[SEND] pi05_chunk015_via09: send_angles (single) [ +3.65, +4.49, +2.24, -0.73, -4.62, -30.75] speed=20 wait=0.0s (pre max|Δ|=2.54°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.54° (tol 3.0°) [VIA ] step 9 Δ= -1.4 -2.5 -2.1 -0.3 +1.5 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.15°（関節 j2） [016] 推論 1461ms 10ステップ先 Δ= -2.6 -2.6 -2.2 -0.3 +1.6 -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 > h [SEND] pi05_home: send_angles (single) [ +0.00, +0.00, +0.00, +0.00, +0.00, -30.00] speed=20 wait=0.0s (pre max|Δ|=5.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.40° (tol 2.5°) [RECORD] 記録終了 コマ 1643 (8.548 fps) 実測角 1804 回 (9.39 Hz) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_183926/recording 結果: y=成功 / n=失敗 / Enter=記録しない > y [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_183926 [CLIENT] run_policy_client.py が終わった (終了コード 0. モデル corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2)) (199 秒) もう1回やりますか? y=やる / 他=終わる > y === 7. HOME → 爪を開く → 位置合わせ (2 回目) [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [-0.17, 1.14, 1.40, -0.43, -0.26, -30.49] [SEND] HOME へ移動指令 [WAIT] t=0.6s max_err=1.40° [DONE] HOME 到達 max_err=1.40° [POST] 最終姿勢: [-0.17, 1.14, 1.40, -0.43, -0.26, -30.49] [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= +1.9 dx= -0.3 response=0.861 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません) (25 秒) === 8. 実機推論 (2 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_184312 [MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2) [CAMERA] 写り方 dy=-4.6 dx=+6.9 response=0.549 → 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_184312/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 625ms 10ステップ先 Δ= +3.7 +16.0 +11.7 -2.4 -22.8 +2.9 [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) [ +0.54, +5.06, +4.32, -0.67, -5.84, -29.48] speed=20 wait=0.0s (pre max|Δ|=5.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.80° (tol 3.0°) [VIA ] step 2 Δ= +0.7 +3.9 +2.9 -0.4 -5.6 +0.8 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.65, +10.36, +8.10, -1.52, -13.28, -28.55] speed=20 wait=0.0s (pre max|Δ|=9.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.86° (tol 3.0°) [VIA ] step 5 Δ= +0.9 +4.5 +2.8 -1.3 -9.2 +1.1 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +3.05, +15.52, +11.91, -2.42, -20.73, -27.58] speed=20 wait=0.0s (pre max|Δ|=9.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.75° (tol 3.0°) [VIA ] step 8 Δ= +1.6 +4.3 +2.9 -2.1 -9.3 +1.2 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +3.50, +17.10, +13.05, -2.69, -23.04, -27.30] speed=20 wait=0.0s (pre max|Δ|=4.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.51° (tol 3.0°) [VIA ] step 9 Δ= +0.9 +0.7 +0.4 -1.2 -4.1 +0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.16°（関節 j4） [001] 推論 1682ms 10ステップ先 Δ= +4.1 +15.4 +11.0 -1.3 -27.9 +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_chunk001_via02: send_angles (single) [ +4.69, +21.83, +16.35, -3.29, -30.54, -26.70] speed=20 wait=0.0s (pre max|Δ|=8.66°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 2 Δ= +1.3 +3.8 +2.6 -1.4 -8.7 +0.7 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +6.05, +26.62, +19.93, -3.36, -38.55, -26.52] speed=20 wait=0.0s (pre max|Δ|=8.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 5 Δ= +1.6 +3.9 +2.9 -0.4 -8.9 +0.4 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +7.49, +31.94, +23.78, -3.21, -47.42, -26.44] speed=20 wait=0.0s (pre max|Δ|=9.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 8 Δ= +1.7 +4.4 +3.3 -0.0 -9.7 +0.3 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +7.91, +33.40, +24.74, -3.12, -49.74, -26.41] speed=20 wait=0.0s (pre max|Δ|=3.