[SEND] pi05_chunk011_via09: send_angles (single) [ +39.44, +45.86, +5.74, +2.64, -56.44, -30.97] speed=20 wait=0.0s (pre max|Δ|=3.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.09° (tol 3.0°) [VIA ] step 9 Δ= -0.4 -3.3 -1.4 +0.3 +3.7 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.09°（関節 j4） [012] 推論 549ms 10ステップ先 Δ=-18.1 -23.5 -2.3 -2.5 +26.8 -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 > 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|=57.74°, post-send timeout 10.7s) [SEND] arrival OK: max|Δ|=1.75° (tol 2.5°) [RECORD] 記録終了 コマ 709 (8.186 fps) 実測角 753 回 (8.69 Hz) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_184906/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_184906 [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)) (92 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 (6 回目) [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [0.00, 1.49, 1.75, 0.52, -0.43, -30.58] [SEND] HOME へ移動指令 [WAIT] t=0.7s max_err=1.75° [DONE] HOME 到達 max_err=1.75° [POST] 最終姿勢: [0.00, 1.49, 1.75, 0.43, -0.43, -30.58] [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= +0.1 response=0.927 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません) (12 秒) === 8. 実機推論 (6 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_185050 [MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2) [CAMERA] 写り方 dy=-4.4 dx=+7.3 response=0.544 → 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_185050/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 589ms 10ステップ先 Δ= +3.3 +17.1 +11.3 -2.1 -22.4 +2.8 [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 > [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) [ +0.83, +6.02, +4.86, +0.05, -6.00, -29.64] speed=20 wait=0.0s (pre max|Δ|=5.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.79° (tol 3.0°) [VIA ] step 2 Δ= +0.8 +4.5 +3.1 -0.2 -5.7 +0.6 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.88, +11.66, +8.58, -0.58, -13.47, -28.77] speed=20 wait=0.0s (pre max|Δ|=9.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.79° (tol 3.0°) [VIA ] step 5 Δ= +1.1 +4.6 +2.7 -0.8 -9.3 +1.1 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +2.74, +16.86, +11.97, -1.56, -20.30, -27.80] speed=20 wait=0.0s (pre max|Δ|=8.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.58° (tol 3.0°) [VIA ] step 8 Δ= +1.1 +4.2 +2.5 -1.1 -8.6 +1.2 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +3.34, +18.63, +13.09, -1.87, -22.68, -27.45] speed=20 wait=0.0s (pre max|Δ|=3.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.15° (tol 3.0°) [VIA ] step 9 Δ= +0.8 +0.8 +0.3 -0.5 -4.0 +0.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.15°（関節 j4） [001] 推論 808ms 10ステップ先 Δ= +3.4 +13.4 +8.3 -1.5 -22.4 +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 > [SEND] pi05_chunk001_via02: send_angles (single) [ +4.41, +23.41, +16.00, -2.74, -29.19, -26.88] speed=20 wait=0.0s (pre max|Δ|=7.66°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.16° (tol 3.0°) [VIA ] step 2 Δ= +0.9 +3.9 +2.2 -1.1 -7.7 +0.8 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +5.77, +27.90, +18.72, -3.20, -36.04, -26.63] speed=20 wait=0.0s (pre max|Δ|=8.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.15° (tol 3.0°) [VIA ] step 5 Δ= +1.5 +3.6 +1.9 -0.2 -8.0 +0.5 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +6.68, +31.65, +21.39, -3.24, -42.33, -26.59] speed=20 wait=0.0s (pre max|Δ|=7.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 8 Δ= +1.1 +2.8 +2.1 +0.4 -7.4 +0.3 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +6.91, +32.92, +22.09, -3.21, -43.93, -26.56] speed=20 wait=0.0s (pre max|Δ|=2.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 9 Δ= +0.1 +0.5 +0.2 +0.6 -2.6 +0.3 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 1594ms 10ステップ先 Δ= +3.0 +12.9 +7.5 +0.9 -19.6 +0.5 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk002_via02: send_angles (single) [ +8.27, +38.58, +25.54, -3.32, -52.42, -26.47] speed=20 wait=0.0s (pre max|Δ|=9.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.18° (tol 3.0°) [VIA ] step 2 Δ= +1.5 +4.7 +3.0 +0.4 -9.0 +0.3 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +9.52, +43.71, +28.88, -3.17, -59.99, -26.44] speed=20 wait=0.0s (pre max|Δ|=8.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.85° (tol 3.0°) [VIA ] step 5 Δ= +1.5 +4.2 +3.0 +0.4 -8.8 +0.3 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +9.72, +46.25, +30.20, -2.83, -62.83, -26.43] speed=20 wait=0.0s (pre max|Δ|=3.68°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 8 Δ= +0.1 +1.6 +1.3 +0.9 -3.7 +0.2 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +9.75, +46.70, +30.04, -2.83, -63.01, -26.44] speed=20 wait=0.0s (pre max|Δ|=0.