[接続] PS4 Controller GUID=03008fe54c050000cc09000000016800 軸=6 ボタン=16 [長押し] j1 を +55.45° → +29.35° まで（目標を 3 回送信。止めます） [PAD ] 補正 2 を終えました (16.0 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) [008] 推論 825ms 10ステップ先 Δ=+11.6 +10.3 -2.7 +2.8 -4.1 -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 > 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|=63.89°, post-send timeout 11.6s) [SEND] arrival OK: max|Δ|=2.46° (tol 2.5°) [RECORD] 記録終了 コマ 572 (7.99 fps) 実測角 627 回 (8.76 Hz) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_185050/recording 結果: y=成功 / n=失敗 / Enter=記録しない > y n [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_185050 [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 (7 回目) [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [-0.26, 1.58, 1.75, -0.26, -0.43, -29.70] [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: [-0.26, 1.58, 1.75, -0.26, -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= +2.3 dx= -0.5 response=0.923 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません) (13 秒) === 8. 実機推論 (7 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_185225 [MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2) [CAMERA] 写り方 dy=-3.9 dx=+6.2 response=0.546 → 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_185225/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 551ms 10ステップ先 Δ= +4.1 +18.3 +12.7 -1.8 -24.3 +2.2 [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 > [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) [ +0.84, +6.95, +5.66, -0.22, -7.41, -29.37] speed=20 wait=0.0s (pre max|Δ|=7.15°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.14° (tol 3.0°) [VIA ] step 2 Δ= +1.1 +5.4 +3.9 +0.0 -7.1 +0.3 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.92, +12.99, +9.74, -0.78, -15.41, -28.68] speed=20 wait=0.0s (pre max|Δ|=9.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.97° (tol 3.0°) [VIA ] step 5 Δ= +1.1 +5.1 +3.1 -0.6 -10.0 +1.0 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +3.26, +18.00, +13.24, -1.75, -22.34, -27.81] speed=20 wait=0.0s (pre max|Δ|=8.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.60° (tol 3.0°) [VIA ] step 8 Δ= +1.6 +4.0 +2.6 -1.5 -8.9 +1.9 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +3.81, +19.84, +14.40, -2.07, -24.59, -27.51] speed=20 wait=0.0s (pre max|Δ|=3.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.28° (tol 3.0°) [VIA ] step 9 Δ= +0.9 +0.9 +0.3 -1.6 -3.9 +1.5 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 785ms 10ステップ先 Δ= +4.0 +14.8 +9.0 -1.6 -25.1 +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 > [SEND] pi05_chunk001_via02: send_angles (single) [ +5.15, +24.55, +17.40, -2.65, -31.62, -27.03] speed=20 wait=0.0s (pre max|Δ|=8.16°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 2 Δ= +1.4 +3.8 +2.3 -1.3 -8.2 +1.3 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +6.57, +29.17, +20.41, -2.88, -38.97, -26.84] speed=20 wait=0.0s (pre max|Δ|=8.39°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.27° (tol 3.0°) [VIA ] step 5 Δ= +1.4 +3.6 +2.3 -0.7 -8.4 +0.8 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +7.76, +33.82, +23.28, -2.85, -46.12, -26.73] speed=20 wait=0.0s (pre max|Δ|=8.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.30° (tol 3.0°) [VIA ] step 8 Δ= +0.9 +3.8 +2.5 -0.2 -8.4 +0.8 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +8.13, +35.49, +24.15, -2.87, -48.45, -26.69] speed=20 wait=0.0s (pre max|Δ|=3.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.89° (tol 3.0°) [VIA ] step 9 Δ= +0.3 +0.7 +0.4 -0.3 -3.6 +0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.89°（関節 j1） [002] 推論 1538ms 10ステップ先 Δ= +2.5 +9.7 +4.7 -0.6 -14.7 +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_chunk002_via02: send_angles (single) [ +9.17, +40.37, +26.86, -2.73, -55.44, -26.68] speed=20 wait=0.0s (pre max|Δ|=7.