[SEND] pi05_chunk011_via09: send_angles (single) [ +25.08, +26.35, +4.86, +0.71, -29.83, -31.27] speed=20 wait=0.0s (pre max|Δ|=4.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.74° (tol 3.0°) [VIA ] step 9 Δ= -2.2 -4.7 -1.0 -1.4 +4.4 +0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.77°（関節 j1） [012] 推論 550ms 10ステップ先 Δ=-22.0 -23.5 -1.7 -1.3 +28.3 +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 > 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|=30.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.75° (tol 2.5°) [RECORD] 記録終了 コマ 757 (8.238 fps) 実測角 800 回 (8.71 Hz) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_184452/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_184452 [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)) (98 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 (4 回目) [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [-0.17, 1.40, 1.75, 0.35, -0.35, -30.32] [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, 1.40, 1.75, 0.35, -0.26, -30.32] [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= -0.2 response=0.921 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません) (19 秒) === 8. 実機推論 (4 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_184650 [MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2) [CAMERA] 写り方 dy=-4.0 dx=+6.5 response=0.524 → 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_184650/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 741ms 10ステップ先 Δ= +3.8 +16.1 +12.2 -2.3 -24.5 +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) [ +0.62, +6.05, +4.85, -0.12, -6.80, -29.62] speed=20 wait=0.0s (pre max|Δ|=6.54°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.97° (tol 3.0°) [VIA ] step 2 Δ= +0.9 +4.7 +3.1 -0.4 -6.5 +0.6 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.73, +11.02, +8.65, -0.84, -14.40, -28.73] speed=20 wait=0.0s (pre max|Δ|=9.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 3.0°) [VIA ] step 5 Δ= +1.0 +4.1 +2.8 -1.0 -9.6 +1.1 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +3.11, +15.73, +12.54, -1.77, -21.86, -27.73] speed=20 wait=0.0s (pre max|Δ|=9.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.83° (tol 3.0°) [VIA ] step 8 Δ= +1.0 +3.8 +3.1 -1.0 -9.1 +1.2 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +3.66, +17.54, +13.94, -2.08, -24.76, -27.38] speed=20 wait=0.0s (pre max|Δ|=4.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 9 Δ= +0.9 +0.9 +0.6 -0.2 -4.7 +0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.39°（関節 j4） [001] 推論 1475ms 10ステップ先 Δ= +4.2 +15.0 +9.8 -0.4 -24.8 +0.9 [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 > [SEND] pi05_chunk001_via02: send_angles (single) [ +4.80, +21.97, +16.58, -2.69, -30.90, -26.93] speed=20 wait=0.0s (pre max|Δ|=7.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.88° (tol 3.0°) [VIA ] step 2 Δ= +1.1 +3.6 +2.0 -0.4 -7.5 +0.7 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +6.01, +26.73, +19.71, -2.76, -37.95, -26.75] speed=20 wait=0.0s (pre max|Δ|=7.81°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 5 Δ= +1.1 +3.9 +2.4 +0.2 -7.8 +0.4 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +7.44, +31.79, +23.23, -2.65, -45.76, -26.66] speed=20 wait=0.0s (pre max|Δ|=8.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.81° (tol 3.0°) [VIA ] step 8 Δ= +1.6 +4.2 +2.8 +0.8 -8.8 +0.3 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +7.93, +33.36, +24.36, -2.64, -48.18, -26.64] speed=20 wait=0.0s (pre max|Δ|=3.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.72° (tol 3.0°) [VIA ] step 9 Δ= +0.6 +0.8 +0.6 +0.7 -3.1 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.91°（関節 j1） [002] 推論 559ms 10ステップ先 Δ= +3.5 +9.6 +6.2 +0.1 -14.5 +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_chunk002_via02: send_angles (single) [ +9.45, +38.47, +27.71, -2.70, -55.33, -26.60] speed=20 wait=0.0s (pre max|Δ|=7.