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.87° (tol 3.0°) [VIA ] step 9 Δ= +0.7 +0.6 +0.5 -0.1 -3.3 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.87°（関節 j1） [002] 推論 732ms 10ステップ先 Δ= +3.1 +10.4 +7.7 -0.0 -16.0 +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 > [SEND] pi05_chunk002_via02: send_angles (single) [ +9.49, +38.90, +28.46, -3.32, -57.95, -26.39] speed=20 wait=0.0s (pre max|Δ|=8.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.82° (tol 3.0°) [VIA ] step 2 Δ= +1.7 +4.6 +3.3 -0.4 -8.9 +0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +10.52, +43.13, +31.48, -3.17, -63.75, -26.39] speed=20 wait=0.0s (pre max|Δ|=6.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.90° (tol 3.0°) [VIA ] step 5 Δ= +1.0 +3.4 +3.0 -0.2 -6.4 +0.2 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +10.87, +44.74, +32.65, -2.94, -65.20, -26.37] speed=20 wait=0.0s (pre max|Δ|=2.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.10° (tol 3.0°) [VIA ] step 8 Δ= +0.3 +0.7 +1.0 -0.2 -2.1 +0.3 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +10.95, +44.64, +32.50, -2.92, -65.04, -26.38] speed=20 wait=0.0s (pre max|Δ|=0.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.79° (tol 3.0°) [VIA ] step 9 Δ= +0.4 +0.6 +0.9 -0.2 -1.9 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.79°（関節 j1） [003] 推論 1494ms 10ステップ先 Δ= +1.2 +8.4 -6.8 -0.4 +0.1 +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 > p objc[53364]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b0688e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b0689d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53364]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd7c8). 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° → +11.54 +45.43 +32.69 -2.63 -64.68 -26.54 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 +10.54 +45.43 +32.69 -2.63 -64.68 -26.54 [送信] j0 +1.0° → +12.54 +45.43 +32.69 -2.63 -64.68 -26.54 届いた（ずれ 0.44°） 届いた角度 +12.91 +45.43 +32.69 -3.07 -64.68 -26.54 [PAD ] 補正 1 を終えました (13.2 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 600ms 10ステップ先 Δ= +0.3 +10.5 -8.8 -0.1 +1.8 -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 > [SEND] pi05_chunk004_via02: send_angles (single) [ +13.07, +46.16, +32.40, -2.61, -64.71, -26.53] speed=20 wait=0.0s (pre max|Δ|=1.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.64° (tol 3.0°) [VIA ] step 2 Δ= +0.5 +0.7 -0.3 +0.0 +1.6 +0.0 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ +13.09, +50.04, +29.26, -2.69, -64.23, -26.60] speed=20 wait=0.0s (pre max|Δ|=3.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.12° (tol 3.0°) [VIA ] step 5 Δ= +0.5 +2.9 -3.4 -0.1 +2.1 -0.1 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ +13.02, +54.58, +25.09, -2.74, -63.12, -26.72] speed=20 wait=0.0s (pre max|Δ|=5.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.35° (tol 3.0°) [VIA ] step 8 Δ= +0.5 +3.7 -5.1 -0.1 +3.2 -0.2 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ +12.88, +55.88, +23.90, -2.74, -62.87, -26.76] speed=20 wait=0.0s (pre max|Δ|=2.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.90° (tol 3.0°) [VIA ] step 9 Δ= +0.3 +0.4 -2.1 -0.1 +2.6 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.90°（関節 j4） [005] 推論 792ms 6ステップ先 Δ= +0.5 +3.0 -4.3 -0.1 +2.2 -0.5 グリッパー→閉 [VIA ] 中継点 2 点: step 2, 5 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) [ +13.03, +59.97, +20.08, -2.75, -62.44, -26.98] speed=20 wait=0.0s (pre max|Δ|=4.70°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.54° (tol 3.0°) [VIA ] step 2 Δ= +0.5 +3.1 -4.7 -0.2 +1.9 -0.4 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ +13.06, +59.79, +20.54, -2.72, -62.56, -27.01] speed=20 wait=0.0s (pre max|Δ|=1.