.08, 0.17, -29.61], "start_source": "hold", "cmd_gap_deg": 0.8, "hold_lead_deg": 9.73, "sent": false, "why": "lead_ok", "hold_remaining_deg": 9.73, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 6, "t": "2026-11-05T16:00:53.605", "t_unix": 1793862053.606, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 5, "held_sec": 0.917, "accepted": true, "released_during_job": true, "measured_before": [-12.21, 5.53, 5.8, -0.08, 0.17, -29.61], "start_source": "hold", "cmd_gap_deg": 0.8, "hold_lead_deg": 4.37, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-27.21, 4.83, 5.0, -0.08, 0.96, -29.61], "sent": true, "reached": null, "no_check": true, "t_send": 1793862053.6382499, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 8, "t": "2026-11-05T16:00:54.424", "t_unix": 1793862054.425, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 2, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 7, "t": "2026-11-05T16:00:54.033", "t_unix": 1793862054.034, "button": null, "button_name": null, "kind": "halt", "selected_joint": 1, "step_deg": 1.0, "execute": true, "accepted": true, "halt_reason": "release", "hold_id": 1, "measured_at_request": [-6.85, 5.53, 5.8, -0.08, 0.17, -29.61], "t_halt": 1793862054.0342588, "halt": "stop", "halt_result": {"jog_stop": null, "stop": null}, "measured_after_halt": [-27.15, 5.53, 5.8, -0.08, 0.17, -29.61], "moved_after_request_deg": [-20.3, 0.0, 0.0, 0.0, 0.0, 0.0], "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 9, "t": "2026-11-05T16:00:57.798", "t_unix": 1793862057.801, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 3, "hold_n": 0, "accepted": true, "measured_before": [-27.33, 5.53, 5.8, -0.08, 0.17, -29.61], "start_source": "command", "cmd_gap_deg": 0.18, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-26.15, 5.53, 5.8, -0.08, 0.17, -29.61], "sent": true, "timeout_sec": 8.0, "t_send": 1793862057.874445, "measured_before_send": [-27.33, 5.53, 5.8, -0.08, 0.17, -29.61], "resends": [], "reached": true, "reached_angles": [-27.33, 5.53, 5.8, -0.08, 0.17, -29.61], "reach_err": 1.18, "elapsed_sec": 0.01, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 10, "t": "2026-11-05T16:00:58.200", "t_unix": 1793862058.201, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 15.0, "hold_id": 3, "hold_n": 1, "held_sec": 0.405, "accepted": true, "measured_before": [-26.45, 6.32, 6.5, -0.08, 0.17, -29.61], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 0.3, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-11.45, 5.53, 5.8, -0.08, 0.17, -29.61], "sent": true, "reached": null, "no_check": true, "t_send": 1793862058.223705, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 11, "t": "2026-11-05T16:00:58.302", "t_unix": 1793862058.302, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 15.0, "hold_id": 3, "hold_n": 2, "held_sec": 0.506, "accepted": true, "measured_before": [-26.19, 6.32, 6.5, -0.08, 0.17, -29.61], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 14.74, "sent": false, "why": "lead_ok", "hold_remaining_deg": 14.74, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 12, "t": "2026-11-05T16:00:58.403", "t_unix": 1793862058.403, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 15.0, "hold_id": 3, "hold_n": 3, "held_sec": 0.607, "accepted": true, "measured_before": [-25.13, 6.32, 6.5, -0.08, 0.17, -29.61], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 13.68, "sent": false, "why": "lead_ok", "hold_remaining_deg": 13.68, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 13, "t": "2026-11-05T16:00:58.503", "t_unix": 1793862058.504, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 15.0, "hold_id": 3, "hold_n": 4, "held_sec": 0.708, "accepted": true, "released_during_job": true, "measured_before": [-21.18, 6.32, 6.5, -0.08, 0.17, -29.61], "start_source": "hold", "cmd_gap_deg": 0.79, "hold_lead_deg": 9.73, "sent": false, "why": "lead_ok", "hold_remaining_deg": 9.73, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 14, "t": "2026-11-05T16:00:58.538", "t_unix": 1793862058.538, "button": null, "button_name": null, "kind": "halt", "selected_joint": 1, "step_deg": 1.0, "execute": true, "accepted": true, "halt_reason": "release", "hold_id": 3, 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"limit_ja": "", "limit_ascii": "", "command": [32.78, 34.71, -24.49, 3.33, -30.05, -30.76], "sent": true, "reached": null, "no_check": true, "t_send": 1793862165.91419, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 364, "t": "2026-11-05T16:02:46.308", "t_unix": 1793862166.308, "button": null, "button_name": null, "kind": "halt", "selected_joint": 2, "step_deg": 1.0, "execute": true, "accepted": true, "halt_reason": "release", "hold_id": 33, "measured_at_request": [32.78, 35.77, 2.9, 3.51, -29.53, -30.67], "t_halt": 1793862166.308532, "halt": "stop", "halt_result": {"jog_stop": null, "stop": null}, "measured_after_halt": [32.78, 35.77, -22.93, 3.51, -29.53, -30.67], "moved_after_request_deg": [0.0, 0.0, -25.83, 0.0, 0.0, 0.0], "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 365, "t": "2026-11-05T16:02:47.514", "t_unix": 1793862167.515, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 34, "hold_n": 0, "accepted": true, "measured_before": [32.78, 35.77, -22.93, 3.51, -29.53, -30.67], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [31.78, 35.77, -22.93, 3.51, -29.53, -30.67], "sent": true, "timeout_sec": 8.0, "t_send": 1793862167.586817, "measured_before_send": [32.78, 35.77, -22.93, 3.51, -29.53, -30.67], "resends": [], "reached": true, "reached_angles": [32.78, 35.85, -22.93, 3.51, -29.53, -30.67], "reach_err": 1.0, "elapsed_sec": 0.03, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 366, "t": "2026-11-05T16:02:47.918", "t_unix": 1793862167.919, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 34, "hold_n": 1, "held_sec": 0.405, "accepted": true, "measured_before": [31.81, 37.0, -21.97, 3.6, -29.53, -30.67], "start_source": "hold", "cmd_gap_deg": 1.23, "hold_lead_deg": 0.03, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [16.81, 35.77, -22.93, 3.51, -29.53, -30.67], "sent": true, "reached": null, "no_check": true, "t_send": 1793862167.9369202, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 367, "t": "2026-11-05T16:02:48.019", "t_unix": 1793862168.019, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 34, "hold_n": 2, "held_sec": 0.505, "accepted": true, "measured_before": [31.81, 37.0, -21.97, 3.6, -29.53, -30.67], "start_source": "hold", "cmd_gap_deg": 1.23, "hold_lead_deg": 15.0, "sent": false, "why": "lead_ok", "hold_remaining_deg": 15.0, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 368, "t": "2026-11-05T16:02:48.120", "t_unix": 1793862168.121, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 34, "hold_n": 3, "held_sec": 0.607, "accepted": true, "measured_before": [30.84, 37.0, -21.97, 3.6, -29.53, -30.76], "start_source": "hold", "cmd_gap_deg": 1.23, "hold_lead_deg": 14.03, "sent": false, "why": "lead_ok", "hold_remaining_deg": 14.03, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 369, "t": "2026-11-05T16:02:48.235", "t_unix": 1793862168.235, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 34, "hold_n": 4, "held_sec": 0.721, "accepted": true, "measured_before": [26.54, 37.0, -21.97, 2.81, -29.53, -30.76], "start_source": "hold", "cmd_gap_deg": 1.23, "hold_lead_deg": 9.73, "sent": false, "why": "lead_ok", "hold_remaining_deg": 9.73, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 370, "t": "2026-11-05T16:02:48.350", "t_unix": 1793862168.351, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 34, "hold_n": 5, "held_sec": 0.837, "accepted": true, "measured_before": [17.05, 37.0, -21.97, 3.86, -29.53, -30.67], "start_source": "hold", "cmd_gap_deg": 1.23, "hold_lead_deg": 0.24, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [2.05, 35.77, -22.93, 3.51, -29.53, -30.67], "sent": true, "reached": null, "no_check": true, "t_send": 1793862168.756869, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 371, "t": "2026-11-05T16:02:49.163", "t_unix": 1793862169.163, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 34, "hold_n": 6, "held_sec": 1.649, "accepted": true, "measured_before": [6.67, 37.0, -21.97, 3.16, -29.53, -30.76], "start_source": "hold", "cmd_gap_deg": 1.23, "hold_lead_deg": 4.62, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-8.33, 35.77, -22.93, 3.51, -29.53, -30.67], "sent": true, "reached": null, "no_check": true, "t_send": 1793862169.191072, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 372, "t": "2026-11-05T16:02:49.265", "t_unix": 1793862169.265, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 34, "hold_n": 7, "held_sec": 1.751, "accepted": true, "released_during_job": true, "measured_before": [2.54, 37.0, -21.97, 3.69, -29.53, -30.76], "start_source": "hold", "cmd_gap_deg": 1.23, "hold_lead_deg": 10.87, "sent": false, "why": "lead_ok", "hold_remaining_deg": 10.87, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 373, "t": "2026-11-05T16:02:49.298", "t_unix": 1793862169.298, "button": null, "button_name": null, "kind": "halt", "selected_joint": 2, "step_deg": 1.0, "execute": true, "accepted": true, "halt_reason": "release", "hold_id": 34, "measured_at_request": [6.67, 37.0, -21.97, 3.16, -29.53, -30.76], "t_halt": 1793862169.3000479, "halt": "stop", "halt_result": {"jog_stop": null, "stop": null}, "measured_after_halt": [2.02, 38.32, -21.0, 3.95, -27.86, -30.76], "moved_after_request_deg": [-4.65, 1.32, 0.97, 0.79, 1.67, 0.0], "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 374, "t": "2026-11-05T16:02:52.487", "t_unix": 1793862172.488, "button": "L2+R2", "button_name": "L2+R2", "kind": "stop", "selected_joint": 2, "step_deg": 1.0, "execute": true, "accepted": true, "reason": "L2+R2", "already_stopped": false, "busy": false, "send_committed_before_stop": null, "triggers": [1.0, 1.0], "grip_state": "unknown", "stopped": true, "stop_reason": "L2+R2"} {"seq": 375, "t": "2026-11-05T16:02:52.488", "t_unix": 1793862172.489, "button": null, "button_name": null, "kind": "halt", "selected_joint": 2, "step_deg": 1.0, "execute": true, "accepted": true, "halt_reason": "L2+R2", "hold_id": null, "measured_at_request": [2.02, 38.32, -21.0, 3.95, -27.86, -30.76], "t_halt": 1793862172.492202, "halt": "stop", "halt_result": {"jog_stop": null, "stop": null}, "measured_after_halt": [1.93, 40.07, -19.95, 3.95, -26.01, -30.76], "moved_after_request_deg": [-0.09, 1.75, 1.05, 0.0, 1.85, 0.0], "grip_state": "unknown", "stopped": true, "stop_reason": "L2+R2"} {"seq": 376, "t": "2026-11-05T16:02:55.463", "t_unix": 1793862175.464, "button": 6, "button_name": "options", "kind": "resume", "selected_joint": 2, "step_deg": 1.