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.90° (tol 3.0°) [VIA ] step 2 Δ= +1.5 +4.2 +2.9 +0.5 -7.8 +0.3 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +10.71, +43.20, +30.37, -2.91, -61.24, -26.53] speed=20 wait=0.0s (pre max|Δ|=6.40°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.86° (tol 3.0°) [VIA ] step 5 Δ= +1.4 +3.8 +2.3 +0.1 -6.4 +0.3 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +10.89, +44.53, +30.83, -2.89, -62.39, -26.51] speed=20 wait=0.0s (pre max|Δ|=1.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 3.0°) [VIA ] step 8 Δ= +0.1 +0.5 +0.3 +0.1 -1.9 +0.2 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +10.93, +43.92, +30.39, -2.96, -62.04, -26.51] speed=20 wait=0.0s (pre max|Δ|=1.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.51° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -1.2 -0.1 -0.2 -0.1 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.51°（関節 j1） [003] 推論 594ms 10ステップ先 Δ= +1.5 +9.1 -3.8 -0.3 -1.9 +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[53422]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d48e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d49d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53422]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd7c8). 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 +45.43 +30.49 -2.81 -62.13 -26.71 届いた（ずれ 0.18°） 届いた角度 +11.86 +45.43 +30.49 -2.63 -62.13 -26.71 [PAD ] 補正 1 を終えました (9.8 秒, 送った目標 1 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 552ms 10ステップ先 Δ= +1.1 +12.4 -8.9 -0.3 -0.9 -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_chunk004_via02: send_angles (single) [ +12.02, +48.21, +29.65, -2.80, -62.99, -26.64] speed=20 wait=0.0s (pre max|Δ|=2.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.78° (tol 3.0°) [VIA ] step 2 Δ= +0.1 +2.8 -0.8 -0.1 -0.9 +0.1 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ +12.51, +53.30, +26.05, -2.90, -63.63, -26.61] speed=20 wait=0.0s (pre max|Δ|=4.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 5 Δ= +0.6 +4.2 -4.4 -0.2 -1.1 +0.1 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ +12.91, +57.23, +22.27, -3.00, -63.02, -26.72] speed=20 wait=0.0s (pre max|Δ|=4.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.86° (tol 3.0°) [VIA ] step 8 Δ= +1.0 +3.1 -4.8 -0.4 -0.2 -0.0 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ +13.02, +57.82, +21.61, -3.02, -63.05, -26.78] speed=20 wait=0.0s (pre max|Δ|=1.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.41° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -0.3 -1.5 -0.5 -0.2 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.24°（関節 j2） [005] 推論 775ms 6ステップ先 Δ= +0.4 +1.9 -2.8 -0.3 -0.1 +0.0 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) [ +13.28, +60.14, +20.41, -3.00, -63.75, -26.66] speed=20 wait=0.0s (pre max|Δ|=2.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.37° (tol 3.0°) [VIA ] step 2 Δ= +0.4 +1.6 -2.4 -0.4 -0.1 +0.0 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ +13.26, +60.46, +20.02, -2.92, -63.78, -26.67] speed=20 wait=0.0s (pre max|Δ|=1.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.34° (tol 3.0°) [VIA ] step 5 Δ= +0.4 -0.4 -1.2 -0.3 +1.3 +0.1 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 2.84°（関節 j4） [006] 推論 1504ms 10ステップ先 Δ= +0.4 -7.1 +4.3 -0.9 +2.8 +0.7 [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_chunk006_via02: send_angles (single) [ +13.37, +59.93, +20.07, -2.93, -63.88, -26.72] speed=20 wait=0.0s (pre max|Δ|=2.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.74° (tol 3.0°) [VIA ] step 2 Δ= +0.8 -1.2 -1.0 -0.4 +2.7 +0.3 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +13.17, +57.59, +22.37, -3.08, -63.80, -26.43] speed=20 wait=0.0s (pre max|Δ|=3.