(44 秒) === 5. Mac の 8000 番へのトンネル [TUNNEL] localhost:8000 → Pod の 8000 番 (pid 53112. このスクリプトが終わると閉じる) (2 秒) === 6. デーモンの状態 --- process 509 /usr/bin/python3 -u /home/ubuntu/mecharm_daemon.py --- 5555 LISTEN 0 1 0.0.0.0:5555 0.0.0.0:* --- systemd enabled: enabled active: active (3 秒) === 7. HOME → 爪を開く → 位置合わせ (1 回目) [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [-0.61, 92.90, -9.05, 4.92, -85.78, -29.79] [SEND] HOME へ移動指令 [WAIT] t=0.6s max_err=79.89° [WAIT] t=1.1s max_err=64.16° [WAIT] t=1.6s max_err=48.69° [WAIT] t=2.1s max_err=33.13° [WAIT] t=2.7s max_err=17.31° [WAIT] t=3.2s max_err=1.66° [DONE] HOME 到達 max_err=1.66° [POST] 最終姿勢: [-0.61, 1.49, 0.79, 0.52, 1.23, -29.88] [Pi] fresh_mode=0 [EXIT] fresh_mode=0, socket close [Pi] GRIPPER: OPEN result= None [REF ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg [REF ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°) [REF ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける [ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない) [ALIGN ] dy= +5.5 dx= -8.4 response=0.724 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +6.8 dx= -8.1 response=0.744 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +9.4 dx= -7.7 response=0.679 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +13.6 dx= -9.2 response=0.714 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +18.5 dx= -9.2 response=0.636 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +22.2 dx= -10.3 response=0.490 → ずれ (|dy|=22.2 > 20) [ALIGN ] dy= +17.1 dx= -9.7 response=0.517 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +7.0 dx= -9.0 response=0.742 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +3.0 dx= -8.5 response=0.819 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +1.5 dx= -5.4 response=0.769 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +0.1 dx= -3.5 response=0.859 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -1.7 dx= -2.8 response=0.835 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -3.2 dx= +0.0 response=0.833 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -4.8 dx= +3.4 response=0.821 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -6.2 dx= +3.1 response=0.776 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -3.1 dx= -1.3 response=0.797 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -1.5 dx= -4.8 response=0.873 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -4.0 dx= -12.2 response=0.785 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -6.3 dx= -8.0 response=0.879 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -4.9 dx= -0.8 response=0.844 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -2.8 dx= +6.5 response=0.874 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -4.0 dx= +6.0 response=0.890 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -2.8 dx= +5.1 response=0.860 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +0.1 dx= +5.5 response=0.852 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +3.7 dx= +3.4 response=0.734 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +8.5 dx= +5.0 response=0.699 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +9.6 dx= +3.7 response=0.695 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +7.4 dx= +4.2 response=0.687 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +4.7 dx= +4.2 response=0.777 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +2.8 dx= +3.3 response=0.801 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +0.7 dx= +0.7 response=0.823 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -1.6 dx= -5.5 response=0.801 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -3.1 dx= -16.4 response=0.718 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -4.1 