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} ``` ### 16:13 の記録 runs/experiments/gamepad_teleop/teleop_20261105_161347/meta.json ```json { "run_stem": "teleop_20261105_161347", "started_at": "2026-11-05T16:13:48", "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": "2026-11-05T16:13:57" } ], "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": [ 1.93, 40.07, -19.95, 3.95, -27.86, -30.76 ], "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": 15.0, "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": "f0d7e732e335c551b2960bd19b583907420773aa", "script_status": "clean" }, "script_copy": "gamepad_teleop.py", "script_sha256": "baf7e242f2c7801f3de18a9de5b2b0f3adeb9e92c40bbc921a477d2706f29d03", "ended_at": "2026-11-05T16:22:20", "end_reason": "ctrl_c", "n_sent": 29 } ``` ### 16:13 の記録 runs/experiments/gamepad_teleop/teleop_20261105_161347/log.jsonl（118行） ```json {"seq": 1, "t": "2026-11-05T16:14:03.034", "t_unix": 1793862843.034, "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": [1.93, 40.07, -19.95, 3.95, -27.86, -30.76], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [0.93, 40.07, -19.95, 3.95, -27.86, -30.76], "sent": true, "timeout_sec": 8.0, "t_send": 1793862843.127028, "measured_before_send": [1.93, 40.07, -19.95, 3.95, -27.86, -30.76], "resends": [], "reached": true, "reached_angles": [0.61, 41.22, -18.98, 3.77, -27.5, -30.76], "reach_err": 1.15, "elapsed_sec": 0.4, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 2, "t": "2026-11-05T16:14:03.581", "t_unix": 1793862843.581, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 1, "held_sec": 0.549, "accepted": true, "measured_before": [0.7, 41.22, -18.98, 4.13, -27.5, -30.67], "start_source": "hold", "cmd_gap_deg": 1.15, "hold_lead_deg": 0.23, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-14.3, 40.07, -19.95, 3.95, -27.86, -30.76], "sent": true, "reached": null, "no_check": true, "t_send": 1793862843.6045382, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 3, "t": "2026-11-05T16:14:03.681", "t_unix": 1793862843.681, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 2, "held_sec": 0.65, "accepted": true, "measured_before": [1.14, 41.22, -18.98, 4.13, -27.5, -30.67], "start_source": "hold", "cmd_gap_deg": 1.15, "hold_lead_deg": 15.44, "sent": false, "why": "lead_ok", "hold_remaining_deg": 15.44, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 4, "t": "2026-11-05T16:14:03.797", "t_unix": 1793862843.798, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 3, "held_sec": 0.766, "accepted": true, "measured_before": [-0.17, 41.22, -18.98, 3.51, -27.5, -30.76], "start_source": "hold", "cmd_gap_deg": 1.15, "hold_lead_deg": 14.13, "sent": false, "why": "lead_ok", "hold_remaining_deg": 14.13, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 5, "t": "2026-11-05T16:14:03.898", "t_unix": 1793862843.898, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 4, "held_sec": 0.866, "accepted": true, "measured_before": [-3.69, 41.22, -18.98, 3.51, -27.42, -30.76], "start_source": "hold", "cmd_gap_deg": 1.15, "hold_lead_deg": 10.61, "sent": false, "why": "lead_ok", "hold_remaining_deg": 10.61, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 6, "t": "2026-11-05T16:14:03.999", "t_unix": 1793862843.999, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 5, "held_sec": 0.967, "accepted": true, "measured_before": [-8.26, 41.22, -18.98, 3.51, -27.42, -30.76], "start_source": "hold", "cmd_gap_deg": 1.15, "hold_lead_deg": 6.04, "sent": false, "why": "lead_ok", "hold_remaining_deg": 6.04, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 7, "t": "2026-11-05T16:14:04.101", "t_unix": 1793862844.101, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 6, "held_sec": 1.069, "accepted": true, 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"held_sec": 0.925, "accepted": true, "released_during_job": true, "measured_before": [-24.34, 45.43, -18.54, 4.04, -25.75, -30.84], "start_source": "hold", "cmd_gap_deg": 2.11, "hold_lead_deg": 4.54, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-9.34, 44.03, -19.95, 3.95, -27.86, -30.76], "sent": false, "why": "halted_before_send", "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 97, "t": "2026-11-05T16:14:26.220", "t_unix": 1793862866.22, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 11, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 96, "t": "2026-11-05T16:14:25.923", "t_unix": 1793862865.923, "button": null, "button_name": null, "kind": "halt", "selected_joint": 1, "step_deg": 1.0, "execute": true, "accepted": true, "halt_reason": "release", "hold_id": 10, "halt_joint": 0, "measured_at_request": [-34.8, 45.43, -18.54, 3.95, -25.75, -30.84], "t_halt": 1793862865.9238882, "halt": "stop", "halt_result": {"jog_stop": null, "stop": null}, "measured_after_halt": [-21.97, 46.93, -17.49, 4.13, -23.99, -30.76], "pin_command": [-21.97, 44.03, -19.95, 3.95, -27.86, -30.76], "pin_sent": true, "moved_after_request_deg": [12.83, 1.5, 1.05, 0.18, 1.76, 0.08], "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 98, "t": "2026-11-05T16:14:29.266", "t_unix": 1793862869.266, "button": 3, "button_name": "triangle", "kind": "select_joint", "selected_joint": 2, "step_deg": 1.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 100, "t": "2026-11-05T16:14:34.323", "t_unix": 1793862874.323, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 2, "delta": -1.0, "hold_id": 13, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 101, "t": "2026-11-05T16:14:35.468", "t_unix": 1793862875.469, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 2, "delta": -1.0, "hold_id": 14, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 102, "t": "2026-11-05T16:14:36.631", "t_unix": 1793862876.631, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 2, "step_deg": 2.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 103, "t": "2026-11-05T16:14:36.966", "t_unix": 1793862876.966, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 2.0, "execute": true, "joint": 2, "delta": -2.0, "hold_id": 15, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 99, "t": "2026-11-05T16:14:30.768", "t_unix": 1793862870.77, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 2, "delta": -1.0, "hold_id": 12, "hold_n": 0, "accepted": true, "measured_before": [-22.06, 46.75, -18.19, 3.95, -26.54, -30.76], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 2.72, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-21.97, 44.03, -20.95, 3.95, -27.86, -30.76], "sent": true, "timeout_sec": 8.0, "t_send": 1793862870.813629, "measured_before_send": [-22.06, 46.75, -18.19, 3.95, -26.54, -30.76], "resends": [], "reached": false, "reached_angles": [-22.06, 46.75, -19.42, 3.95, -27.24, -30.76], "reach_err": 2.72, "elapsed_sec": 8.11, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 104, "t": "2026-11-05T16:14:40.529", "t_unix": 1793862880.53, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 2, "step_deg": 2.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 105, "t": "2026-11-05T16:14:40.830", "t_unix": 1793862880.831, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 2.0, "execute": true, "joint": 2, "delta": -2.0, "hold_id": 16, "hold_n": 0, "accepted": true, "measured_before": [-22.06, 46.75, -19.42, 3.95, -28.82, -30.76], "start_source": "measured", "others_from_measured": [], "cmd_gap_deg": 2.72, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-21.97, 44.03, -21.42, 3.95, -27.86, -30.76], "sent": true, "timeout_sec": 8.0, "t_send": 1793862880.879064, "measured_before_send": [-22.06, 46.75, -19.42, 3.95, -28.82, -30.76], "resends": [0.7, 1.4, 2.11], "reached": false, "not_moved": true, "reached_angles": [-22.06, 46.75, -19.42, 3.95, -28.82, -30.76], "reach_err": 2.72, "elapsed_sec": 2.79, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 106, "t": "2026-11-05T16:14:43.730", "t_unix": 1793862883.731, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 2.0, "execute": true, "joint": 2, "delta": -15.0, "hold_id": 16, "hold_n": 1, "held_sec": 2.9, "accepted": true, "measured_before": [-22.06, 46.75, -19.42, 3.95, -28.82, -30.76], "start_source": "hold", "cmd_gap_deg": 2.72, "hold_lead_deg": 2.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-21.97, 44.03, -34.42, 3.95, -27.86, -30.76], "sent": true, "reached": null, "no_check": true, "t_send": 1793862883.766721, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 107, "t": "2026-11-05T16:14:44.187", "t_unix": 1793862884.187, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 2.0, "execute": true, "joint": 2, "delta": -15.0, "hold_id": 16, "hold_n": 2, "held_sec": 3.357, "accepted": true, "released_during_job": true, "measured_before": [-22.06, 46.75, -30.67, 3.95, -28.82, -30.76], "start_source": "hold", "cmd_gap_deg": 2.72, "hold_lead_deg": 3.75, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-21.97, 44.03, -45.67, 3.95, -27.86, -30.76], "sent": true, "reached": null, "no_check": true, "t_send": 1793862884.240313, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 108, "t": "2026-11-05T16:14:44.278", "t_unix": 1793862884.278, "button": null, "button_name": null, "kind": "halt", "selected_joint": 2, "step_deg": 1.0, "execute": true, "accepted": true, "halt_reason": "release", "hold_id": 16, "halt_joint": 2, "measured_at_request": [-22.06, 46.75, -19.42, 3.95, -28.82, -30.76], "t_halt": 1793862884.2785878, "halt": "stop", "halt_result": {"jog_stop": null, "stop": null}, "measured_after_halt": [-22.06, 46.75, -33.13, 3.95, -28.82, -30.76], "pin_command": [-21.97, 44.03, -33.13, 3.95, -27.86, -30.76], "pin_sent": true, "moved_after_request_deg": [0.0, 0.0, -13.71, 0.0, 0.0, 0.0], "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 109, "t": "2026-11-05T16:14:44.919", "t_unix": 1793862884.92, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 2, "step_deg": 2.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 111, "t": "2026-11-05T16:14:48.061", "t_unix": 1793862888.062, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 2, "step_deg": 2.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 110, "t": "2026-11-05T16:14:45.287", "t_unix": 1793862885.287, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 2.0, "execute": true, "joint": 2, "delta": -2.0, "hold_id": 17, "hold_n": 0, "accepted": true, "measured_before": [-22.06, 46.75, -33.13, 3.95, -28.82, -30.76], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 2.72, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-21.97, 44.03, -35.13, 3.95, -27.86, -30.76], "sent": true, "timeout_sec": 8.0, "t_send": 1793862885.338636, "measured_before_send": [-22.06, 46.75, -33.13, 3.95, -28.82, -30.76], "resends": [0.7, 1.4, 2.09], "reached": false, "not_moved": true, "reached_angles": [-22.06, 46.75, -33.13, 3.95, -28.74, -30.76], "reach_err": 2.72, "elapsed_sec": 2.75, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 113, "t": "2026-11-05T16:14:50.430", "t_unix": 1793862890.43, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 2, "step_deg": 2.