[SEND] pi05_chunk013_via09: send_angles (single) [ +21.96, +22.55, +5.07, +1.27, -29.76, -31.15] speed=20 wait=0.0s (pre max|Δ|=4.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.79° (tol 3.0°) [VIA ] step 9 Δ= -2.7 -4.3 -1.1 -1.1 +4.1 +0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.79°（関節 j1） [014] 推論 829ms 10ステップ先 Δ=-14.3 -16.0 -2.7 -2.3 +20.2 +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 > 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|=30.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.75° (tol 2.5°) [RECORD] 記録終了 コマ 894 (8.295 fps) 実測角 957 回 (8.88 Hz) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_184650/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_184650 [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)) (119 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 (5 回目) [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [-0.35, 1.49, 1.75, 0.26, -0.26, -30.23] [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: [-0.35, 1.49, 1.75, 0.26, -0.26, -30.23] [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= -0.8 response=0.918 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません) (14 秒) === 8. 実機推論 (5 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_184906 [MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2) [CAMERA] 写り方 dy=-4.4 dx=+6.3 response=0.572 → 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_184906/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 1753ms 10ステップ先 Δ= +4.0 +17.4 +11.9 -2.4 -22.7 +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 > [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) [ +0.51, +6.90, +5.45, -0.06, -7.20, -29.54] speed=20 wait=0.0s (pre max|Δ|=6.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.37° (tol 3.0°) [VIA ] step 2 Δ= +0.9 +5.4 +3.7 -0.3 -6.9 +0.7 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.45, +12.05, +9.08, -0.81, -14.03, -28.61] speed=20 wait=0.0s (pre max|Δ|=9.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.91° (tol 3.0°) [VIA ] step 5 Δ= +0.8 +4.1 +2.7 -1.1 -9.1 +1.1 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +2.81, +16.95, +12.56, -1.91, -20.92, -27.58] speed=20 wait=0.0s (pre max|Δ|=8.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.85° (tol 3.0°) [VIA ] step 8 Δ= +1.0 +3.9 +2.6 -1.4 -8.8 +1.2 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +3.57, +18.85, +13.65, -2.18, -23.01, -27.28] speed=20 wait=0.0s (pre max|Δ|=3.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.31° (tol 3.0°) [VIA ] step 9 Δ= +0.8 +0.9 +0.3 -0.2 -3.9 +0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.22°（関節 j4） [001] 推論 613ms 10ステップ先 Δ= +4.1 +13.8 +9.5 -1.0 -24.2 +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) [ +4.94, +23.54, +16.64, -2.86, -30.02, -26.75] speed=20 wait=0.0s (pre max|Δ|=8.23°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.37° (tol 3.0°) [VIA ] step 2 Δ= +1.4 +3.7 +2.2 -0.4 -8.2 +0.8 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +6.31, +28.10, +19.84, -2.85, -37.49, -26.65] speed=20 wait=0.0s (pre max|Δ|=8.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.64° (tol 3.0°) [VIA ] step 5 Δ= +1.5 +3.7 +2.4 +0.3 -8.8 +0.4 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +7.52, +32.30, +22.60, -3.01, -44.31, -26.54] speed=20 wait=0.0s (pre max|Δ|=8.37°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.34° (tol 3.0°) [VIA ] step 8 Δ= +1.5 +3.3 +2.1 +0.2 -8.4 +0.4 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +7.82, +33.60, +23.32, -3.04, -45.97, -26.52] speed=20 wait=0.0s (pre max|Δ|=3.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.82° (tol 3.0°) [VIA ] step 9 Δ= +0.4 +0.5 +0.1 +0.1 -3.0 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.33°（関節 j4） [002] 推論 857ms 10ステップ先 Δ= +3.0 +13.1 +8.4 +0.5 -19.5 +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) [ +9.35, +40.02, +27.64, -3.11, -55.84, -26.42] speed=20 wait=0.0s (pre max|Δ|=10.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 2 Δ= +2.0 +5.6 +4.4 +0.1 -10.6 +0.3 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +10.24, +45.16, +30.70, -2.91, -62.61, -26.37] speed=20 wait=0.0s (pre max|Δ|=7.68°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 5 Δ= +1.4 +4.3 +3.0 +0.3 -7.7 +0.3 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +10.36, +46.75, +31.58, -2.67, -64.05, -26.33] speed=20 wait=0.0s (pre max|Δ|=2.