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 5 Δ= +0.5 -3.5 +1.3 -0.5 +2.8 +0.5 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +13.07, +54.49, +25.11, -3.26, -63.74, -26.20] speed=20 wait=0.0s (pre max|Δ|=4.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.49° (tol 3.0°) [VIA ] step 8 Δ= +0.2 -4.6 +3.6 -0.6 -0.0 +0.7 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +12.97, +54.01, +25.35, -3.27, -63.83, -26.19] speed=20 wait=0.0s (pre max|Δ|=1.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.70° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -2.0 +0.7 -0.1 -1.3 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.70°（関節 j4） [007] 推論 571ms 10ステップ先 Δ= +0.3 -1.0 -6.3 -0.1 -1.7 +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 [PAD ] 補正 2 (推論 7 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 +55.63° → +46.05° まで（目標を 1 回送信。止めます） [長押し] j1 を +40.95° → +27.68° まで（目標を 2 回送信。止めます） [関節] 上下で動かす関節を j2 にしました [長押し] j2 を +26.45° → +28.91° まで（目標を 1 回送信。止めます） [PAD ] 補正 2 を終えました (26.6 秒, 送った目標 6 回). この姿勢から推論に戻ります [PAD ] [注意] 学習データの範囲の外にいます: j2=+42.5 (範囲 -46〜+41). 次の推論は範囲の端へ切られるか, 止まります [STATE ] 実測を渡す (直前に送った目標がない) [008] 推論 774ms 10ステップ先 Δ= +6.1 +14.0 -12.5 +2.7 -1.3 -1.6 [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 > r 爪を締め直します (開かずに閉じる指令をもう一度) [Pi] GRIPPER: VALUE=20 speed=100 result= None 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) [ +13.06, +13.91, +41.04, -2.68, -64.49, -26.41] speed=20 wait=0.0s (pre max|Δ|=2.05°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.05° (tol 3.0°) [VIA ] step 2 Δ= +0.2 +2.1 -1.4 +0.7 -0.2 -0.1 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +14.06, +18.84, +37.45, -1.79, -65.70, -26.92] speed=20 wait=0.0s (pre max|Δ|=7.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.57° (tol 3.0°) [VIA ] step 5 Δ= +1.1 +7.2 -5.0 +1.6 -1.4 -0.6 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +17.57, +24.29, +31.80, -0.96, -65.06, -27.73] speed=20 wait=0.0s (pre max|Δ|=7.22°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.42° (tol 3.0°) [VIA ] step 8 Δ= +3.6 +4.6 -7.2 +1.4 +0.4 -1.4 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +18.98, +25.85, +29.97, -0.76, -64.49, -27.95] speed=20 wait=0.0s (pre max|Δ|=3.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.49° (tol 3.0°) [VIA ] step 9 Δ= +1.1 +0.6 -3.3 +0.8 +1.0 -1.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.49°（関節 j2） [009] 推論 1523ms 10ステップ先 Δ=+14.6 +11.2 -18.3 +3.8 +2.6 -3.7 [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_chunk009_via02: send_angles (single) [ +25.74, +26.74, +24.61, +0.71, -62.23, -29.27] speed=20 wait=0.0s (pre max|Δ|=6.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.19° (tol 3.0°) [VIA ] step 2 Δ= +6.9 -0.1 -6.9 +1.8 +3.2 -1.9 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +30.66, +28.64, +18.82, +1.85, -60.80, -30.39] speed=20 wait=0.0s (pre max|Δ|=7.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.04° (tol 3.0°) [VIA ] step 5 Δ= +5.0 +1.0 -7.1 +1.4 +3.5 -1.6 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +32.91, +35.43, +14.28, +2.60, -62.30, -30.97] speed=20 wait=0.0s (pre max|Δ|=5.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.54° (tol 3.0°) [VIA ] step 8 Δ= +2.2 +5.9 -5.9 +1.2 +0.4 -1.0 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +33.37, +37.97, +13.12, +2.78, -62.86, -31.02] speed=20 wait=0.0s (pre max|Δ|=2.70°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 9 Δ= +0.4 +1.5 -2.7 +0.4 -0.1 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.82°（関節 j2） [010] 推論 596ms 10ステップ先 Δ= +9.0 +15.1 -7.3 +1.7 -7.5 -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_chunk010_via02: send_angles (single) [ +40.67, +39.36, +10.36, +3.28, -61.97, -31.38] speed=20 wait=0.0s (pre max|Δ|=7.