[SEND] pi05_chunk009_via09: send_angles (single) [ +37.50, +42.13, +10.75, +2.31, -62.79, -29.97] speed=20 wait=0.0s (pre max|Δ|=2.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.64° (tol 3.0°) [VIA ] step 9 Δ= +0.2 +1.1 -2.6 +0.8 -1.5 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.55°（関節 j2） [010] 推論 1702ms 10ステップ先 Δ= +4.6 +15.6 -7.5 +2.1 -8.5 -1.1 [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|=62.22°, post-send timeout 11.3s) [SEND] arrival OK: max|Δ|=2.10° (tol 2.5°) [RECORD] 記録終了 コマ 597 (8.099 fps) 実測角 644 回 (8.74 Hz) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_184312/recording 結果: y=成功 / n=失敗 / Enter=記録しない > n [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_184312 [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)) (79 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 (3 回目) [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [-0.17, 1.49, 1.75, 0.35, -0.61, -29.70] [SEND] HOME へ移動指令 [WAIT] t=0.6s max_err=1.75° [DONE] HOME 到達 max_err=1.75° [POST] 最終姿勢: [-0.17, 1.49, 1.75, 0.35, -0.43, -29.70] [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= +2.2 dx= -0.4 response=0.872 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません) (18 秒) === 8. 実機推論 (3 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_184452 [MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2) [CAMERA] 写り方 dy=-3.9 dx=+6.5 response=0.536 → 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_184452/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 612ms 10ステップ先 Δ= +2.9 +16.5 +11.4 -2.0 -21.5 +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 > [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) [ +0.65, +6.79, +5.30, +0.08, -7.06, -29.64] speed=20 wait=0.0s (pre max|Δ|=6.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.79° (tol 3.0°) [VIA ] step 2 Δ= +0.8 +5.3 +3.5 -0.2 -6.8 +0.1 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.36, +11.36, +8.64, -0.36, -13.44, -29.36] speed=20 wait=0.0s (pre max|Δ|=8.08°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.84° (tol 3.0°) [VIA ] step 5 Δ= +0.6 +3.5 +2.3 -0.6 -8.1 +0.3 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +2.36, +16.46, +12.18, -1.40, -19.88, -28.50] speed=20 wait=0.0s (pre max|Δ|=8.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.78° (tol 3.0°) [VIA ] step 8 Δ= +1.6 +4.1 +2.6 -1.2 -8.2 +1.2 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +2.78, +18.03, +13.15, -1.70, -21.76, -28.25] speed=20 wait=0.0s (pre max|Δ|=3.66°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.29° (tol 3.0°) [VIA ] step 9 Δ= +1.1 +0.5 +0.1 -0.3 -3.7 +1.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.29°（関節 j4） [001] 推論 552ms 10ステップ先 Δ= +4.5 +13.4 +8.1 -1.2 -22.5 +2.3 [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_chunk001_via02: send_angles (single) [ +3.84, +22.02, +15.73, -2.36, -27.35, -27.61] speed=20 wait=0.0s (pre max|Δ|=6.88°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 2 Δ= +0.9 +3.0 +1.9 -0.8 -6.9 +1.4 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +5.38, +26.42, +18.43, -2.62, -34.11, -27.29] speed=20 wait=0.0s (pre max|Δ|=7.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 5 Δ= +1.7 +3.5 +1.9 -0.1 -7.6 +1.0 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +6.96, +31.04, +21.27, -2.78, -41.11, -27.10] speed=20 wait=0.0s (pre max|Δ|=7.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.21° (tol 3.0°) [VIA ] step 8 Δ= +1.7 +3.7 +2.1 +0.3 -7.6 +0.8 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +7.44, +32.42, +22.01, -2.79, -43.01, -27.07] speed=20 wait=0.0s (pre max|Δ|=3.