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.36° (tol 3.0°) [VIA ] step 8 Δ= +0.2 +0.7 +0.9 +0.5 -2.4 +0.2 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +10.34, +47.09, +31.58, -2.66, -64.17, -26.33] speed=20 wait=0.0s (pre max|Δ|=0.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.63° (tol 3.0°) [VIA ] step 9 Δ= +0.2 +0.2 +0.9 +0.5 -1.0 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.72°（関節 j1） [003] 推論 1557ms 10ステップ先 Δ= +0.9 +8.7 -7.9 +0.5 +0.3 -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[53459]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f88e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f89d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53459]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d7c8). 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° → +11.19 +47.81 +31.81 -2.98 -63.54 -26.54 届いた（ずれ 1.41°） 届いた角度 +11.51 +47.81 +31.81 -2.98 -64.95 -26.54 [送信] j0 +1.0° → +12.19 +47.81 +31.81 -2.98 -63.54 -26.54 届いた（ずれ 1.41°） 届いた角度 +12.21 +47.81 +31.81 -2.72 -64.95 -26.54 [PAD ] 補正 1 を終えました (9.4 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 549ms 10ステップ先 Δ= +1.3 +11.0 -8.8 -0.0 +2.0 -0.4 グリッパー→閉 [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, +53.39, +27.65, -2.72, -64.25, -26.52] speed=20 wait=0.0s (pre max|Δ|=5.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 2 Δ= +0.8 +5.6 -4.2 -0.1 +0.7 +0.0 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ +13.58, +57.99, +24.00, -2.72, -63.63, -26.70] speed=20 wait=0.0s (pre max|Δ|=4.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.32° (tol 3.0°) [VIA ] step 5 Δ= +0.4 +3.8 -4.6 +0.2 +1.3 -0.2 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ +13.58, +58.77, +22.98, -2.64, -62.94, -26.96] speed=20 wait=0.0s (pre max|Δ|=2.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.01° (tol 3.0°) [VIA ] step 8 Δ= +0.4 +0.1 -1.7 -0.3 +2.0 -0.3 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ +13.58, +58.77, +22.98, -2.64, -62.94, -26.96] speed=20 wait=0.0s (pre max|Δ|=2.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.01° (tol 3.0°) [VIA ] step 9 Δ= +0.4 +0.1 -1.7 -0.3 +2.0 -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 3.15°（関節 j4） [005] 推論 872ms 10ステップ先 Δ= +1.3 -4.2 +0.2 -1.1 +2.7 +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_chunk005_via02: send_angles (single) [ +13.58, +55.83, +25.98, -3.16, -62.25, -26.58] speed=20 wait=0.0s (pre max|Δ|=3.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.64° (tol 3.0°) [VIA ] step 2 Δ= +0.5 -2.9 +1.5 -1.4 +3.8 +0.4 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ +13.80, +53.96, +27.87, -3.24, -63.12, -26.18] 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 5 Δ= +0.7 -3.0 +2.8 -0.9 +0.8 +0.7 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ +13.64, +54.32, +26.34, -3.02, -63.90, -26.37] speed=20 wait=0.0s (pre max|Δ|=2.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.63° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -2.6 +1.3 -0.6 -0.0 +0.5 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ +14.41, +54.53, +24.84, -2.75, -63.40, -26.68] speed=20 wait=0.0s (pre max|Δ|=1.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.45° (tol 3.0°) [VIA ] step 9 Δ= +1.3 -1.8 -0.3 -0.4 +0.5 +0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.45°（関節 j1） [006] 推論 1824ms 10ステップ先 Δ= +5.8 -1.2 -8.0 +1.2 +2.1 -1.8 [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) [ +14.42, +54.38, +23.84, -2.66, -63.21, -26.86] 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 2 Δ= +0.4 -1.6 -1.7 -0.3 +0.7 -0.2 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +14.96, +54.46, +22.18, -2.38, -63.15, -27.11] speed=20 wait=0.0s (pre max|Δ|=2.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.51° (tol 3.0°) [VIA ] step 5 Δ= +0.9 -1.5 -3.0 -0.0 +0.5 -0.5 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +18.41, +54.86, +18.46, -1.34, -62.24, -28.18] speed=20 wait=0.0s (pre max|Δ|=5.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.69° (tol 3.0°) [VIA ] step 8 Δ= +4.2 -1.1 -5.8 +0.9 +0.5 -1.5 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +19.90, +54.83, +17.60, -1.07, -61.79, -28.46] 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= +1.6 -1.2 -1.7 +0.8 -1.2 -1.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.73°（関節 j2） [007] 推論 593ms 10ステップ先 Δ= +1.7 -1.2 -5.8 +1.1 -1.4 -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 > 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 +55.98° → +46.93° まで（目標を 1 回送信。