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.42° (tol 3.0°) [VIA ] step 5 Δ= +0.5 -0.8 -0.2 -0.2 +1.4 -0.3 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 2.56°（関節 j4） [006] 推論 1490ms 10ステップ先 Δ= +0.8 -9.8 +7.4 -1.0 +1.6 +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_chunk006_via02: send_angles (single) [ +12.99, +56.71, +23.45, -2.88, -62.46, -26.85] speed=20 wait=0.0s (pre max|Δ|=4.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.29° (tol 3.0°) [VIA ] step 2 Δ= +0.5 -4.0 +2.8 -0.8 +2.7 +0.5 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +13.00, +53.04, +26.66, -3.01, -62.70, -26.67] speed=20 wait=0.0s (pre max|Δ|=4.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.54° (tol 3.0°) [VIA ] step 5 Δ= +0.5 -5.0 +3.9 -0.6 +0.5 +0.5 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +13.14, +50.91, +28.55, -2.95, -63.37, -26.65] speed=20 wait=0.0s (pre max|Δ|=3.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.82° (tol 3.0°) [VIA ] step 8 Δ= +0.7 -3.7 +2.5 -0.2 -1.5 +0.2 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +13.32, +50.91, +28.15, -2.86, -63.50, -26.78] speed=20 wait=0.0s (pre max|Δ|=1.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.73° (tol 3.0°) [VIA ] step 9 Δ= +0.7 -1.7 -0.2 -0.3 -1.6 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.73°（関節 j1） [007] 推論 557ms 10ステップ先 Δ=+16.5 +0.6 -12.1 +2.9 +1.5 -3.2 [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 > [SEND] pi05_chunk007_via02: send_angles (single) [ +16.00, +50.16, +26.99, -2.35, -63.02, -27.19] speed=20 wait=0.0s (pre max|Δ|=3.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 2 Δ= +3.3 -2.5 -1.4 +0.2 -1.1 -0.6 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +23.17, +50.94, +20.63, -0.76, -61.13, -28.78] speed=20 wait=0.0s (pre max|Δ|=7.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.36° (tol 3.0°) [VIA ] step 5 Δ= +7.2 -1.3 -7.5 +1.8 +0.7 -2.2 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +28.12, +52.39, +16.92, +0.21, -60.30, -29.77] speed=20 wait=0.0s (pre max|Δ|=5.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.21° (tol 3.0°) [VIA ] step 8 Δ= +5.0 +0.1 -4.8 +1.5 +0.4 -2.3 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +29.21, +53.27, +16.26, +0.36, -60.33, -29.85] speed=20 wait=0.0s (pre max|Δ|=1.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.75° (tol 3.0°) [VIA ] step 9 Δ= +0.8 -0.2 -1.7 +0.8 -0.6 -1.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.75°（関節 j2） [008] 推論 612ms 10ステップ先 Δ= +1.4 +0.1 -10.9 +1.5 +0.6 -1.9 [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 +54.22° → +53.87° まで（目標を 1 回送信。止めます） [長押し] j1 を +42.18° → +38.40° まで（目標を 1 回送信。止めます） [PAD ] 補正 2 を終えました (12.7 秒, 送った目標 3 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 553ms 10ステップ先 Δ= +8.6 +14.6 -8.1 +1.9 -6.6 -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_chunk009_via02: send_angles (single) [ +33.34, +28.27, +17.02, +0.77, -55.39, -29.61] speed=20 wait=0.0s (pre max|Δ|=4.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.17° (tol 3.0°) [VIA ] step 2 Δ= +4.4 +0.8 -1.9 +0.3 +0.9 -0.2 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +35.73, +33.37, +15.16, +1.30, -58.58, -29.69] speed=20 wait=0.0s (pre max|Δ|=3.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.96° (tol 3.0°) [VIA ] step 5 Δ= +2.1 +3.9 -2.6 +0.9 -2.2 -0.3 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +37.19, +40.15, +11.90, +2.14, -62.07, -29.88] speed=20 wait=0.0s (pre max|Δ|=6.23°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.45° (tol 3.0°) [VIA ] step 8 Δ= +3.4 +8.2 -5.8 +1.6 -5.6 -0.4 着いた