dx= -12.6 response=0.819 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -5.9 dx= +2.0 response=0.875 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -4.2 dx= -3.8 response=0.835 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -0.6 dx= -8.2 response=0.784 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +2.3 dx= -9.5 response=0.814 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +3.6 dx= -10.0 response=0.801 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +2.0 dx= -10.5 response=0.795 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません) (47 秒) === 8. 実機推論 (1 回目) [WAIT ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s [SAFE ] 安全範囲 (学習 19 本 ±10°): j0[-72,+55] j1[-9,+88] j2[-46,+41] j3[-18,+27] j4[-90,+10] j5[-51,-14] [SAFE ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352) 元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes [MODE ] EXECUTE steps/chunk=10 max_move=20.0° log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_183926 [MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2) [CAMERA] 写り方 dy=-4.6 dx=+6.0 response=0.575 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg [POLICY] 接続 ws://localhost:8000 metadata={} [RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_183926/recording [GRIP ] 開始時のグリッパー開放は, 最初の目標が検査を通ってから行います (爪が閉じていたら手で開けておく) [STATE ] 実測を渡す (直前に送った目標がない) [000] 推論 52970ms 10ステップ先 Δ= +3.3 +16.2 +11.0 -2.4 -23.4 +2.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [GRIP ] 開始時にグリッパーを開く [Pi] GRIPPER: OPEN result= None [SEND] pi05_chunk000_via02: send_angles (single) [ +0.13, +5.67, +3.34, -0.11, -5.88, -29.70] speed=20 wait=0.0s (pre max|Δ|=5.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.58° (tol 3.0°) [VIA ] step 2 Δ= +0.7 +4.4 +2.6 -0.4 -5.6 +0.2 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.09, +10.48, +6.74, -0.69, -12.99, -29.05] speed=20 wait=0.0s (pre max|Δ|=8.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 3.0°) [VIA ] step 5 Δ= +1.1 +4.0 +2.5 -0.9 -8.7 +0.8 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +2.38, +15.66, +10.49, -1.79, -21.06, -28.01] speed=20 wait=0.0s (pre max|Δ|=9.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 8 Δ= +1.2 +4.3 +2.9 -1.4 -9.7 +1.8 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +2.74, +17.44, +11.77, -2.15, -23.69, -27.66] speed=20 wait=0.0s (pre max|Δ|=4.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.16° (tol 3.0°) [VIA ] step 9 Δ= +0.5 +0.8 +0.4 -0.3 -4.1 +1.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.37°（関節 j4） [001] 推論 547ms 10ステップ先 Δ= +5.4 +14.4 +9.9 -0.8 -23.9 +1.5 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk001_via02: send_angles (single) [ +3.89, +22.01, +14.68, -2.59, -30.39, -27.08] speed=20 wait=0.0s (pre max|Δ|=7.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.84° (tol 3.0°) [VIA ] step 2 Δ= +1.1 +3.7 +2.3 -0.6 -8.0 +1.1 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +5.34, +26.34, +17.58, -2.64, -37.23, -26.90] speed=20 wait=0.0s (pre max|Δ|=7.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.20° (tol 3.0°) [VIA ] step 5 Δ= +1.6 +3.5 +2.1 +0.3 -7.6 +0.5 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +7.02, +30.89, +20.86, -2.78, -44.01, -26.84] speed=20 wait=0.0s (pre max|Δ|=7.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 8 Δ= +1.8 +3.7 +2.7 +0.6 -7.9 +0.5 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +7.46, +32.69, +21.86, -2.78, -46.24, -26.80] speed=20 wait=0.0s (pre max|Δ|=3.