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 114, "t": "2026-11-05T16:14:51.235", "t_unix": 1793862891.236, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 2, "delta": -1.0, "hold_id": 19, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 112, "t": "2026-11-05T16:14:48.415", "t_unix": 1793862888.415, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 2.0, "execute": true, "joint": 2, "delta": -2.0, "hold_id": 18, "hold_n": 0, "accepted": true, "measured_before": [-22.06, 46.75, -33.13, 3.95, -28.56, -30.76], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 2.72, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-21.97, 44.03, -37.13, 3.95, -27.86, -30.76], "sent": true, "timeout_sec": 8.0, "t_send": 1793862888.446197, "measured_before_send": [-22.06, 46.75, -33.13, 3.95, -28.56, -30.76], "resends": [0.69, 1.41, 2.11], "reached": false, "not_moved": true, "reached_angles": [-22.06, 46.75, -33.13, 3.95, -28.3, -30.76], "reach_err": 4.0, "elapsed_sec": 2.78, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 116, "t": "2026-11-05T16:14:53.234", "t_unix": 1793862893.235, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 2, "delta": -1.0, "hold_id": 21, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 117, "t": "2026-11-05T16:14:54.173", "t_unix": 1793862894.173, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 2, "delta": -1.0, "hold_id": 22, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 115, "t": "2026-11-05T16:14:52.278", "t_unix": 1793862892.279, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 2, "delta": -1.0, "hold_id": 20, "hold_n": 0, "accepted": true, "measured_before": [-22.06, 46.75, -33.13, 3.95, -28.3, -30.76], "start_source": "measured", "others_from_measured": [], "cmd_gap_deg": 4.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-21.97, 44.03, -34.13, 3.95, -27.86, -30.76], "sent": true, "timeout_sec": 8.0, "t_send": 1793862892.325689, "measured_before_send": [-22.06, 46.75, -33.13, 3.95, -28.3, -30.76], "resends": [0.72, 1.45, 2.15], "reached": false, "not_moved": true, "reached_angles": [-22.06, 46.75, -33.13, 3.95, -28.03, -30.76], "reach_err": 2.72, "elapsed_sec": 2.84, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 118, "t": "2026-11-05T16:14:58.828", "t_unix": 1793862898.828, "button": 5, "button_name": "home", "kind": "home", "selected_joint": 2, "step_deg": 1.0, "execute": true, "held_sec": 1.012, "accepted": true, "measured_before": [-22.06, 46.75, -33.13, 3.95, -28.03, -30.76], "command": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0], "range_check": "skipped_for_home", "sent": true, "timeout_sec": 9.01, "t_send": 1793862898.870304, "measured_before_send": [-22.06, 46.75, -33.13, 3.95, -28.03, -30.76], "resends": [], "reached": true, "reached_angles": [0.35, 1.58, 0.17, 0.79, -0.52, -30.67], "reach_err": 1.58, "elapsed_sec": 1.14, "grip_state": "unknown", "stopped": false, "stop_reason": null} ``` ### 16:22 の記録 runs/experiments/gamepad_teleop/teleop_20261105_162224/meta.json ```json { "run_stem": "teleop_20261105_162224", "started_at": "2026-11-05T16:22:25", "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": "2026-11-05T16:22:31" } ], "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": [ -0.17, 1.58, 0.96, 0.26, -0.17, -30.23 ], "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": 15.0, "hold_stall_sec": 1.5, "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": "31a336c1994f1a214b00abe93f20b8b271e5d178", "script_status": "clean" }, "script_copy": "gamepad_teleop.py", "script_sha256": "2ccfa5a504163d02786d9854141ee1a21a8d48ca8bfd78318bf945544461c5e6", "ended_at": "2026-11-05T16:26:15", "end_reason": "ctrl_c", "n_sent": 26 } ``` ### 16:22 の記録 runs/experiments/gamepad_teleop/teleop_20261105_162224/log.jsonl（86行） ```json {"seq": 1, "t": "2026-11-05T16:22:36.397", "t_unix": 1793863356.398, "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": [-0.17, 1.58, 0.96, 0.26, -0.17, -30.23], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.17, 1.58, 0.96, 0.26, -0.17, -30.23], "sent": true, "timeout_sec": 8.0, "t_send": 1793863356.43919, "measured_before_send": [-0.17, 1.58, 0.96, 0.26, -0.17, -30.23], "resends": [], "reached": true, "reached_angles": [-0.96, 2.46, 1.75, 0.26, -0.08, -30.23], "reach_err": 0.88, "elapsed_sec": 0.34, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 2, "t": "2026-11-05T16:22:36.840", "t_unix": 1793863356.84, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 1, "held_sec": 0.443, "accepted": true, "measured_before": [-0.96, 2.46, 1.75, 0.26, -0.08, -30.23], "start_source": "hold", "cmd_gap_deg": 0.88, "hold_lead_deg": 0.21, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-15.96, 1.58, 0.96, 0.26, -0.17, -30.23], "sent": true, "reached": null, "no_check": true, "t_send": 1793863356.861637, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 3, "t": "2026-11-05T16:22:36.942", "t_unix": 1793863356.942, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 2, "held_sec": 0.545, "accepted": true, "measured_before": [-1.14, 2.46, 1.75, 0.26, -0.08, -30.23], "start_source": "hold", "cmd_gap_deg": 0.88, "hold_lead_deg": 14.82, "sent": false, "why": "lead_ok", "hold_remaining_deg": 14.82, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 4, "t": "2026-11-05T16:22:37.043", "t_unix": 1793863357.043, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 3, "held_sec": 0.646, "accepted": true, "measured_before": [-15.2, 2.46, 1.75, 0.26, -0.08, -30.23], "start_source": "hold", "cmd_gap_deg": 0.88, "hold_lead_deg": 0.76, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-30.2, 1.58, 0.96, 0.26, -0.17, -30.23], "sent": true, "reached": null, "no_check": true, "t_send": 1793863357.4127731, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 5, "t": "2026-11-05T16:22:37.799", "t_unix": 1793863357.8, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 4, "held_sec": 1.403, "accepted": true, "measured_before": [-29.61, 2.46, 1.75, 0.08, -0.08, -30.23], "start_source": "hold", "cmd_gap_deg": 0.88, "hold_lead_deg": 0.59, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-44.61, 1.58, 0.96, 0.26, -0.17, -30.23], "sent": true, "reached": null, "no_check": true, "t_send": 1793863358.227385, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 6, "t": "2026-11-05T16:22:38.621", "t_unix": 1793863358.621, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 5, "held_sec": 2.224, "accepted": true, "measured_before": [-44.29, 2.46, 1.75, 0.0, -0.08, -30.23], "start_source": "hold", "cmd_gap_deg": 0.88, "hold_lead_deg": 0.32, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-59.29, 1.58, 0.96, 0.26, -0.17, -30.23], "sent": true, "reached": null, "no_check": true, "t_send": 1793863359.028451, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 7, "t": "2026-11-05T16:22:39.125", "t_unix": 1793863359.126, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 6, "held_sec": 2.728, "accepted": true, "measured_before": [-44.29, 2.46, 1.75, 0.0, -0.08, -30.23], "start_source": "hold", "cmd_gap_deg": 0.88, "hold_lead_deg": 15.0, "sent": false, "why": "lead_ok", "hold_remaining_deg": 15.0, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 8, "t": "2026-11-05T16:22:39.228", "t_unix": 1793863359.228, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 7, "held_sec": 2.831, "accepted": true, "measured_before": [-46.31, 2.46, 1.75, 0.0, -0.08, -30.23], "start_source": "hold", "cmd_gap_deg": 0.88, "hold_lead_deg": 12.98, "sent": false, "why": "lead_ok", "hold_remaining_deg": 12.98, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 9, "t": "2026-11-05T16:22:39.328", "t_unix": 1793863359.329, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 8, "held_sec": 2.931, "accepted": true, "measured_before": [-50.44, 2.46, 1.75, 0.0, -0.08, -30.23], "start_source": "hold", "cmd_gap_deg": 0.88, "hold_lead_deg": 8.85, "sent": false, "why": "lead_ok", "hold_remaining_deg": 8.85, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 10, "t": "2026-11-05T16:22:39.429", "t_unix": 1793863359.43, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 9, "held_sec": 3.032, "accepted": true, "measured_before": [-54.14, 2.46, 1.75, 0.0, -0.08, -30.23], "start_source": "hold", "cmd_gap_deg": 0.88, "hold_lead_deg": 5.15, "sent": false, "why": "lead_ok", "hold_remaining_deg": 5.15, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 11, "t": "2026-11-05T16:22:39.530", "t_unix": 1793863359.531, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 10, "held_sec": 3.133, "accepted": true, "released_during_job": true, "measured_before": [-58.71, 2.46, 1.75, 0.0, -0.08, -30.23], "start_source": "hold", "cmd_gap_deg": 0.88, "hold_lead_deg": 0.58, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-73.71, 1.58, 0.96, 0.26, -0.17, -30.23], "sent": true, "reached": null, "no_check": true, "t_send": 1793863359.561855, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 12, "t": "2026-11-05T16:22:39.597", "t_unix": 1793863359.598, "button": null, "button_name": null, "kind": "halt", "selected_joint": 1, "step_deg": 1.0, "execute": true, "accepted": true, "halt_reason": "release", "hold_id": 1, "halt_joint": 0, "measured_at_request": [-54.14, 2.46, 1.75, 0.0, -0.08, -30.23], "t_halt": 1793863359.598322, "halt": "stop", "halt_result": {"jog_stop": null, "stop": null}, "measured_after_halt": [-73.38, 2.46, 1.75, -0.08, -0.08, -30.14], "moved_after_request_deg": [-19.24, 0.0, 0.0, -0.08, 0.0, 0.09], "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 13, "t": "2026-11-05T16:22:40.686", "t_unix": 1793863360.687, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 2, "hold_n": 0, "accepted": true, "measured_before": [-73.3, 2.46, 1.75, -0.08, -0.08, -30.14], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-72.38, 1.58, 0.96, 0.26, -0.17, -30.23], "sent": true, "timeout_sec": 8.0, "t_send": 1793863360.7509918, "measured_before_send": [-73.3, 2.46, 1.75, -0.08, -0.08, -30.14], "resends": [], "reached": true, "reached_angles": [-72.15, 2.46, 1.75, -0.08, -0.08, -30.14], "reach_err": 0.88, "elapsed_sec": 0.01, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 14, "t": "2026-11-05T16:22:41.372", "t_unix": 1793863361.372, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 3, "hold_n": 0, "accepted": true, "measured_before": [-72.15, 2.46, 1.75, -0.08, -0.08, -30.14], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-71.38, 1.58, 0.96, 0.26, -0.17, -30.23], "sent": true, "timeout_sec": 8.0, "t_send": 1793863361.407577, "measured_before_send": [-72.15, 2.46, 1.75, -0.08, -0.08, -30.14], "resends": [], "reached": true, "reached_angles": [-71.1, 2.46, 1.75, -0.08, -0.08, -30.14], "reach_err": 0.88, "elapsed_sec": 0.34, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 16, "t": "2026-11-05T16:22:42.876", "t_unix": 1793863362.877, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 5, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 17, "t": "2026-11-05T16:22:43.548", "t_unix": 1793863363.549, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 6, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 18, "t": "2026-11-05T16:22:44.587", "t_unix": 1793863364.588, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 1, "step_deg": 2.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 19, "t": "2026-11-05T16:22:45.075", "t_unix": 1793863365.076, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 7, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 20, "t": "2026-11-05T16:22:45.779", "t_unix": 1793863365.779, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 1, "step_deg": 2.