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.50° (tol 3.0°) [VIA ] step 2 Δ= +7.7 +0.3 -4.6 +0.9 +0.8 -0.8 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +41.63, +45.92, +9.24, +3.44, -65.52, -31.40] speed=20 wait=0.0s (pre max|Δ|=5.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.57° (tol 3.0°) [VIA ] step 5 Δ= +0.8 +5.8 -2.6 +0.5 -2.8 -0.4 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +42.02, +52.54, +8.10, +3.85, -69.56, -31.45] speed=20 wait=0.0s (pre max|Δ|=5.52°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.48° (tol 3.0°) [VIA ] step 8 Δ= +0.2 +5.5 -2.7 +0.3 -5.1 -0.4 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +41.94, +54.26, +7.62, +3.97, -70.26, -31.48] 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= +0.2 +0.6 -2.0 +0.3 -1.7 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.96°（関節 j2） [011] 推論 556ms 7ステップ先 Δ= +0.8 +7.9 -5.0 +0.7 -5.3 -0.8 グリッパー→開 [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_chunk011_via02: send_angles (single) [ +42.20, +59.75, +5.31, +4.27, -72.73, -31.67] speed=20 wait=0.0s (pre max|Δ|=4.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.19° (tol 3.0°) [VIA ] step 2 Δ= +0.5 +4.3 -3.7 +0.4 -3.0 -0.6 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +42.50, +61.63, +4.59, +4.45, -73.84, -31.79] speed=20 wait=0.0s (pre max|Δ|=2.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 5 Δ= +0.8 +0.7 -1.9 +0.5 -2.1 -0.4 着いた [SEND] pi05_chunk011_via06: send_angles (single) [ +42.50, +61.63, +4.59, +4.45, -73.84, -31.79] speed=20 wait=0.0s (pre max|Δ|=1.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 6 Δ= +0.8 +0.7 -1.9 +0.5 -2.1 -0.4 着いた [Pi] GRIPPER: OPEN result= None [STATE ] 目標を渡す 目標と実測の最大差 1.29°（関節 j2） [012] 推論 818ms 10ステップ先 Δ= -1.6 -17.2 -0.1 +0.0 +15.4 -0.7 [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_chunk012_via02: send_angles (single) [ +42.48, +56.27, +4.96, +4.46, -68.47, -31.94] speed=20 wait=0.0s (pre max|Δ|=6.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.89° (tol 3.0°) [VIA ] step 2 Δ= -0.1 -6.6 -0.9 +0.1 +4.6 -0.5 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +42.41, +51.33, +5.22, +4.45, -63.42, -32.02] speed=20 wait=0.0s (pre max|Δ|=7.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.41° (tol 3.0°) [VIA ] step 5 Δ= -0.1 -6.9 -0.7 -0.0 +7.8 -0.4 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +41.40, +46.77, +5.64, +4.36, -58.87, -32.10] speed=20 wait=0.0s (pre max|Δ|=6.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.30° (tol 3.0°) [VIA ] step 8 Δ= -1.1 -6.5 -0.2 -0.2 +7.0 -0.4 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +40.98, +45.65, +5.74, +4.31, -57.74, -32.12] speed=20 wait=0.0s (pre max|Δ|=3.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.16° (tol 3.0°) [VIA ] step 9 Δ= -0.2 -3.1 -0.2 -0.4 +3.4 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.16°（関節 j1） [013] 推論 1541ms 10ステップ先 Δ=-19.2 -25.3 -1.0 -3.6 +30.0 +0.7 [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_chunk013_via02: send_angles (single) [ +35.87, +39.20, +5.48, +3.55, -50.58, -31.88] speed=20 wait=0.0s (pre max|Δ|=8.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.02° (tol 3.0°) [VIA ] step 2 Δ= -5.3 -8.6 -0.7 -1.3 +8.6 -0.1 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +30.17, +32.25, +5.21, +2.55, -42.23, -31.54] speed=20 wait=0.0s (pre max|Δ|=9.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.11° (tol 3.0°) [VIA ] step 5 Δ= -5.9 -9.0 -0.9 -1.9 +9.5 +0.3 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +24.15, +24.95, +4.92, +1.56, -32.77, -31.24] speed=20 wait=0.0s (pre max|Δ|=10.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.85° (tol 3.0°) [VIA ] step 8 Δ= -6.0 -9.4 -1.2 -1.9 +10.7 +0.7 着いた