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.79° (tol 3.0°) [VIA ] step 9 Δ= +0.9 +0.9 +0.5 +0.6 -3.2 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.79°（関節 j1） [002] 推論 629ms 10ステップ先 Δ= +3.3 +10.3 +6.9 +0.7 -15.6 +0.5 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk002_via02: send_angles (single) [ +8.74, +37.54, +24.99, -2.78, -53.24, -26.74] speed=20 wait=0.0s (pre max|Δ|=7.19°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 2 Δ= +1.5 +4.1 +2.7 +0.6 -7.2 +0.3 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +9.96, +41.26, +27.41, -2.81, -58.51, -26.70] speed=20 wait=0.0s (pre max|Δ|=6.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.83° (tol 3.0°) [VIA ] step 5 Δ= +1.3 +2.8 +2.0 +0.4 -6.1 +0.4 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +10.69, +43.77, +29.10, -2.82, -61.37, -26.66] speed=20 wait=0.0s (pre max|Δ|=3.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.07° (tol 3.0°) [VIA ] step 8 Δ= +0.8 +1.7 +1.5 +0.2 -3.5 +0.3 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +10.74, +43.74, +29.08, -2.83, -61.60, -26.64] speed=20 wait=0.0s (pre max|Δ|=0.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.90° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -0.9 +0.2 -0.0 -0.6 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.90°（関節 j1） [003] 推論 1532ms 10ステップ先 Δ= +2.4 +4.6 -1.0 -0.0 -2.2 +0.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > p objc[53153]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d2792c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d0248e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d2793b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d0249d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d2794d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d2795c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d2795e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53153]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d2797c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. from pkg_resources import resource_stream, resource_exists [PAD ] 補正 1 (推論 3 のあと). ゲームパッドで直して, □ で推論に戻ります コントローラーを待っています（つないでいなければ、今つないでください）。□ で推論に戻ります [接続] PS4 Controller GUID=03008fe54c050000cc09000000016800 軸=6 ボタン=16 [送信] j0 +1.0° → +11.72 +44.64 +29.26 -2.81 -61.08 -26.80 届いた（ずれ 1.67°） 届いた角度 +11.86 +44.64 +29.26 -2.81 -62.75 -26.80 [送信] j0 +1.0° → +12.72 +44.64 +29.26 -2.81 -61.08 -26.80 届いた（ずれ 1.67°） 届いた角度 +12.74 +44.64 +29.26 -2.72 -62.75 -26.80 [PAD ] 補正 1 を終えました (17.9 秒, 送った目標 2 回). この姿勢から推論に戻ります [STATE ] 実測を渡す (直前に送った目標がない) [004] 推論 555ms 10ステップ先 Δ= +1.5 +15.2 -8.2 -0.6 -2.9 -0.3 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk004_via02: send_angles (single) [ +12.06, +51.44, +28.18, -2.60, -65.27, -26.69] speed=20 wait=0.0s (pre max|Δ|=6.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.35° (tol 3.0°) [VIA ] step 2 Δ= -0.8 +6.8 -1.1 +0.0 -3.4 +0.1 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ +13.14, +55.49, +25.16, -2.71, -65.57, -26.74] speed=20 wait=0.0s (pre max|Δ|=4.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.03° (tol 3.0°) [VIA ] step 5 Δ= +0.8 +3.1 -4.0 -0.2 -2.5 +0.1 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ +13.97, +58.97, +21.79, -3.15, -65.03, -26.97] speed=20 wait=0.0s (pre max|Δ|=4.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.79° (tol 3.0°) [VIA ] step 8 Δ= +0.8 +2.5 -4.3 -0.6 -1.5 -0.2 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ +14.32, +59.79, +21.04, -3.20, -64.86, -27.09] speed=20 wait=0.0s (pre max|Δ|=1.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 9 Δ= +0.6 +0.1 -1.5 -0.7 -0.6 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.37°（関節 j2） [005] 推論 618ms 5ステップ先 Δ= +0.7 +0.8 -2.3 -1.0 +0.1 -0.1 グリッパー→閉 [VIA ] 中継点 2 点: step 2, 4 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk005_via02: send_angles (single) [ +14.47, +60.72, +20.26, -3.54, -64.41, -27.05] speed=20 wait=0.0s (pre max|Δ|=1.