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 21, "t": "2026-11-05T16:22:46.281", "t_unix": 1793863366.282, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 2.0, "hold_id": 8, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 22, "t": "2026-11-05T16:22:49.016", "t_unix": 1793863369.017, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 9, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 23, "t": "2026-11-05T16:22:50.107", "t_unix": 1793863370.107, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 1, "delta": -1.0, "hold_id": 10, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 24, "t": "2026-11-05T16:22:50.108", "t_unix": 1793863370.108, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 11, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 25, "t": "2026-11-05T16:22:51.668", "t_unix": 1793863371.668, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 12, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 26, "t": "2026-11-05T16:22:52.333", "t_unix": 1793863372.334, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 13, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 27, "t": "2026-11-05T16:22:54.487", "t_unix": 1793863374.487, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 14, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 15, "t": "2026-11-05T16:22:42.029", "t_unix": 1793863362.029, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 4, "hold_n": 0, "accepted": true, "measured_before": [-71.1, 2.46, 1.75, -0.08, -0.08, -30.14], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 0.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-70.38, 1.58, 0.96, 0.26, -0.17, -30.23], "sent": true, "timeout_sec": 8.0, "t_send": 1793863362.074432, "measured_before_send": [-71.1, 2.46, 1.75, -0.08, -0.08, -30.14], "resends": [8.85], "reached": false, "reached_angles": [-71.1, 2.46, 1.75, -0.08, -0.08, -30.14], "reach_err": 0.88, "elapsed_sec": 8.85, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 28, "t": "2026-11-05T16:22:55.386", "t_unix": 1793863375.387, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 1, "step_deg": 2.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 30, "t": "2026-11-05T16:22:57.495", "t_unix": 1793863377.496, "button": 3, "button_name": "triangle", "kind": "select_joint", "selected_joint": 2, "step_deg": 1.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 31, "t": "2026-11-05T16:22:58.369", "t_unix": 1793863378.37, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 2, "step_deg": 2.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 32, "t": "2026-11-05T16:22:58.707", "t_unix": 1793863378.707, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 2, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 2.0, "hold_id": 16, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 29, "t": "2026-11-05T16:22:55.888", "t_unix": 1793863375.888, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 2.0, "execute": true, "joint": 0, "delta": 2.0, "hold_id": 15, "hold_n": 0, "accepted": true, "measured_before": [-71.1, 2.46, 1.75, -0.08, -0.08, -30.14], "start_source": 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"button_name": "dpad_right", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 15.0, "hold_id": 26, "hold_n": 19, "held_sec": 3.29, "accepted": true, "measured_before": [4.83, 2.46, 0.79, 0.26, -0.08, -30.05], "start_source": "hold", "cmd_gap_deg": 2.0, "hold_lead_deg": 7.1, "sent": false, "why": "lead_ok", "hold_remaining_deg": 7.1, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 67, "t": "2026-11-05T16:23:22.638", "t_unix": 1793863402.639, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 15.0, "hold_id": 26, "hold_n": 20, "held_sec": 3.391, "accepted": true, "measured_before": [10.1, 2.46, 0.79, 0.26, -0.08, -30.05], "start_source": "hold", "cmd_gap_deg": 2.0, "hold_lead_deg": 1.83, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [25.1, 1.58, -1.21, 0.26, -0.17, -30.23], "sent": true, "reached": null, "no_check": true, "t_send": 1793863402.69832, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 68, "t": "2026-11-05T16:23:22.758", "t_unix": 1793863402.759, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 15.0, "hold_id": 26, "hold_n": 21, "held_sec": 3.511, "accepted": true, "measured_before": [21.62, 2.46, 0.79, 0.26, -0.08, -30.05], "start_source": "hold", "cmd_gap_deg": 2.0, "hold_lead_deg": 3.48, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [36.62, 1.58, -1.21, 0.26, -0.17, -30.23], "sent": true, "reached": null, "no_check": true, "t_send": 1793863403.1361852, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 69, "t": "2026-11-05T16:23:23.201", "t_unix": 1793863403.201, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 15.0, "hold_id": 26, "hold_n": 22, "held_sec": 3.953, "accepted": true, "measured_before": [33.75, 2.46, 0.79, 0.35, -0.08, -30.05], "start_source": "hold", "cmd_gap_deg": 2.0, "hold_lead_deg": 2.87, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [48.75, 1.58, -1.21, 0.26, -0.17, -30.23], "sent": true, "reached": null, "no_check": true, "t_send": 1793863403.569608, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 70, "t": "2026-11-05T16:23:23.639", "t_unix": 1793863403.639, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 15.0, "hold_id": 26, "hold_n": 23, "held_sec": 4.391, "accepted": true, "measured_before": [37.08, 2.46, 0.79, 0.35, -0.08, -30.05], "start_source": "hold", "cmd_gap_deg": 2.0, "hold_lead_deg": 11.67, "sent": false, "why": "lead_ok", "hold_remaining_deg": 11.67, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 71, "t": "2026-11-05T16:23:23.740", "t_unix": 1793863403.74, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 15.0, "hold_id": 26, "hold_n": 24, "held_sec": 4.492, "accepted": true, "measured_before": [36.82, 2.46, 0.79, 0.35, -0.08, -30.05], "start_source": "hold", "cmd_gap_deg": 2.0, "hold_lead_deg": 11.93, "sent": false, "why": "lead_ok", "hold_remaining_deg": 11.93, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 72, "t": "2026-11-05T16:23:23.841", "t_unix": 1793863403.842, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 15.0, "hold_id": 26, "hold_n": 25, "held_sec": 4.594, "accepted": true, "measured_before": [40.51, 2.46, 0.79, 0.35, -0.08, -29.97], "start_source": "hold", "cmd_gap_deg": 2.0, "hold_lead_deg": 8.24, "sent": false, "why": "lead_ok", "hold_remaining_deg": 8.24, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 73, "t": "2026-11-05T16:23:23.942", "t_unix": 1793863403.943, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 15.0, "hold_id": 26, "hold_n": 26, "held_sec": 4.694, "accepted": true, "released_during_job": true, "measured_before": [48.86, 2.46, 0.79, 0.35, -0.08, -29.97], "start_source": "hold", "cmd_gap_deg": 2.0, "hold_lead_deg": 0.11, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [63.86, 1.58, -1.21, 0.26, -0.17, -30.23], "sent": true, "reached": null, "no_check": true, "t_send": 1793863404.347233, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 74, "t": "2026-11-05T16:23:24.734", "t_unix": 1793863404.734, "button": null, "button_name": null, "kind": "halt", "selected_joint": 2, "step_deg": 1.0, "execute": true, "accepted": true, "halt_reason": "release", "hold_id": 26, "halt_joint": 0, "measured_at_request": [40.51, 2.46, 0.79, 0.35, -0.08, -29.97], "t_halt": 1793863404.736706, "halt": "stop", "halt_result": {"jog_stop": null, "stop": null}, "measured_after_halt": [59.15, 3.42, 1.75, 0.35, 1.4, -30.14], "moved_after_request_deg": [18.64, 0.96, 0.96, 0.0, 1.48, -0.17], "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 76, "t": "2026-11-05T16:23:27.834", "t_unix": 1793863407.834, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 2, "delta": -1.0, "hold_id": 28, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 77, "t": "2026-11-05T16:23:29.075", "t_unix": 1793863409.076, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 2, "step_deg": 2.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 78, "t": "2026-11-05T16:23:30.529", "t_unix": 1793863410.529, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 2, "delta": -1.0, "hold_id": 29, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 79, "t": "2026-11-05T16:23:30.529", "t_unix": 1793863410.529, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 2, "step_deg": 2.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 80, "t": "2026-11-05T16:23:32.059", "t_unix": 1793863412.059, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 2, "delta": -1.0, "hold_id": 30, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 81, "t": "2026-11-05T16:23:32.059", "t_unix": 1793863412.06, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 2, "step_deg": 2.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 82, "t": "2026-11-05T16:23:33.188", "t_unix": 1793863413.189, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 2, "delta": -1.0, "hold_id": 31, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 83, "t": "2026-11-05T16:23:33.237", "t_unix": 1793863413.238, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 2, "step_deg": 2.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 84, "t": "2026-11-05T16:23:34.431", "t_unix": 1793863414.432, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 2, "delta": -1.0, "hold_id": 32, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 85, "t": "2026-11-05T16:23:34.465", "t_unix": 1793863414.465, "button": 10, "button_name": "r1", "kind": "modifier", "selected_joint": 2, "step_deg": 2.0, "execute": true, "accepted": true, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 75, "t": "2026-11-05T16:23:26.130", "t_unix": 1793863406.131, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 2, "delta": -1.0, "hold_id": 27, "hold_n": 0, "accepted": true, "measured_before": [59.06, 3.51, 1.75, 0.35, 1.4, -30.14], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 2.96, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [59.15, 1.58, -2.21, 0.26, -0.17, -30.23], "sent": true, "timeout_sec": 8.0, "t_send": 1793863406.17473, "measured_before_send": [59.06, 3.51, 1.75, 0.35, 1.4, -30.14], "resends": [], "reached": false, "reached_angles": [58.62, 2.98, -0.61, 0.26, 0.43, -30.14], "reach_err": 1.6, "elapsed_sec": 8.15, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 86, "t": "2026-11-05T16:23:51.445", "t_unix": 1793863431.446, "button": 5, "button_name": "home", "kind": "home", "selected_joint": 2, "step_deg": 1.0, "execute": true, "held_sec": 1.012, "accepted": true, "measured_before": [58.62, 2.98, -0.61, 0.26, -0.87, -30.14], "command": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0], "range_check": "skipped_for_home", "sent": true, "timeout_sec": 10.79, "t_send": 1793863431.491513, "measured_before_send": [58.62, 2.98, -0.61, 0.26, -0.87, -30.14], "resends": [], "reached": true, "reached_angles": [2.72, 1.66, 0.7, 0.26, -0.61, -30.14], "reach_err": 2.72, "elapsed_sec": 1.16, "grip_state": "unknown", "stopped": false, "stop_reason": null} ``` ### 16:31 の記録 runs/experiments/gamepad_teleop/teleop_20261105_163144/meta.json ```json { "run_stem": "teleop_20261105_163144", "started_at": "2026-11-05T16:31:45", "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": "2026-11-05T16:31:51" } ], "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": [ 0.7, 