止めます） [送信] j1 -1.0° → +19.86 +41.97 +19.24 -1.58 -60.38 -27.94 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 2.72°） 届いた角度 +19.86 +42.97 +19.24 -1.31 -63.10 -28.12 [長押し] j1 を +42.97° → +36.56° まで（目標を 1 回送信。止めます） [PAD ] 補正 2 を終えました (13.4 秒, 送った目標 4 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) [008] 推論 566ms 10ステップ先 Δ=+16.2 +9.4 -9.1 +2.3 -0.2 -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 > 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) [ +28.32, +31.66, +17.26, -0.14, -59.02, -28.87] speed=20 wait=0.0s (pre max|Δ|=8.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.76° (tol 3.0°) [VIA ] step 2 Δ= +8.5 +0.5 -2.8 +1.2 +2.9 -0.7 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +34.07, +33.45, +13.86, +0.50, -58.19, -29.40] speed=20 wait=0.0s (pre max|Δ|=5.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.45° (tol 3.0°) [VIA ] step 5 Δ= +5.6 +1.0 -5.3 +1.5 +3.5 -1.3 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +36.03, +38.69, +11.44, +0.85, -60.05, -29.56] speed=20 wait=0.0s (pre max|Δ|=4.33°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.56° (tol 3.0°) [VIA ] step 8 Δ= +1.6 +4.3 -3.9 +1.0 +0.6 -0.9 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +36.02, +40.59, +10.97, +0.96, -61.01, -29.56] speed=20 wait=0.0s (pre max|Δ|=2.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.68° (tol 3.0°) [VIA ] step 9 Δ= -0.0 +0.8 -2.0 +0.3 -0.4 -0.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.59°（関節 j2） [009] 推論 551ms 10ステップ先 Δ= +3.7 +14.6 -5.6 +1.3 -7.8 -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 > [SEND] pi05_chunk009_via02: send_angles (single) [ +37.46, +44.02, +8.30, +1.39, -61.43, -29.89] speed=20 wait=0.0s (pre max|Δ|=4.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.45° (tol 3.0°) [VIA ] step 2 Δ= +1.4 +2.3 -4.3 +0.7 -0.6 -0.9 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +38.69, +49.85, +7.83, +1.61, -65.11, -29.99] speed=20 wait=0.0s (pre max|Δ|=4.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.48° (tol 3.0°) [VIA ] step 5 Δ= +1.2 +4.8 -1.9 +0.5 -4.1 -0.7 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +39.76, +55.07, +7.24, +1.84, -68.18, -30.16] speed=20 wait=0.0s (pre max|Δ|=5.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.96° (tol 3.0°) [VIA ] step 8 Δ= +2.2 +6.6 -2.4 +0.6 -4.9 -0.7 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +39.76, +56.24, +6.96, +1.92, -68.61, -30.19] speed=20 wait=0.0s (pre max|Δ|=2.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.74° (tol 3.0°) [VIA ] step 9 Δ= +0.9 +2.2 -2.4 +0.4 -1.8 -0.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.65°（関節 j2） [010] 推論 781ms 7ステップ先 Δ= +0.1 +6.0 -2.9 +0.4 -6.2 -0.7 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_chunk010_via02: send_angles (single) [ +39.82, +61.66, +5.90, +2.20, -72.22, -30.21] speed=20 wait=0.0s (pre max|Δ|=4.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.30° (tol 3.0°) [VIA ] step 2 Δ= +0.0 +4.5 -2.5 +0.6 -4.4 -0.4 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +39.93, +62.59, +5.70, +2.39, -73.20, -30.26] 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 5 Δ= +0.1 -0.2 -1.4 +0.7 -1.8 -0.5 着いた [SEND] pi05_chunk010_via06: send_angles (single) [ +39.93, +62.59, +5.70, +2.39, -73.20, -30.26] speed=20 wait=0.0s (pre max|Δ|=1.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.41° (tol 3.0°) [VIA ] step 6 Δ= +0.1 -0.9 -1.4 +0.5 -1.0 -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 1.41°（関節 j2） [011] 推論 1486ms 10ステップ先 Δ= -0.4 -17.9 -1.4 +0.6 +15.9 -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_chunk011_via02: send_angles (single) [ +39.93, +57.97, +5.70, +2.42, -69.55, -30.40] speed=20 wait=0.0s (pre max|Δ|=5.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.78° (tol 3.0°) [VIA ] step 2 Δ= +0.1 -5.8 -1.4 +0.2 +5.2 -0.4 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +40.08, +52.43, +5.62, +2.45, -63.51, -30.57] speed=20 wait=0.0s (pre max|Δ|=8.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.58° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -7.6 -1.5 +0.2 +8.8 -0.5 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +39.71, +47.09, +5.72, +2.62, -57.68, -30.91] speed=20 wait=0.0s (pre max|Δ|=8.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.43° (tol 3.0°) [VIA ] step 8 Δ= -0.1 -7.5 -1.4 +0.2 +8.4 -0.8 着いた