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.71° (tol 3.0°) [VIA ] step 2 Δ= +0.8 +0.2 -1.7 -0.9 +0.7 -0.1 着いた [SEND] pi05_chunk005_via04: send_angles (single) [ +14.42, +60.80, +20.15, -3.51, -64.32, -27.08] speed=20 wait=0.0s (pre max|Δ|=1.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 4 Δ= +0.5 -0.4 -1.3 -0.7 +1.0 -0.0 着いた [Pi] GRIPPER: VALUE=20 speed=100 result= None [STATE ] 目標を渡す 目標と実測の最大差 2.12°（関節 j4） [006] 推論 631ms 10ステップ先 Δ= +0.7 -0.3 -5.1 -0.7 +1.3 +0.8 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk006_via02: send_angles (single) [ +14.35, +60.45, +19.36, -3.49, -64.51, -26.88] speed=20 wait=0.0s (pre max|Δ|=2.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.02° (tol 3.0°) [VIA ] step 2 Δ= +0.4 -0.9 -1.5 -0.5 +2.0 +0.5 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +14.39, +60.60, +17.40, -3.58, -64.58, -26.57] speed=20 wait=0.0s (pre max|Δ|=3.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.84° (tol 3.0°) [VIA ] step 5 Δ= +0.4 -0.7 -3.4 -0.6 +2.0 +0.8 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +14.51, +60.87, +16.32, -3.64, -64.93, -26.50] speed=20 wait=0.0s (pre max|Δ|=1.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.60° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -0.5 -2.0 -0.5 -0.7 +0.6 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +14.64, +61.06, +15.88, -3.63, -65.10, -26.48] speed=20 wait=0.0s (pre max|Δ|=2.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.74° (tol 3.0°) [VIA ] step 9 Δ= +0.7 -0.3 -2.0 -0.4 -1.2 +0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.74°（関節 j4） [007] 推論 1544ms 10ステップ先 Δ= +0.6 -0.5 -7.2 -0.5 -2.5 +0.3 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk007_via02: send_angles (single) [ +14.82, +60.85, +13.71, -3.60, -65.31, -26.55] speed=20 wait=0.0s (pre max|Δ|=2.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.98° (tol 3.0°) [VIA ] step 2 Δ= +0.9 -0.8 -3.0 -0.3 -1.9 +0.2 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +14.70, +61.06, +11.60, -3.65, -65.48, -26.59] speed=20 wait=0.0s (pre max|Δ|=4.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.85° (tol 3.0°) [VIA ] step 5 Δ= +0.5 -0.6 -4.6 -0.4 -1.8 +0.1 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +14.53, +61.09, +9.99, -3.79, -65.59, -26.60] speed=20 wait=0.0s (pre max|Δ|=2.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.57° (tol 3.0°) [VIA ] step 8 Δ= -0.1 -0.7 -2.6 +0.3 -2.0 -0.7 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +14.56, +61.24, +9.59, -3.79, -65.83, -26.60] speed=20 wait=0.0s (pre max|Δ|=2.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.20° (tol 3.0°) [VIA ] step 9 Δ= -0.0 -0.8 -2.5 +0.3 -2.2 -0.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.20°（関節 j4） [008] 推論 554ms 10ステップ先 Δ= +0.1 -0.5 -7.9 +0.5 -2.0 -0.8 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > p [PAD ] 補正 2 (推論 8 のあと). ゲームパッドで直して, □ で推論に戻ります コントローラーを待っています（つないでいなければ、今つないでください）。□ で推論に戻ります [接続] PS4 Controller GUID=03008fe54c050000cc09000000016800 軸=6 ボタン=16 [長押し] j1 を +62.22° → +61.25° まで（目標を 1 回送信。止めます） [長押し] j1 を +54.22° → +53.43° まで（目標を 1 回送信。止めます） [送信] j1 -1.0° → +14.58 +40.92 +10.89 -4.13 -66.44 -25.92 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 1.0°） 届いた角度 +14.58 +41.92 +10.89 -4.04 -66.26 -26.27 [送信] j1 -1.0° → +14.58 +39.92 +10.89 -4.13 -66.44 -25.92 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 2.0°） 届いた角度 +14.58 +41.92 +10.89 -4.04 -66.18 -26.27 [送信] j1 -1.0° → +14.58 +38.92 +10.89 -4.13 -66.44 -25.92 手前で止まった（次の押しは この目標の先から）（ずれ 1.94°） 届いた角度 +14.58 +40.86 +10.89 -4.04 -65.74 -26.27 [長押し] j1 を +40.86° → +40.69° まで（目標を 1 回送信。止めます） [関節] 上下で動かす関節を j2 にしました [関節] 上下で動かす関節を j3 にしました [関節] 上下で動かす関節を j4 にしました [長押し] j4 を -65.30° → -61.25° まで（目標を 1 回送信。