1.49, 1.75, -0.08, 0.26, -30.23 ], "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": 15.0, "hold_stall_sec": 1.5, "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": "b71ffb5aca9a7ca9a3b74e41e3a5d011d1083fe4", "script_status": "clean" }, "script_copy": "gamepad_teleop.py", "script_sha256": "197310e4269e159c4507d16222fd3952d1261e3208503926fec08575af3a7d3c", "ended_at": "2026-11-05T16:36:17", "end_reason": "ctrl_c", "n_sent": 116 } ``` ### 16:31 の記録 runs/experiments/gamepad_teleop/teleop_20261105_163144/log.jsonl（326行） ```json {"seq": 1, "t": "2026-11-05T16:31:53.338", "t_unix": 1793863913.338, "button": 5, "button_name": "home", "kind": "home", "selected_joint": 1, "step_deg": 1.0, "execute": true, "held_sec": 1.003, "accepted": true, "measured_before": [0.7, 1.49, 1.75, -0.17, 45.17, -30.23], "command": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0], "range_check": "skipped_for_home", "sent": true, "timeout_sec": 8.78, "t_send": 1793863913.3969028, "measured_before_send": [0.7, 1.49, 1.75, -0.17, 45.17, -30.23], "resends": [], "reached": true, "reached_angles": [-0.26, 1.49, 1.75, -0.17, 0.87, -30.23], "reach_err": 1.75, "elapsed_sec": 0.67, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 2, "t": "2026-11-05T16:31:56.281", "t_unix": 1793863916.281, "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, 1.75, -0.17, 0.87, -30.23], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 1.75, "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": 1793863916.3476741, "measured_before_send": [-0.26, 1.49, 1.75, -0.17, 0.87, -30.23], "resends": [], "reached": true, "reached_angles": [-1.14, 1.49, 1.75, -0.17, 0.87, -30.23], "reach_err": 1.75, "elapsed_sec": 0.34, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 3, "t": "2026-11-05T16:31:56.769", "t_unix": 1793863916.77, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 1, "held_sec": 0.489, 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false, "stop_reason": null} {"seq": 317, "t": "2026-11-05T16:35:54.709", "t_unix": 1793864154.71, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 59, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 318, "t": "2026-11-05T16:35:55.144", "t_unix": 1793864155.145, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 60, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 319, "t": "2026-11-05T16:35:55.430", "t_unix": 1793864155.43, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 61, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 320, "t": "2026-11-05T16:35:55.634", "t_unix": 1793864155.634, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 62, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 321, "t": "2026-11-05T16:35:55.886", "t_unix": 1793864155.886, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 63, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 322, "t": "2026-11-05T16:35:56.140", "t_unix": 1793864156.14, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 64, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 323, "t": "2026-11-05T16:35:56.445", "t_unix": 1793864156.445, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 1.0, "hold_id": 65, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 324, "t": "2026-11-05T16:35:57.049", "t_unix": 1793864157.049, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 66, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 325, "t": "2026-11-05T16:35:57.700", "t_unix": 1793864157.701, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 67, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 326, "t": "2026-11-05T16:36:01.241", "t_unix": 1793864161.241, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 68, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 310, "t": "2026-11-05T16:35:50.597", "t_unix": 1793864150.597, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 53, "hold_n": 0, "accepted": true, "measured_before": [-0.26, 1.14, 1.75, 0.26, -0.79, -29.79], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 1.75, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-2.0, 0.0, 0.0, 0.0, 0.0, -30.0], "sent": true, "timeout_sec": 8.0, "t_send": 1793864150.640255, "measured_before_send": [-0.26, 1.14, 1.75, 0.26, -0.79, -29.79], "resends": [13.0], "reached": false, "reached_angles": [-0.26, 1.14, 1.75, 0.26, -0.26, -29.79], "reach_err": 1.75, "elapsed_sec": 13.0, "grip_state": "unknown", "stopped": false, "stop_reason": null} ``` ### 16:36 の記録 runs/experiments/gamepad_teleop/teleop_20261105_163620/meta.json ```json { "run_stem": "teleop_20261105_163620", "started_at": "2026-11-05T16:36:22", "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": "2026-11-05T16:36:27" } ], "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, 1.75, 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": 15.0, "hold_stall_sec": 1.5, "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": "72d9d964c770e3c8f8c95d98600d41f607624dce", "script_status": "clean" }, "script_copy": "gamepad_teleop.py", "script_sha256": "5e84320facb48ece2464b4875b263342d900d97e4d16418f155e1f73cff94d9b", "ended_at": "2026-11-05T16:51:52", "end_reason": "ctrl_c", "n_sent": 152 } ``` ### 16:36 の記録 runs/experiments/gamepad_teleop/teleop_20261105_163620/log.jsonl（386行） ```json {"seq": 1, "t": "2026-11-05T16:36:30.051", "t_unix": 1793864190.052, "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, 1.75, 0.26, -0.26, -29.79], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.26, 1.14, 1.75, 0.26, -0.26, -29.79], "sent": true, "timeout_sec": 8.0, "t_send": 1793864190.092095, "measured_before_send": [-0.26, 1.14, 1.75, 0.26, -0.26, -29.79], "resends": [], "reached": true, "reached_angles": [-1.05, 1.14, 1.75, 0.26, -0.26, -29.79], "reach_err": 0.21, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 2, "t": "2026-11-05T16:36:30.486", "t_unix": 1793864190.487, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 1, "held_sec": 0.436, "accepted": true, "measured_before": [-0.96, 1.14, 1.75, 0.26, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 0.3, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-15.96, 1.14, 1.75, 0.26, -0.26, -29.79], "sent": true, "reached": null, "no_check": true, "t_send": 1793864190.509464, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 3, "t": "2026-11-05T16:36:30.587", "t_unix": 1793864190.588, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 2, "held_sec": 0.537, "accepted": true, "measured_before": [-1.05, 1.14, 1.75, 0.26, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 14.91, "sent": false, "why": "lead_ok", "hold_remaining_deg": 14.91, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 4, "t": "2026-11-05T16:36:30.689", "t_unix": 1793864190.689, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 3, "held_sec": 0.638, "accepted": true, "measured_before": [-15.11, 1.14, 1.75, 0.26, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 0.85, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-30.11, 1.14, 1.75, 0.26, -0.26, -29.79], "sent": true, "reached": null, "no_check": true, "t_send": 1793864191.09264, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 5, "t": "2026-11-05T16:36:31.499", "t_unix": 1793864191.5, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 4, "held_sec": 1.449, "accepted": true, "measured_before": [-26.1, 1.14, 1.75, 0.26, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 4.01, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-41.1, 1.14, 1.75, 0.26, -0.26, -29.79], "sent": true, "reached": null, "no_check": true, "t_send": 1793864191.519255, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 6, "t": "2026-11-05T16:36:31.884", "t_unix": 1793864191.884, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 5, "held_sec": 1.831, "accepted": true, "measured_before": [-36.03, 1.14, 1.75, 0.26, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 5.07, "sent": false, "why": "lead_ok", "hold_remaining_deg": 5.07, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 7, "t": "2026-11-05T16:36:31.998", "t_unix": 1793864191.998, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 6, "held_sec": 1.947, "accepted": true, "measured_before": [-40.34, 1.14, 1.75, 0.26, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 0.76, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-55.34, 1.14, 1.75, 0.26, -0.26, -29.79], "sent": true, "reached": null, "no_check": true, "t_send": 1793864192.040844, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 8, "t": "2026-11-05T16:36:32.100", "t_unix": 1793864192.101, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 7, "held_sec": 2.05, "accepted": true, "measured_before": [-41.66, 1.14, 1.75, 0.17, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.09, "hold_lead_deg": 13.68, "sent": false, "why": "lead_ok", "hold_remaining_deg": 13.68, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 9, "t": "2026-11-05T16:36:32.203", "t_unix": 1793864192.204, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 8, "held_sec": 2.153, "accepted": true, "measured_before": [-41.13, 1.14, 1.75, 0.17, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.09, "hold_lead_deg": 14.21, "sent": false, "why": "lead_ok", "hold_remaining_deg": 14.21, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 10, "t": "2026-11-05T16:36:32.304", "t_unix": 1793864192.304, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 9, "held_sec": 2.253, "accepted": true, "measured_before": [-44.56, 1.14, 1.75, 0.17, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.09, "hold_lead_deg": 10.78, "sent": false, "why": "lead_ok", "hold_remaining_deg": 10.78, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 11, "t": "2026-11-05T16:36:32.405", "t_unix": 1793864192.405, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 10, "held_sec": 2.354, "accepted": true, "measured_before": [-48.86, 1.14, 1.75, 0.17, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.09, "hold_lead_deg": 6.48, "sent": false, "why": "lead_ok", "hold_remaining_deg": 6.48, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 12, "t": "2026-11-05T16:36:32.505", "t_unix": 1793864192.506, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 11, "held_sec": 2.455, "accepted": true, "measured_before": [-53.08, 1.14, 1.75, 0.17, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.09, "hold_lead_deg": 2.26, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-68.08, 1.14, 1.75, 0.26, -0.26, -29.79], "sent": true, "reached": null, "no_check": true, "t_send": 1793864192.570055, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 13, "t": "2026-11-05T16:36:32.623", "t_unix": 1793864192.624, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 12, "held_sec": 2.573, "accepted": true, "measured_before": [-64.33, 1.14, 1.75, 0.17, -0.26, -29.88], "start_source": "hold", "cmd_gap_deg": 0.09, "hold_lead_deg": 3.75, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-79.33, 1.14, 1.75, 0.26, -0.26, -29.79], "sent": true, "reached": null, "no_check": true, "t_send": 1793864192.9980748, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 14, "t": "2026-11-05T16:36:33.429", "t_unix": 1793864193.43, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 