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.84° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -0.5 -0.2 +0.5 -0.3 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.84°（関節 j1） [003] 推論 556ms 10ステップ先 Δ= +2.3 +8.8 -6.0 +0.5 -1.7 +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 > p objc[53482]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be12c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b7988e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be13b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b7989d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be14d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be15c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be15e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53482]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be17c8). 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° → +10.49 +47.54 +30.23 -3.33 -62.66 -26.63 届いた（ずれ 0.61°） 届いた角度 +10.10 +47.54 +30.23 -2.72 -62.66 -26.63 [送信] j0 +1.0° → +11.49 +47.54 +30.23 -3.33 -62.66 -26.63 届いた（ずれ 0.7°） 届いた角度 +11.51 +47.54 +30.23 -2.63 -62.66 -26.63 [送信] j0 +1.0° → +12.49 +47.54 +30.23 -3.33 -62.66 -26.63 届いた（ずれ 0.61°） 届いた角度 +12.74 +47.54 +30.23 -2.72 -62.66 -26.63 [PAD ] 補正 1 を終えました (13.3 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) [004] 推論 843ms 10ステップ先 Δ= +0.8 +8.1 -4.3 -0.2 -1.2 -0.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk004_via02: send_angles (single) [ +12.85, +48.23, +30.48, -2.44, -63.18, -26.67] speed=20 wait=0.0s (pre max|Δ|=0.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.69° (tol 3.0°) [VIA ] step 2 Δ= +0.2 +0.7 +0.3 -0.1 -0.5 -0.0 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ +13.30, +50.09, +29.87, -2.54, -63.37, -26.70] speed=20 wait=0.0s (pre max|Δ|=1.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.79° (tol 3.0°) [VIA ] step 5 Δ= +0.7 +2.3 -0.4 -0.2 -0.7 -0.1 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ +13.55, +54.24, +27.08, -2.57, -63.77, -26.81] speed=20 wait=0.0s (pre max|Δ|=3.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 8 Δ= +0.3 +3.3 -3.2 -0.2 -0.2 -0.2 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ +13.49, +55.62, +25.91, -2.59, -63.86, -26.88] speed=20 wait=0.0s (pre max|Δ|=2.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.16° (tol 3.0°) [VIA ] step 9 Δ= +0.1 +0.5 -2.1 -0.3 -0.1 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.09°（関節 j4） [005] 推論 1555ms 6ステップ先 Δ= +0.4 +2.8 -4.4 -0.4 +1.3 -0.7 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) [ +13.65, +59.18, +22.73, -2.63, -63.87, -27.12] speed=20 wait=0.0s (pre max|Δ|=4.16°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.43° (tol 3.0°) [VIA ] step 2 Δ= +0.4 +2.8 -4.2 -0.3 +1.1 -0.5 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ +13.69, +59.18, +22.48, -2.68, -63.63, -27.28] speed=20 wait=0.0s (pre max|Δ|=1.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.67° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -0.7 -0.8 -0.5 +1.7 -0.5 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 2.90°（関節 j4） [006] 推論 806ms 10ステップ先 Δ= +1.5 -5.2 +0.6 -1.0 +2.7 +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) [ +13.67, +54.78, +26.36, -2.96, -62.86, -26.75] speed=20 wait=0.0s (pre max|Δ|=5.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.43° (tol 3.0°) [VIA ] step 2 Δ= +0.5 -5.1 +3.3 -0.9 +3.0 +0.8 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +13.82, +52.11, +28.71, -2.99, -63.76, -26.28] speed=20 wait=0.0s (pre max|Δ|=3.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.42° (tol 3.0°) [VIA ] step 5 Δ= +0.6 -3.6 +3.4 +0.3 -2.3 +0.9 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +13.87, +54.52, +24.64, -2.83, -63.84, -26.81] speed=20 wait=0.0s (pre max|Δ|=3.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.23° (tol 3.0°) [VIA ] step 8 Δ= +0.7 +1.1 -3.3 +0.9 -2.5 -0.3 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +14.56, +54.64, +23.84, -2.69, -63.78, -26.99] speed=20 wait=0.0s (pre max|Δ|=2.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.17° (tol 3.0°) [VIA ] step 9 Δ= +1.3 -0.5 -1.3 +0.9 -2.2 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.17°（関節 j4） [007] 推論 1531ms 10ステップ先 Δ= +7.5 -2.8 -4.4 +1.7 -0.5 -2.0 [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 > 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