止めます） [PAD ] 補正 2 を終えました (33.4 秒, 送った目標 7 回). この姿勢から推論に戻ります [STATE ] 実測を渡す (直前に送った目標がない) [009] 推論 627ms 10ステップ先 Δ=+10.4 +9.1 +3.4 +2.0 -10.9 -0.6 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk009_via02: send_angles (single) [ +18.99, +30.06, +12.05, -3.31, -49.81, -26.55] speed=20 wait=0.0s (pre max|Δ|=4.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.05° (tol 3.0°) [VIA ] step 2 Δ= +4.4 +0.4 +0.4 +0.7 -0.2 -0.3 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +23.60, +32.19, +13.02, -2.53, -52.47, -26.88] speed=20 wait=0.0s (pre max|Δ|=4.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.06° (tol 3.0°) [VIA ] step 5 Δ= +4.7 +1.1 +0.3 +1.0 -2.5 -0.6 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +25.00, +37.22, +14.93, -2.10, -58.70, -26.89] speed=20 wait=0.0s (pre max|Δ|=7.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 8 Δ= +1.5 +4.2 +1.2 +0.6 -7.3 -0.6 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +24.97, +38.81, +15.10, -1.99, -60.13, -26.90] speed=20 wait=0.0s (pre max|Δ|=2.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.04° (tol 3.0°) [VIA ] step 9 Δ= -0.1 +0.6 -0.5 +0.7 -2.0 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.72°（関節 j4） [010] 推論 579ms 10ステップ先 Δ=+15.7 +7.4 -10.7 +3.8 +2.1 -3.4 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk010_via02: send_angles (single) [ +33.16, +38.98, +10.84, -0.71, -57.78, -27.99] speed=20 wait=0.0s (pre max|Δ|=8.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.80° (tol 3.0°) [VIA ] step 2 Δ= +8.2 -0.8 -4.8 +1.8 +1.9 -1.6 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +38.73, +40.28, +6.79, +0.34, -56.34, -29.25] speed=20 wait=0.0s (pre max|Δ|=5.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 3.0°) [VIA ] step 5 Δ= +5.3 +0.5 -5.5 +1.3 +3.2 -1.8 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +40.60, +45.08, +5.24, +0.94, -56.97, -29.66] speed=20 wait=0.0s (pre max|Δ|=3.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.67° (tol 3.0°) [VIA ] step 8 Δ= +1.5 +3.9 -2.8 +1.0 +1.0 -0.9 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +40.69, +46.68, +4.97, +1.13, -57.32, -29.71] speed=20 wait=0.0s (pre max|Δ|=2.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.88° (tol 3.0°) [VIA ] step 9 Δ= +0.9 +1.3 -2.2 +0.2 +0.7 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.53°（関節 j2） [011] 推論 549ms 10ステップ先 Δ= +0.1 +14.9 -3.2 +1.6 -10.4 -1.0 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk011_via02: send_angles (single) [ +40.95, +51.34, +3.98, +1.41, -58.78, -29.96] speed=20 wait=0.0s (pre max|Δ|=3.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.55° (tol 3.0°) [VIA ] step 2 Δ= +0.4 +3.4 -2.3 +0.5 -0.8 -0.7 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +40.94, +57.37, +3.63, +1.70, -63.91, -30.22] speed=20 wait=0.0s (pre max|Δ|=5.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.73° (tol 3.0°) [VIA ] step 5 Δ= +0.5 +4.9 -1.9 +0.6 -5.8 -0.8 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +41.08, +61.45, +3.30, +1.89, -67.97, -30.24] speed=20 wait=0.0s (pre max|Δ|=5.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.27° (tol 3.0°) [VIA ] step 8 Δ= +0.7 +3.0 -2.1 +0.6 -5.1 -0.4 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +41.09, +61.79, +3.30, +1.95, -68.44, -30.25] speed=20 wait=0.0s (pre max|Δ|=1.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.38° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -0.8 -1.3 +0.4 -1.4 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.38°（関節 j4） [012] 推論 1483ms 5ステップ先 Δ= -0.1 +1.9 -1.4 +0.5 -4.8 -0.4 グリッパー→開 [VIA ] 中継点 2 点: step 2, 4 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk012_via02: send_angles (single) [ +40.93, +64.75, +3.16, +2.11, -71.49, -30.25] speed=20 wait=0.0s (pre max|Δ|=4.