13, "held_sec": 3.379, "accepted": true, "measured_before": [-78.48, 1.14, 1.75, 0.17, -0.26, -29.88], "start_source": 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"measured_before": [5.09, 1.49, 1.84, -1.23, 5.62, -27.15], "start_source": "hold", "cmd_gap_deg": 1.49, "hold_lead_deg": 9.99, "sent": false, "why": "lead_ok", "hold_remaining_deg": 9.99, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 375, "t": "2026-11-05T16:39:10.638", "t_unix": 1793864350.639, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": -15.0, "hold_id": 73, "hold_n": 5, "held_sec": 0.84, "accepted": true, "measured_before": [5.09, 1.49, 1.84, -1.23, -3.95, -27.15], "start_source": "hold", "cmd_gap_deg": 1.49, "hold_lead_deg": 0.42, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [3.6, 1.14, 0.96, -0.75, -18.95, -27.24], "sent": true, "reached": null, "no_check": true, "t_send": 1793864350.969507, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 376, "t": "2026-11-05T16:39:11.344", "t_unix": 1793864351.345, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": -15.0, "hold_id": 73, "hold_n": 6, "held_sec": 1.546, "accepted": true, "measured_before": [5.09, 1.49, 1.84, -1.23, -15.02, -27.15], "start_source": "hold", "cmd_gap_deg": 1.49, "hold_lead_deg": 3.93, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [3.6, 1.14, 0.96, -0.75, -30.02, -27.24], "sent": true, "reached": null, "no_check": true, "t_send": 1793864351.373006, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 377, "t": "2026-11-05T16:39:11.445", "t_unix": 1793864351.445, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": -15.0, "hold_id": 73, "hold_n": 7, "held_sec": 1.647, "accepted": true, "released_during_job": true, "measured_before": [5.09, 1.49, 1.84, -1.23, -18.19, -27.15], "start_source": "hold", "cmd_gap_deg": 1.49, "hold_lead_deg": 11.83, "sent": false, "why": "lead_ok", "hold_remaining_deg": 11.83, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 378, "t": "2026-11-05T16:39:11.478", "t_unix": 1793864351.479, "button": null, "button_name": null, "kind": "halt", "selected_joint": 4, "step_deg": 1.0, "execute": true, "accepted": true, "halt_reason": "release", "hold_id": 73, "halt_joint": 4, "measured_at_request": [5.09, 1.49, 1.84, -1.23, -15.02, -27.15], "t_halt": 1793864351.4791481, "halt": "stop", "halt_result": {"jog_stop": null, "stop": null}, "measured_after_halt": [5.09, 1.49, 1.84, -1.14, -29.79, -27.15], "moved_after_request_deg": [0.0, 0.0, 0.0, 0.09, -14.77, 0.0], "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 379, "t": "2026-11-05T16:39:12.237", "t_unix": 1793864352.238, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": 1.0, "hold_id": 74, "hold_n": 0, "accepted": true, "measured_before": [5.09, 1.49, 1.84, -1.14, -29.79, -27.07], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 1.49, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [3.6, 1.14, 0.96, -0.75, -28.79, -27.24], "sent": true, "timeout_sec": 8.0, "t_send": 1793864352.3170052, "measured_before_send": [5.09, 1.49, 1.84, -1.14, -29.79, -27.07], "resends": [0.35, 0.71], "reached": false, "not_moved": true, "reached_angles": [5.09, 1.49, 1.84, -1.05, -29.79, -27.07], "reach_err": 1.49, "elapsed_sec": 1.03, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 380, "t": "2026-11-05T16:39:13.400", "t_unix": 1793864353.401, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": 15.0, "hold_id": 74, "hold_n": 1, "held_sec": 1.163, "accepted": true, "measured_before": [5.09, 1.49, 1.84, -1.05, -29.79, -27.07], "start_source": "hold", "cmd_gap_deg": 1.49, "hold_lead_deg": 1.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [3.6, 1.14, 0.96, -0.75, -14.79, -27.24], "sent": true, "reached": null, "no_check": true, "t_send": 1793864353.425517, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 381, "t": "2026-11-05T16:39:13.803", "t_unix": 1793864353.804, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": 15.0, "hold_id": 74, "hold_n": 2, "held_sec": 1.566, "accepted": true, "measured_before": [5.09, 1.49, 1.84, -1.05, -19.77, -27.07], "start_source": "hold", "cmd_gap_deg": 1.49, "hold_lead_deg": 4.98, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [3.6, 1.14, 0.96, -0.75, -4.77, -27.24], "sent": true, "reached": null, "no_check": true, "t_send": 1793864353.835954, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 382, "t": "2026-11-05T16:39:13.904", "t_unix": 1793864353.904, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": 15.0, "hold_id": 74, "hold_n": 3, "held_sec": 1.667, "accepted": true, "measured_before": [5.09, 1.49, 1.84, -1.05, -16.43, -27.07], "start_source": "hold", "cmd_gap_deg": 1.49, "hold_lead_deg": 11.66, "sent": false, "why": "lead_ok", "hold_remaining_deg": 11.66, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 383, "t": "2026-11-05T16:39:14.005", "t_unix": 1793864354.005, "button": 12, "button_name": "dpad_down", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": 15.0, "hold_id": 74, "hold_n": 4, "held_sec": 1.768, "accepted": true, "released_during_job": true, "measured_before": [5.09, 1.49, 1.84, -1.05, -16.17, -27.07], "start_source": "hold", "cmd_gap_deg": 1.49, "hold_lead_deg": 11.4, "sent": false, "why": "lead_ok", "hold_remaining_deg": 11.4, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 384, "t": "2026-11-05T16:39:14.040", "t_unix": 1793864354.04, "button": null, "button_name": null, "kind": "halt", "selected_joint": 4, "step_deg": 1.0, "execute": true, "accepted": true, "halt_reason": "release", "hold_id": 74, "halt_joint": 4, "measured_at_request": [5.09, 1.49, 1.84, -1.05, -16.43, -27.07], "t_halt": 1793864354.0445282, "halt": "stop", "halt_result": {"jog_stop": null, "stop": null}, "measured_after_halt": [5.09, 2.46, 2.72, -1.05, -12.65, -27.15], "moved_after_request_deg": [0.0, 0.97, 0.88, 0.0, 3.78, -0.08], "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 386, "t": "2026-11-05T16:40:55.228", "t_unix": 1793864455.228, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 76, "hold_n": 0, "accepted": false, "reason": "busy", "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 385, "t": "2026-11-05T16:40:55.223", "t_unix": 1793864455.224, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": -1.0, "hold_id": 75, "hold_n": 0, "accepted": true, "measured_before": [5.09, 2.54, 2.81, -1.14, -14.41, -27.15], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 1.85, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [3.6, 1.14, 0.96, -0.75, -13.65, -27.24], "sent": true, "timeout_sec": 8.0, "t_send": 1793864455.288037, "measured_before_send": [5.09, 2.54, 2.81, -1.14, -14.41, -27.15], "resends": [], "reached": true, "reached_angles": [5.09, 1.93, 2.81, -1.14, -13.71, -27.15], "reach_err": 1.85, "elapsed_sec": 0.1, "grip_state": "unknown", "stopped": false, "stop_reason": null} ``` ### 17:03 の記録 runs/experiments/gamepad_teleop/teleop_20261105_170313/meta.json ```json { "run_stem": "teleop_20261105_170313", "started_at": "2026-11-05T17:03:14", "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": "2026-11-05T17:03:47" } ], "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": [ 5.09, 1.31, 2.81, -0.96, -13.62, -26.98 ], "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": 15.0, "hold_stall_sec": 1.5, "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": "c7992ca137a102227981b9595fa569359ca285dd", "script_status": "clean" }, "script_copy": "gamepad_teleop.py", "script_sha256": "e6a1b54e8fa777cbdc6c33e1a98feda91e1366f7d7933b8c58ac5a4530fd82e5", "ended_at": "2026-11-05T17:11:23", "end_reason": "ctrl_c", "n_sent": 192 } ``` ### 17:03 の記録 runs/experiments/gamepad_teleop/teleop_20261105_170313/log.jsonl（549行） ```json {"seq": 1, "t": "2026-11-05T17:03:51.788", "t_unix": 1793865831.789, "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": [5.09, 1.31, 2.81, -0.96, -13.62, -26.98], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [4.09, 1.31, 2.81, -0.96, -13.62, -26.98], "sent": true, "timeout_sec": 8.0, "t_send": 1793865831.837409, "measured_before_send": [5.09, 1.31, 2.81, -0.96, -13.62, -26.98], "resends": [], "reached": true, "reached_angles": [4.04, 1.31, 2.81, -0.96, -13.62, -26.98], "reach_err": 0.05, "elapsed_sec": 0.1, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 2, "t": "2026-11-05T17:03:52.192", "t_unix": 1793865832.192, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 1, "held_sec": 0.404, "accepted": true, "measured_before": [4.3, 1.31, 2.81, -0.96, -13.62, -26.98], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 0.21, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-10.7, 1.31, 2.81, -0.96, -13.62, -26.98], "sent": true, "reached": null, "no_check": true, "t_send": 1793865832.215175, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 3, "t": "2026-11-05T17:03:52.292", "t_unix": 1793865832.292, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 2, "held_sec": 0.504, "accepted": true, "measured_before": [4.3, 1.31, 2.81, -0.96, -13.62, -26.98], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 15.0, "sent": false, "why": "lead_ok", "hold_remaining_deg": 15.0, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 4, "t": "2026-11-05T17:03:52.394", "t_unix": 1793865832.394, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 3, "held_sec": 0.607, "accepted": true, "measured_before": [3.77, 1.31, 2.81, -0.96, -13.62, -26.98], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 14.47, "sent": false, "why": "lead_ok", "hold_remaining_deg": 14.47, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 5, "t": "2026-11-05T17:03:52.495", "t_unix": 1793865832.495, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 4, "held_sec": 0.707, "accepted": true, "measured_before": [-0.87, 1.31, 2.81, -0.96, -13.62, -26.98], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 9.83, "sent": false, "why": "lead_ok", "hold_remaining_deg": 9.83, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 6, "t": "2026-11-05T17:03:52.612", "t_unix": 1793865832.613, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 5, "held_sec": 0.825, "accepted": true, "measured_before": [-10.54, 1.31, 2.81, -0.87, -13.62, -26.98], "start_source": "hold", "cmd_gap_deg": 0.09, "hold_lead_deg": 0.16, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-25.54, 1.31, 2.81, -0.96, -13.62, -26.98], "sent": true, "reached": null, "no_check": true, "t_send": 1793865832.758465, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 7, "t": 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541, "t": "2026-11-05T17:07:12.422", "t_unix": 1793866032.422, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": -15.0, "hold_id": 65, "hold_n": 6, "held_sec": 2.183, "accepted": true, "measured_before": [-0.61, 1.49, 2.28, -0.17, 9.4, -29.7], "start_source": "hold", "cmd_gap_deg": 2.28, "hold_lead_deg": 11.84, "sent": false, "why": "lead_ok", "hold_remaining_deg": 11.84, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 542, "t": "2026-11-05T17:07:12.522", "t_unix": 1793866032.523, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": -15.0, "hold_id": 65, "hold_n": 7, "held_sec": 