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.80° (tol 3.0°) [VIA ] step 9 Δ= +0.9 +0.4 +0.2 +0.5 -3.1 +0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.80°（関節 j1） [002] 推論 598ms 10ステップ先 Δ= +2.7 +13.7 +7.6 +1.1 -20.0 +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 > [SEND] pi05_chunk002_via02: send_angles (single) [ +8.50, +36.57, +24.63, -2.79, -48.98, -26.95] speed=20 wait=0.0s (pre max|Δ|=6.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.87° (tol 3.0°) [VIA ] step 2 Δ= +1.1 +3.4 +2.8 +0.5 -6.4 +0.5 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +9.56, +41.51, +27.27, -2.47, -55.80, -26.86] speed=20 wait=0.0s (pre max|Δ|=7.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.85° (tol 3.0°) [VIA ] step 5 Δ= +0.9 +4.1 +2.2 +0.7 -7.6 +0.5 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +10.16, +45.77, +29.29, -2.45, -61.46, -26.77] speed=20 wait=0.0s (pre max|Δ|=6.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 8 Δ= +0.5 +3.4 +1.9 +0.5 -6.4 +0.5 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +10.27, +46.97, +29.39, -2.46, -62.51, -26.75] speed=20 wait=0.0s (pre max|Δ|=1.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.96° (tol 3.0°) [VIA ] step 9 Δ= +0.6 +0.2 +0.1 +0.4 -2.0 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.90°（関節 j4） [003] 推論 556ms 10ステップ先 Δ= +3.1 +1.8 +0.3 +0.3 -1.8 +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 > p objc[53388]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0c890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf52c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0c8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0c958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0c980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf53b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0c9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0ca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0ca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf54d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf55c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf55e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0ccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53388]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf57c8). 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° → +8.66 +47.90 +29.26 -2.90 -61.96 -27.07 届いた（ずれ 0.36°） 届いた角度 +8.96 +47.90 +29.26 -2.54 -61.96 -26.98 [止める] stop（released_while_sending） 止まった角度 +9.75 +48.86 +29.26 -2.63 -60.46 -27.07 [長押し] j0 を +8.96° → +16.34° まで（目標を 1 回送信。止めます） [送信] j0 -1.0° → +21.14 +47.90 +29.26 -2.90 -61.96 -27.07 届いた（ずれ 2.99°） 届いた角度 +21.18 +49.74 +29.26 -1.23 -58.97 -27.15 [送信] j0 -1.0° → +20.14 +47.90 +29.26 -2.90 -61.96 -27.07 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 1.85°） 届いた角度 +21.09 +48.77 +29.26 -1.84 -60.11 -27.15 [送信] j0 -1.0° → +19.14 +47.90 +29.26 -2.90 -61.96 -27.07 届いた（ずれ 0.88°） 届いた角度 +18.72 +48.77 +29.26 -2.02 -61.25 -27.15 [送信] j0 -1.0° → +18.14 +47.90 +29.26 -2.90 -61.96 -27.07 届いた（ずれ 0.87°） 届いた角度 +18.28 +48.77 +29.26 -2.19 -61.34 -27.15 [送信] j0 -1.0° → +17.14 +47.90 +29.26 -2.90 -61.96 -27.07 届いた（ずれ 0.87°） 届いた角度 +17.31 +48.77 +29.26 -2.10 -61.34 -27.24 [送信] j0 -1.0° → +16.14 +47.90 +29.26 -2.90 -61.96 -27.07 届いた（ずれ 0.87°） 届いた角度 +16.17 +48.77 +29.26 -2.10 -61.34 -27.15 [送信] j0 -1.0° → +15.14 +47.90 +29.26 -2.90 -61.96 -27.07 届いた（ずれ 0.87°） 届いた角度 +15.29 +48.77 +29.26 -2.19 -62.57 -27.15 [送信] j0 -2.0° → +13.14 +47.90 +29.26 -2.90 -61.96 -27.07 届いた（ずれ 1.06°） 届いた角度 +12.83 +48.77 +29.26 -1.84 -62.57 -27.07 [PAD ] 補正 1 を終えました (20.0 秒, 送った目標 11 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 1507ms 7ステップ先 Δ= +1.0 +7.9 -5.4 -0.1 -1.1 -0.3 グリッパー→閉 [VIA ] 中継点 3 点: step 2, 5, 6 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) [ +13.70, +53.67, +26.32, -2.16, -63.12, -27.21] speed=20 wait=0.0s (pre max|Δ|=4.