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.41° (tol 3.0°) [VIA ] step 2 Δ= -0.0 +2.0 -1.4 +0.5 -4.4 -0.4 着いた [SEND] pi05_chunk012_via04: send_angles (single) [ +40.86, +64.67, +3.14, +2.16, -71.83, -30.23] speed=20 wait=0.0s (pre max|Δ|=1.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.43° (tol 3.0°) [VIA ] step 4 Δ= -0.1 -1.1 -1.4 +0.3 -0.5 +0.1 着いた [Pi] GRIPPER: OPEN result= None [STATE ] 目標を渡す 目標と実測の最大差 1.43°（関節 j2） [013] 推論 598ms 10ステップ先 Δ= -0.0 -17.2 -1.4 +0.4 +16.3 -0.5 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk013_via02: send_angles (single) [ +40.87, +60.06, +3.15, +2.22, -67.71, -30.40] speed=20 wait=0.0s (pre max|Δ|=5.68°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.95° (tol 3.0°) [VIA ] step 2 Δ= +0.0 -5.7 -1.4 +0.3 +3.6 +0.1 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +41.14, +55.14, +2.99, +2.19, -62.26, -30.56] speed=20 wait=0.0s (pre max|Δ|=8.40°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.77° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -7.0 -1.5 +0.2 +8.4 -0.1 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +41.12, +49.93, +3.08, +2.31, -56.31, -30.89] speed=20 wait=0.0s (pre max|Δ|=8.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.66° (tol 3.0°) [VIA ] step 8 Δ= +0.3 -7.4 -1.4 +0.3 +8.7 -0.4 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +40.84, +48.49, +3.21, +2.38, -55.01, -30.98] speed=20 wait=0.0s (pre max|Δ|=3.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.20° (tol 3.0°) [VIA ] step 9 Δ= -0.0 -3.5 -1.3 +0.4 +4.0 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.20°（関節 j4） [014] 推論 655ms 10ステップ先 Δ=-16.2 -23.5 -1.8 -2.1 +26.6 -0.4 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk014_via02: send_angles (single) [ +39.28, +43.11, +3.15, +2.22, -49.14, -31.06] speed=20 wait=0.0s (pre max|Δ|=7.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.06° (tol 3.0°) [VIA ] step 2 Δ= -1.6 -7.5 -1.3 +0.1 +7.6 -0.5 着いた [SEND] pi05_chunk014_via05: send_angles (single) [ +33.70, +36.92, +2.96, +1.38, -41.75, -30.98] speed=20 wait=0.0s (pre max|Δ|=9.05°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.83° (tol 3.0°) [VIA ] step 5 Δ= -5.8 -8.3 -1.5 -1.4 +9.1 -0.3 着いた [SEND] pi05_chunk014_via08: send_angles (single) [ +26.87, +29.70, +2.80, +0.37, -33.59, -30.91] speed=20 wait=0.0s (pre max|Δ|=9.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.85° (tol 3.0°) [VIA ] step 8 Δ= -6.8 -9.0 -1.7 -2.1 +9.6 -0.2 着いた [SEND] pi05_chunk014_via09: send_angles (single) [ +24.70, +27.10, +2.72, +0.03, -30.62, -30.88] speed=20 wait=0.0s (pre max|Δ|=4.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.67° (tol 3.0°) [VIA ] step 9 Δ= -2.4 -4.4 -1.7 -1.5 +4.4 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.67°（関節 j2） [015] 推論 611ms 10ステップ先 Δ=-21.1 -24.2 -2.1 -1.7 +27.5 -0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk015_via02: send_angles (single) [ +17.85, +20.39, +2.38, -0.82, -22.05, -30.75] speed=20 wait=0.0s (pre max|Δ|=9.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.01° (tol 3.0°) [VIA ] step 2 Δ= -6.9 -8.3 -2.0 -1.7 +9.8 -0.1 着いた [SEND] pi05_chunk015_via05: send_angles (single) [ +10.74, +12.19, +2.36, -0.89, -12.67, -30.76] speed=20 wait=0.0s (pre max|Δ|=10.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.03° (tol 3.0°) [VIA ] step 5 Δ= -7.4 -9.9 -2.0 -0.9 +10.4 -0.1 着いた [SEND] pi05_chunk015_via08: send_angles (single) [ +4.84, +5.60, +2.24, -0.72, -5.33, -30.77] speed=20 wait=0.0s (pre max|Δ|=8.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.15° (tol 3.0°) [VIA ] step 8 Δ= -6.1 -8.2 -2.2 -0.6 +8.3 -0.1 着いた