2.283, "accepted": true, "measured_before": [-0.61, 1.49, 2.28, -0.17, -0.79, -29.7], "start_source": "hold", "cmd_gap_deg": 2.28, "hold_lead_deg": 1.65, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [0.0, 0.0, 0.0, 0.0, -15.79, -30.0], "sent": true, "reached": null, "no_check": true, "t_send": 1793866032.8154109, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 543, "t": "2026-11-05T17:07:12.907", "t_unix": 1793866032.907, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": -15.0, "hold_id": 65, "hold_n": 8, "held_sec": 2.668, "accepted": true, "measured_before": [-0.61, 1.49, 2.28, -0.17, -0.79, -29.7], "start_source": "hold", "cmd_gap_deg": 2.28, "hold_lead_deg": 15.0, "sent": false, "why": "lead_ok", "hold_remaining_deg": 15.0, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 544, "t": "2026-11-05T17:07:13.008", "t_unix": 1793866033.009, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": -15.0, "hold_id": 65, "hold_n": 9, "held_sec": 2.769, "accepted": true, "measured_before": [-0.61, 1.49, 2.28, -0.17, -2.72, -29.7], "start_source": "hold", "cmd_gap_deg": 2.28, "hold_lead_deg": 13.07, "sent": false, "why": "lead_ok", "hold_remaining_deg": 13.07, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 545, "t": "2026-11-05T17:07:13.124", "t_unix": 1793866033.124, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": -15.0, "hold_id": 65, "hold_n": 10, "held_sec": 2.885, "accepted": true, "measured_before": [-0.61, 1.49, 2.28, -0.17, -8.08, -29.7], "start_source": "hold", "cmd_gap_deg": 2.28, "hold_lead_deg": 7.71, "sent": false, "why": "lead_ok", "hold_remaining_deg": 7.71, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 546, "t": "2026-11-05T17:07:13.224", "t_unix": 1793866033.225, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": -15.0, "hold_id": 65, "hold_n": 11, "held_sec": 2.985, "accepted": true, "measured_before": [-0.61, 1.49, 2.28, -0.17, -12.91, -29.7], "start_source": "hold", "cmd_gap_deg": 2.28, "hold_lead_deg": 2.88, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [0.0, 0.0, 0.0, 0.0, -27.91, -30.0], "sent": true, "reached": null, "no_check": true, "t_send": 1793866033.2581928, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 547, "t": "2026-11-05T17:07:13.325", "t_unix": 1793866033.326, "button": 11, "button_name": "dpad_up", "kind": "move", "selected_joint": 4, "step_deg": 1.0, "execute": true, "joint": 4, "delta": -15.0, "hold_id": 65, "hold_n": 12, "held_sec": 3.086, "accepted": true, "measured_before": [-0.61, 1.49, 2.28, -0.17, -14.06, -29.7], "start_source": "hold", "cmd_gap_deg": 2.28, "hold_lead_deg": 13.85, "sent": false, "why": "lead_ok", "hold_remaining_deg": 13.85, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 548, "t": "2026-11-05T17:07:13.426", "t_unix": 1793866033.427, "button": null, "button_name": null, "kind": "halt", "selected_joint": 4, "step_deg": 1.0, "execute": true, "accepted": true, "halt_reason": "release", "hold_id": 65, "halt_joint": 4, "measured_at_request": [-0.61, 1.49, 2.28, -0.17, -14.06, -29.7], "t_halt": 1793866033.427485, "halt": "stop", "halt_result": {"jog_stop": null, "stop": null}, "measured_after_halt": [-0.61, 2.28, 3.07, -0.17, -14.58, -29.7], "moved_after_request_deg": [0.0, 0.79, 0.79, 0.0, -0.52, 0.0], "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 549, "t": "2026-11-05T17:07:15.150", "t_unix": 1793866035.151, "button": 5, "button_name": "home", "kind": "home", "selected_joint": 4, "step_deg": 1.0, "execute": true, "held_sec": 1.006, "accepted": true, "measured_before": [-0.61, 2.54, 3.25, -0.17, -14.23, -29.61], "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": 1793866035.1980329, "measured_before_send": [-0.61, 2.54, 3.25, -0.17, -14.23, -29.61], "resends": [], "reached": true, "reached_angles": [-0.61, 1.49, 1.84, -0.17, 0.52, -29.61], "reach_err": 1.84, "elapsed_sec": 0.73, "grip_state": "unknown", "stopped": false, "stop_reason": null} ``` ### 17:11 の記録 runs/experiments/gamepad_teleop/teleop_20261105_171125/meta.json ```json { "run_stem": "teleop_20261105_171125", "started_at": "2026-11-05T17:11:26", "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": "2026-11-05T17:11:31" } ], "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": [ -0.26, 1.49, 1.84, -0.26, -0.26, -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": 15.0, "hold_stall_sec": 1.5, "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": "452a3b608873debb2dcb9f1d9a3f2e2a16169d83", "script_status": "clean" }, "script_copy": "gamepad_teleop.py", "script_sha256": "65479edb0f19729c826a5306aef4bd92231cfd8a9e5436ac8b4a7a8ecab65fbe" } ``` ### 17:11 の記録 runs/experiments/gamepad_teleop/teleop_20261105_171125/log.jsonl（235行） ```json {"seq": 1, "t": "2026-11-05T17:11:34.044", "t_unix": 1793866294.044, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 1, "held_sec": 0.407, "accepted": true, "measured_before": [-0.26, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-15.26, 1.49, 1.84, -0.26, -0.26, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793866294.0647411, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 2, "t": "2026-11-05T17:11:34.146", "t_unix": 1793866294.146, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 2, "held_sec": 0.509, "accepted": true, "measured_before": [-0.26, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 15.0, "sent": false, "why": "lead_ok", "hold_remaining_deg": 15.0, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 3, "t": "2026-11-05T17:11:34.263", "t_unix": 1793866294.263, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 3, "held_sec": 0.626, "accepted": true, "measured_before": [-8.08, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 7.18, "sent": false, "why": "lead_ok", "hold_remaining_deg": 7.18, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 4, "t": "2026-11-05T17:11:34.446", "t_unix": 1793866294.446, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 4, "held_sec": 0.809, "accepted": true, "measured_before": [-9.4, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 5.86, "sent": false, "why": "lead_ok", "hold_remaining_deg": 5.86, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 5, "t": "2026-11-05T17:11:34.546", "t_unix": 1793866294.547, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 5, "held_sec": 0.909, "accepted": true, "measured_before": [-14.67, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 0.59, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-29.67, 1.49, 1.84, -0.26, -0.26, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793866294.577536, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 6, "t": "2026-11-05T17:11:34.731", "t_unix": 1793866294.732, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 6, "held_sec": 1.094, "accepted": true, "measured_before": [-15.64, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 14.03, "sent": false, "why": "lead_ok", "hold_remaining_deg": 14.03, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 7, "t": "2026-11-05T17:11:34.833", "t_unix": 1793866294.833, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 7, "held_sec": 1.196, "accepted": true, "measured_before": [-19.77, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 9.9, "sent": false, "why": "lead_ok", "hold_remaining_deg": 9.9, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 8, "t": "2026-11-05T17:11:34.936", "t_unix": 1793866294.937, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 8, "held_sec": 1.299, "accepted": true, "measured_before": [-23.29, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 6.38, "sent": false, "why": "lead_ok", "hold_remaining_deg": 6.38, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 9, "t": "2026-11-05T17:11:35.037", "t_unix": 1793866295.037, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 9, "held_sec": 1.4, "accepted": true, "measured_before": [-28.74, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 0.93, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-43.74, 1.49, 1.84, -0.26, -0.26, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793866295.06577, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 10, "t": "2026-11-05T17:11:35.156", "t_unix": 1793866295.157, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 10, "held_sec": 1.519, "accepted": true, "measured_before": [-29.26, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 14.48, "sent": false, "why": "lead_ok", "hold_remaining_deg": 14.48, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 11, "t": "2026-11-05T17:11:35.257", "t_unix": 1793866295.257, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 11, "held_sec": 1.62, "accepted": true, "measured_before": [-30.76, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 12.98, "sent": false, "why": "lead_ok", "hold_remaining_deg": 12.98, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 12, "t": "2026-11-05T17:11:35.358", "t_unix": 1793866295.358, "button": 13, "button_name": "dpad_left", "kind": 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"cmd_gap_deg": 2.55, "hold_lead_deg": 11.57, "command": [-3.1, 27.37, 9.34, -0.26, -37.61, -29.7], "hold_resend": true, "sent": true, "reached": null, "no_check": true, "t_send": 1793866354.389787, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 230, "t": "2026-11-05T17:12:34.496", "t_unix": 1793866354.497, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 15.0, "hold_id": 27, "hold_n": 25, "held_sec": 3.281, "accepted": true, "measured_before": [-14.5, 29.53, 10.98, -0.17, -40.16, -29.97], "start_source": "hold", "cmd_gap_deg": 2.55, "hold_lead_deg": 11.4, "sent": false, "why": "lead_ok", "hold_remaining_deg": 11.4, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 231, "t": "2026-11-05T17:12:34.598", "t_unix": 1793866354.599, "button": 14, "button_name": "dpad_right", "kind": "move", "selected_joint": 2, "step_deg": 1.0, "execute": true, "joint": 0, "delta": 15.0, "hold_id": 27, "hold_n": 26, "held_sec": 3.383, "accepted": true, "released_during_job": true, "measured_before": [-11.77, 29.53, 10.98, 0.35, -40.16, -29.88], "start_source": "hold", "cmd_gap_deg": 2.55, "hold_lead_deg": 8.67, "sent": false, "why": "lead_ok", "hold_remaining_deg": 8.67, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 232, "t": "2026-11-05T17:12:34.633", "t_unix": 1793866354.633, "button": null, "button_name": null, "kind": "halt", "selected_joint": 2, "step_deg": 1.0, "execute": true, "accepted": true, "halt_reason": "release", "hold_id": 27, "halt_joint": 0, "measured_at_request": [-14.5, 29.53, 10.98, -0.17, -40.16, -29.97], "t_halt": 1793866354.6358888, "halt": "stop", "halt_result": {"jog_stop": null, "stop": null}, "measured_after_halt": [-7.55, 30.58, 11.42, -0.79, -38.93, -30.05], "moved_after_request_deg": [6.95, 1.05, 0.44, -0.62, 1.23, -0.08], "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 233, "t": "2026-11-05T17:13:15.248", "t_unix": 1793866395.249, "button": 5, "button_name": "home", "kind": "home", "selected_joint": 2, "step_deg": 1.0, "execute": true, "held_sec": 1.013, "accepted": true, "measured_before": [-9.22, 30.67, 11.86, 0.52, -40.42, -29.88], "command": [0.0, 0.0, 0.0, 0.0, 