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.10° (tol 3.0°) [VIA ] step 2 Δ= +0.8 +4.9 -2.9 -0.1 -0.6 -0.2 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ +13.95, +56.72, +23.85, -2.16, -63.70, -27.37] speed=20 wait=0.0s (pre max|Δ|=3.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 5 Δ= +0.2 +2.1 -3.6 -0.1 -1.1 -0.4 着いた [SEND] pi05_chunk004_via06: send_angles (single) [ +13.95, +56.72, +23.85, -2.16, -63.70, -27.37] speed=20 wait=0.0s (pre max|Δ|=0.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 6 Δ= +0.3 -0.8 -0.9 -0.1 +0.5 -0.4 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 1.95°（関節 j4） [005] 推論 556ms 10ステップ先 Δ= +9.1 -5.8 -5.1 +1.0 +6.1 -1.7 [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_chunk005_via02: send_angles (single) [ +14.50, +51.70, +27.49, -2.40, -62.61, -27.09] speed=20 wait=0.0s (pre max|Δ|=5.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.91° (tol 3.0°) [VIA ] step 2 Δ= +1.1 -5.9 +2.7 -0.6 +3.2 +0.2 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ +15.20, +50.45, +27.29, -2.35, -62.63, -27.08] speed=20 wait=0.0s (pre max|Δ|=3.16°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 3.0°) [VIA ] step 5 Δ= +0.7 -3.2 +0.1 +0.0 +0.0 +0.1 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ +20.54, +52.03, +21.40, -1.23, -60.42, -28.44] speed=20 wait=0.0s (pre max|Δ|=6.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.29° (tol 3.0°) [VIA ] step 8 Δ= +5.5 -0.3 -6.1 +1.1 +1.7 -1.3 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ +22.45, +51.72, +19.64, -0.79, -59.54, -28.85] speed=20 wait=0.0s (pre max|Δ|=2.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.89° (tol 3.0°) [VIA ] step 9 Δ= +1.9 -1.1 -2.8 +1.0 +0.3 -1.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.26°（関節 j5） [006] 推論 833ms 10ステップ先 Δ= -0.2 -1.4 -7.1 +0.8 -0.0 -1.4 [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 > p [PAD ] 補正 2 (推論 6 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 +52.82° → +45.17° まで（目標を 1 回送信。止めます） [長押し] j1 を +39.55° → +34.27° まで（目標を 1 回送信。止めます） [PAD ] 補正 2 を終えました (11.1 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) [007] 推論 1730ms 10ステップ先 Δ=+10.2 +12.4 -3.2 +1.3 -8.9 -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_chunk007_via02: send_angles (single) [ +28.99, +27.93, +21.24, -0.28, -54.56, -29.00] speed=20 wait=0.0s (pre max|Δ|=6.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.33° (tol 3.0°) [VIA ] step 2 Δ= +6.6 +0.3 -0.7 +0.8 +1.1 -0.4 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +31.88, +31.73, +21.36, +0.02, -57.64, -29.25] speed=20 wait=0.0s (pre max|Δ|=2.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.88° (tol 3.0°) [VIA ] step 5 Δ= +2.4 +2.8 -0.4 +1.1 -1.7 -0.7 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +32.54, +38.04, +19.84, +0.15, -62.85, -29.34] speed=20 wait=0.0s (pre max|Δ|=6.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.95° (tol 3.0°) [VIA ] step 8 Δ= +0.5 +5.4 -2.0 +0.6 -6.6 -0.8 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +32.66, +39.97, +18.80, +0.21, -64.06, -29.41] speed=20 wait=0.0s (pre max|Δ|=2.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.99° (tol 3.0°) [VIA ] step 9 Δ= +0.3 +0.9 -3.0 +0.5 -2.1 -0.8 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.99°（関節 j2） [008] 推論 618ms 10ステップ先 Δ=+10.5 +14.1 -14.7 +2.7 -2.4 -3.0 [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_chunk008_via02: send_angles (single) [ +39.63, +41.81, +12.00, +1.33, -61.71, -30.56] speed=20 wait=0.0s (pre max|Δ|=8.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.88° (tol 3.0°) [VIA ] step 2 Δ= +7.3 +0.9 -8.2 +1.3 +4.1 -1.5 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +42.88, +46.31, +7.06, +2.02, -60.70, -31.37] speed=20 wait=0.0s (pre max|Δ|=6.