0.0, -30.0], "range_check": "skipped_for_home", "sent": true, "timeout_sec": 8.06, "t_send": 1793866395.286102, "measured_before_send": [-9.22, 30.67, 11.86, 0.52, -40.42, -29.88], "resends": [], "reached": true, "reached_angles": [-0.52, 1.49, 1.84, -0.35, -0.08, -29.88], "reach_err": 1.84, "elapsed_sec": 1.07, "grip_state": "unknown", "stopped": false, "stop_reason": null} {"seq": 234, "t": "2026-11-05T17:15:51.867", "t_unix": 1793866551.868, "button": null, "button_name": null, "kind": "controller_lost", "selected_joint": 2, "step_deg": 1.0, "execute": true, "accepted": true, "reason": "controller_disconnected", "already_stopped": false, "busy": false, "send_committed_before_stop": null, "triggers": [-1.0, -1.0], "grip_state": "unknown", "stopped": true, "stop_reason": "controller_disconnected"} {"seq": 235, "t": "2026-11-05T17:15:51.868", "t_unix": 1793866551.869, "button": null, "button_name": null, "kind": "halt", "selected_joint": 2, "step_deg": 1.0, "execute": true, "accepted": true, "halt_reason": "controller_disconnected", "hold_id": null, "halt_joint": null, "measured_at_request": [-0.52, 1.49, 1.84, -0.35, -0.08, -29.88], "t_halt": 1793866551.875256, "halt": "stop", "halt_result": {"jog_stop": null, "stop": null}, "measured_after_halt": [-0.61, 2.54, 2.63, -0.26, 1.4, -29.88], "moved_after_request_deg": [-0.09, 1.05, 0.79, 0.09, 1.48, 0.0], "grip_state": "unknown", "stopped": true, "stop_reason": "controller_disconnected"} ``` ### diag/jog_probe_20261105_153401/console.txt ```text jog_probe 20261105_153401 (結果: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_153401) --- デーモンの状態 (止める前) mode=systemd pid=502 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=502 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) 始めの角度: [-0.17, 92.63, 1.49, 0.61, -96.06, -29.35] HOME から離れています。HOME [0,0,0,0,0,-30] へ送ります (Enter で進む / q と Enter で終わる) 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 16.0 ms / 最大 19.3 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=9.32 mean_speed=4.96 median_speed=0.0 max_speed=30.97 speed_cv=None stall_ratio=None arrive_sec=0.4 0.1 秒ごとの速さ (°/秒): 31.0 -3.4 -0.9 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=1.23 B_stream を始めます (Enter で進む / q と Enter で終わる) [B_stream] travel_deg=12.39 mean_speed=12.38 median_speed=28.91 max_speed=73.27 speed_cv=1.09 stall_ratio=0.4 overshoot_deg=0.09 stop_latency_sec=0.1 n_sends=7 0.1 秒ごとの速さ (°/秒): 28.9 -13.2 73.3 -8.3 33.8 始めの角度へ戻した: 着いた j0=-0.08 C_stream_fresh を始めます (Enter で進む / q と Enter で終わる) [C_stream_fresh] travel_deg=7.91 mean_speed=8.67 median_speed=-11.71 max_speed=-2.32 speed_cv=None stall_ratio=None overshoot_deg=2.9 stop_latency_sec=0.26 n_sends=8 0.1 秒ごとの速さ (°/秒): -6.1 -2.3 -31.0 -11.7 -16.5 始めの角度へ戻した: 着いた j0=-1.58 D_jog_speed10 を始めます (Enter で進む / q と Enter で終わる) 守り: j0 が始めから -25.8° 離れたので止めます [D_jog_speed10] travel_deg=-2.37 mean_speed=-8.78 overshoot_deg=-23.38 stop_latency_sec=0.28 jog_moved=True 始めの角度へ戻した: 着いた j0=-1.4 D_jog_speed30 を始めます (Enter で進む / q と Enter で終わる) 守り: j0 が始めから 26.7° 離れたので止めます 守り: j0 が始めから 31.5° 離れたので止めます [D_jog_speed30] travel_deg=-27.06 mean_speed=-45.1 median_speed=-59.41 max_speed=-54.33 speed_cv=None stall_ratio=None overshoot_deg=-4.74 stop_latency_sec=0.0 jog_moved=True 0.1 秒ごとの速さ (°/秒): -54.3 -64.5 始めの角度へ戻した: 着いた j0=0.08 結果: /tmp/jog_probe_20261105_153401.json Connection to 192.168.2.1 closed. --- jog_probe_pi.py の終了コード: 0 結果の JSON: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_153401/result.json --- デーモンを戻す (systemctl start) mode=systemd pid=19339 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=19339 checker=no デーモンは戻った (5555 LISTEN) ``` ### diag/jog_probe_20261105_153952_stop/console.txt ```text jog_probe 20261105_153952 (結果: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_153952_stop) --- デーモンの状態 (止める前) mode=systemd pid=19339 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=19339 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) 始めの角度: [-0.43, 2.98, 3.51, 0.26, 0.7, -29.61] 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 16.0 ms / 最大 18.1 ms / 空で返った割合 0.0 E_jog5_jogstop を始めます (Enter で進む / q と Enter で終わる) [E_jog5_jogstop] travel_deg=11.15 mean_speed=12.68 median_speed=15.89 max_speed=24.27 speed_cv=0.57 stall_ratio=0.0 overshoot_deg=1.76 stop_latency_sec=0.16 read_fails=1 end_from_start_deg=12.91 guard=False 0.1 秒ごとの速さ (°/秒): 7.6 24.3 4.4 24.3 6.6 24.1 始めの角度へ戻した: 着いた j0=-0.87 E_jog5_stop 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 [E_jog5_stop] travel_deg=0.61 mean_speed=4.38 overshoot_deg=24.26 stop_latency_sec=1.06 read_fails=9 end_from_start_deg=-25.23 guard=False 始めの角度へ戻した: 着いた j0=-0.7 E_jog5_hold を始めます (Enter で進む / q と Enter で終わる) 守り: j0 が始めから 25.0° 離れたので止めます [E_jog5_hold] travel_deg=10.71 mean_speed=13.09 median_speed=14.38 max_speed=37.86 speed_cv=1.18 stall_ratio=0.5 overshoot_deg=14.59 stop_latency_sec=0.95 read_fails=4 end_from_start_deg=25.03 guard=False 0.1 秒ごとの速さ (°/秒): 0.0 28.8 0.0 37.9 始めの角度へ戻した: 着いた j0=0.0 E_jog10_stop を始めます (Enter で進む / q と Enter で終わる) [E_jog10_stop] travel_deg=17.13 mean_speed=17.51 median_speed=25.01 max_speed=43.28 speed_cv=0.37 stall_ratio=0.0 overshoot_deg=3.52 stop_latency_sec=0.12 read_fails=3 end_from_start_deg=-20.22 guard=False 0.1 秒ごとの速さ (°/秒): 43.3 25.0 22.2 35.0 17.5 始めの角度へ戻した: 着いた j0=-0.79 E_jog10_hold を始めます (Enter で進む / q と Enter で終わる) 守り: j0 が始めから 25.8° 離れたので止めます [E_jog10_hold] travel_deg=18.98 mean_speed=20.61 median_speed=16.17 max_speed=36.81 speed_cv=0.71 stall_ratio=0.0 overshoot_deg=7.21 stop_latency_sec=0.0 read_fails=3 end_from_start_deg=25.83 guard=False 0.1 秒ごとの速さ (°/秒): 8.8 33.6 36.8 16.2 11.7 始めの角度へ戻した: 着かない j0=25.22 F_far10_stop を始めます (Enter で進む / q と Enter で終わる) 守り: j0 が始めから 25.6° 離れたので止めます 守り: j0 が始めから 25.6° 離れたので止めます [F_far10_stop] read_fails=0 end_from_start_deg=25.65 guard=True 始めの角度へ戻した: 着かない j0=-0.61 F_far10_hold を始めます (Enter で進む / q と Enter で終わる) [F_far10_hold] travel_deg=18.8 mean_speed=18.31 median_speed=23.5 max_speed=35.21 speed_cv=0.33 stall_ratio=0.0 overshoot_deg=0.53 stop_latency_sec=0.33 read_fails=0 end_from_start_deg=19.15 guard=False 0.1 秒ごとの速さ (°/秒): 22.0 23.5 14.7 33.6 35.2 始めの角度へ戻した: 着いた j0=-1.05 F_far20_hold を始めます (Enter で進む / q と Enter で終わる) [F_far20_hold] travel_deg=19.95 mean_speed=21.18 median_speed=32.27 max_speed=57.26 speed_cv=0.83 stall_ratio=0.4 overshoot_deg=-0.0 stop_latency_sec=0.0 read_fails=1 end_from_start_deg=-20.31 guard=False 0.1 秒ごとの速さ (°/秒): 54.2 57.3 32.3 -10.9 6.1 始めの角度へ戻した: 着いた j0=-0.61 結果: /tmp/jog_probe_20261105_153952.json Connection to 192.168.2.1 closed. --- jog_probe_pi.py の終了コード: 0 結果の JSON: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_153952_stop/result.json --- デーモンを戻す (systemctl start) mode=systemd pid=4995 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=4995 checker=no デーモンは戻った (5555 LISTEN) ``` ### diag/jog_probe_20261105_154332_hold/console.txt ```text jog_probe 20261105_154332 (結果: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_154332_hold) --- デーモンの状態 (止める前) mode=systemd pid=4995 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=4995 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) 始めの角度: [-0.96, 5.53, 6.41, 0.0, -0.08, -29.53] HOME から離れています。HOME [0,0,0,0,0,-30] へ送ります (Enter で進む / q と Enter で終わる) 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 12.6 ms / 最大 21.4 ms / 空で返った割合 0.0 G_far5_hold_0.5s を始めます (Enter で進む / q と Enter で終わる) [G_far5_hold_0.5s] travel_deg=3.94 mean_speed=10.54 overshoot_deg=15.56 stop_latency_sec=1.48 read_fails=3 end_from_start_deg=19.5 guard=False 始めの角度へ戻した: 着いた j0=0.17 G_far10_hold_0.5s を始めます (Enter で進む / q と Enter で終わる) [G_far10_hold_0.5s] travel_deg=6.76 mean_speed=22.87 overshoot_deg=1.59 stop_latency_sec=0.21 read_fails=9 end_from_start_deg=-9.41 guard=False 始めの角度へ戻した: 着いた j0=0.52 G_far20_hold_0.4s を始めます (Enter で進む / q と Enter で終わる) [G_far20_hold_0.4s] read_fails=4 end_from_start_deg=19.5 guard=False 始めの角度へ戻した: 着かない j0=0.26 G_far10_stop_0.5s を始めます (Enter で進む / q と Enter で終わる) [G_far10_stop_0.5s] travel_deg=7.55 mean_speed=15.73 median_speed=23.5 max_speed=23.5 speed_cv=0.0 stall_ratio=0.0 overshoot_deg=3.25 stop_latency_sec=0.24 read_fails=0 end_from_start_deg=-10.37 guard=False 0.1 秒ごとの速さ (°/秒): 23.5 始めの角度へ戻した: 着かない j0=0.17 H_jog10_jogstop_1 を始めます (Enter で進む / q と Enter で終わる) [H_jog10_jogstop_1] travel_deg=17.05 mean_speed=18.72 median_speed=17.92 max_speed=36.8 speed_cv=0.53 stall_ratio=0.0 overshoot_deg=3.34 stop_latency_sec=0.08 read_fails=1 end_from_start_deg=20.73 guard=False 0.1 秒ごとの速さ (°/秒): 19.7 11.7 16.2 36.8 始めの角度へ戻した: 着かない j0=-0.61 H_jog10_jogstop_2 を始めます (Enter で進む / q と Enter で終わる) [H_jog10_jogstop_2] travel_deg=17.49 mean_speed=17.14 median_speed=20.57 max_speed=38.16 speed_cv=0.46 stall_ratio=0.0 overshoot_deg=3.78 stop_latency_sec=0.14 read_fails=0 end_from_start_deg=-21.71 guard=False 0.1 秒ごとの速さ (°/秒): 38.2 17.7 10.2 20.6 26.3 始めの角度へ戻した: 着かない j0=0.26 H_jog10_jogstop_3 を始めます (Enter で進む / q と Enter で終わる) [H_jog10_jogstop_3] travel_deg=18.19 mean_speed=17.71 median_speed=22.5 max_speed=42.54 speed_cv=0.57 stall_ratio=0.0 overshoot_deg=3.08 stop_latency_sec=0.07 read_fails=3 end_from_start_deg=21.7 guard=False 0.1 秒ごとの速さ (°/秒): 34.0 9.9 42.5 11.0 22.5 始めの角度へ戻した: 着かない j0=-0.43 結果: /tmp/jog_probe_20261105_154332.json Connection to 192.168.2.1 closed. --- jog_probe_pi.py の終了コード: 0 結果の JSON: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_154332_hold/result.json --- デーモンを戻す (systemctl start) mode=systemd pid=17242 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=17242 checker=no デーモンは戻った (5555 LISTEN) ``` ### diag/jog_probe_20261105_162617_small/console.txt ```text jog_probe 20261105_162617 (結果: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_162617_small) --- デーモンの状態 (止める前) mode=systemd pid=26153 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=26153 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) 始めの角度: [-0.43, 1.66, 0.7, 0.26, -0.26, -30.14] 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 16.0 ms / 最大 18.5 ms / 空で返った割合 0.0 腕を少し前に倒した姿勢 [0.0, 40.0, -20.0, 0.0, -30.0, -30.0] へ動かします (Enter で進む / q と Enter で終わる) 着いた角度: [-0.43, 41.13, -18.19, 0.26, -28.91, -30.14] (指令との差 j1 +1.13°) S1 1.0° を始めます (Enter で進む / q と Enter で終わる) [S1 1.0°] 動いた 5/6 動いた量: 0.86 0.86 0.86 0.86 0.86 -0.0 S1 2.0° を始めます (Enter で進む / q と Enter で終わる) [S1 2.0°] 動いた 6/6 動いた量: 2.2 2.37 1.93 2.27 2.18 2.36 S2 1.0° を始めます (Enter で進む / q と Enter で終わる) [S2 1.0°] 動いた 5/6 動いた量: 1.05 0.96 0.0 1.06 0.8 0.88 S2 2.0° を始めます (Enter で進む / q と Enter で終わる) [S2 2.0°] 動いた 6/6 動いた量: 2.18 2.36 2.01 2.27 2.1 2.28 S3 1.0° を始めます (Enter で進む / q と Enter で終わる) [S3 1.0°] 動いた 6/6 動いた量: 0.79 0.79 0.79 0.79 0.79 0.79 S3 2.0° を始めます (Enter で進む / q と Enter で終わる) [S3 2.0°] 動いた 6/6 動いた量: 2.19 2.19 2.19 2.19 2.19 2.19 HOME へ戻します (Enter で進む / q と Enter で終わる) 結果: /tmp/jog_probe_20261105_162617.json Connection to 192.168.2.1 closed. --- jog_probe_pi.py の終了コード: 0 結果の JSON: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_162617_small/result.json --- デーモンを戻す (systemctl start) mode=systemd pid=6649 listen=yes daemon_pythonpath=/usr/local/lib/python2.7/dist-packages serial_users=6649 checker=no デーモンは戻った (5555 LISTEN) ```