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.40° (tol 3.0°) [VIA ] step 5 Δ= +3.3 +3.7 -6.2 +0.2 +3.9 -1.1 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +43.12, +52.19, +6.67, +2.40, -63.55, -31.56] speed=20 wait=0.0s (pre max|Δ|=4.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.50° (tol 3.0°) [VIA ] step 8 Δ= +0.2 +4.8 -1.6 +0.2 -0.4 -0.5 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +42.80, +53.27, +7.09, +2.45, -64.37, -31.58] speed=20 wait=0.0s (pre max|Δ|=1.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.27° (tol 3.0°) [VIA ] step 9 Δ= -0.1 +0.0 -1.1 +0.3 -1.3 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.08°（関節 j2） [009] 推論 628ms 9ステップ先 Δ= +0.5 +8.4 -3.5 +0.8 -6.6 -0.6 グリッパー→開 [VIA ] 中継点 3 点: step 2, 5, 8 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) [ +43.18, +58.03, +5.28, +2.83, -66.55, -31.86] speed=20 wait=0.0s (pre max|Δ|=3.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.31° (tol 3.0°) [VIA ] step 2 Δ= +0.3 +3.6 -2.9 +0.6 -2.5 -0.6 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +43.11, +62.26, +4.47, +3.00, -69.32, -31.94] speed=20 wait=0.0s (pre max|Δ|=3.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.94° (tol 3.0°) [VIA ] step 5 Δ= +0.2 +3.2 -2.1 +0.4 -3.8 -0.4 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +43.40, +62.09, +4.70, +3.01, -70.01, -31.91] speed=20 wait=0.0s (pre max|Δ|=1.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.55° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -0.9 -1.2 +0.3 -1.6 -0.3 着いた [Pi] GRIPPER: OPEN result= None [STATE ] 目標を渡す 目標と実測の最大差 1.19°（関節 j1） [010] 推論 566ms 10ステップ先 Δ= -0.9 -15.2 -0.4 +0.4 +13.7 -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_chunk010_via02: send_angles (single) [ +43.22, +56.98, +4.94, +3.08, -64.78, -32.06] speed=20 wait=0.0s (pre max|Δ|=6.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.98° (tol 3.0°) [VIA ] step 2 Δ= +0.3 -6.3 -0.9 +0.3 +4.7 -0.4 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +43.01, +52.40, +5.11, +3.15, -60.11, -32.13] speed=20 wait=0.0s (pre max|Δ|=7.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.73° (tol 3.0°) [VIA ] step 5 Δ= +0.1 -6.7 -0.8 +0.3 +7.6 -0.4 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +42.24, +48.92, +5.40, +3.21, -56.31, -32.16] speed=20 wait=0.0s (pre max|Δ|=6.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.57° (tol 3.0°) [VIA ] step 8 Δ= -0.7 -5.6 -0.5 +0.3 +6.5 -0.4 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +41.95, +48.11, +5.51, +3.22, -55.78, -32.17] speed=20 wait=0.0s (pre max|Δ|=3.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.60° (tol 3.0°) [VIA ] step 9 Δ= -0.6 -2.7 -0.4 +0.2 +3.1 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.60°（関節 j1） [011] 推論 1469ms 10ステップ先 Δ=-17.4 -24.4 -1.0 -2.3 +28.3 +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_chunk011_via02: send_angles (single) [ +38.64, +42.81, +5.32, +2.92, -49.49, -32.05] speed=20 wait=0.0s (pre max|Δ|=7.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.10° (tol 3.0°) [VIA ] step 2 Δ= -3.9 -7.9 -0.6 -0.1 +7.7 -0.2 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +33.00, +36.89, +4.98, +2.01, -41.99, -31.72] speed=20 wait=0.0s (pre max|Δ|=8.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.95° (tol 3.0°) [VIA ] step 5 Δ= -5.7 -8.0 -0.9 -1.6 +8.7 +0.2 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +27.02, +29.12, +4.83, +1.01, -33.16, -31.38] speed=20 wait=0.0s (pre max|Δ|=9.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.90° (tol 3.0°) [VIA ] step 8 Δ= -6.0 -9.6 -1.1 -2.2 +10.0 +0.5 着いた