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.86° (tol 3.0°) [VIA ] step 2 Δ= +1.5 +4.0 +2.3 -0.5 -7.7 +0.4 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +9.94, +44.60, +29.11, -2.73, -60.63, -26.64] speed=20 wait=0.0s (pre max|Δ|=6.05°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 5 Δ= +0.9 +3.4 +1.9 -0.5 -6.1 +0.4 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +10.12, +46.17, +29.49, -2.71, -62.48, -26.62] speed=20 wait=0.0s (pre max|Δ|=2.37°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.37° (tol 3.0°) [VIA ] step 8 Δ= +0.0 +0.7 +0.2 -0.4 -2.4 +0.3 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +10.19, +46.03, +29.17, -2.81, -62.44, -26.61] speed=20 wait=0.0s (pre max|Δ|=0.81°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.07° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -0.2 -0.1 -0.6 -1.3 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.07°（関節 j1） [003] 推論 717ms 10ステップ先 Δ= +2.4 +4.6 -1.1 -1.0 -2.1 +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[53507]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed052c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d5888e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed05318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed05390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed053b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d5889d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed05408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed05458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed054d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed05520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed05570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed055c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed055e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed05610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed05688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed05700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed05750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed05778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53507]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10d588d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12ed057c8). 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° → +11.01 +47.10 +29.26 -2.28 -61.96 -26.89 届いた（ずれ 0.38°） 届いた角度 +10.63 +47.10 +29.26 -2.37 -61.96 -26.80 [送信] j0 +1.0° → +12.01 +47.10 +29.26 -2.28 -61.96 -26.89 届いた（ずれ 0.44°） 届いた角度 +11.77 +47.10 +29.26 -2.72 -61.96 -26.80 [PAD ] 補正 1 を終えました (8.9 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 607ms 10ステップ先 Δ= +1.5 +14.2 -9.1 +0.0 -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 > [SEND] pi05_chunk004_via02: send_angles (single) [ +12.18, +53.36, +26.72, -2.87, -63.20, -26.72] speed=20 wait=0.0s (pre max|Δ|=6.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.31° (tol 3.0°) [VIA ] step 2 Δ= +0.1 +6.3 -2.5 +0.0 -1.2 +0.1 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ +13.07, +58.17, +23.15, -2.84, -63.04, -26.77] speed=20 wait=0.0s (pre max|Δ|=4.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.91° (tol 3.0°) [VIA ] step 5 Δ= +1.0 +3.9 -4.8 +0.1 +0.9 +0.0 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ +13.54, +60.84, +20.80, -2.87, -62.48, -26.95] speed=20 wait=0.0s (pre max|Δ|=3.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.99° (tol 3.0°) [VIA ] step 8 Δ= +0.7 +2.0 -3.1 -0.2 +2.5 -0.1 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ +13.56, +61.26, +20.16, -2.89, -62.26, -27.04] speed=20 wait=0.0s (pre max|Δ|=3.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.95° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -0.2 -1.1 -0.5 +3.2 +0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.95°（関節 j4） [005] 推論 787ms 6ステップ先 Δ= +0.3 -0.4 -1.1 -0.1 +1.6 +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) [ +13.46, +61.37, +20.16, -2.55, -63.16, -26.86] speed=20 wait=0.0s (pre max|Δ|=1.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.17° (tol 3.0°) [VIA ] step 2 Δ= +0.3 -0.4 -0.5 -0.0 +1.2 +0.6 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ +13.47, +61.43, +20.13, -2.51, -63.58, -26.75] speed=20 wait=0.0s (pre max|Δ|=0.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.75° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -0.4 -0.5 +0.0 +0.8 +0.7 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 0.75°（関節 j4） [006] 推論 1500ms 10ステップ先 Δ= +0.6 -7.2 +5.8 -0.8 +1.4 +1.2 [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_chunk006_via02: send_angles (single) [ +13.53, +58.14, +23.15, -2.88, -62.40, -26.28] speed=20 wait=0.0s (pre max|Δ|=3.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.27° (tol 3.0°) [VIA ] step 2 Δ= +0.4 -3.5 +3.1 -0.3 +1.9 +1.1 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +13.60, +55.19, +25.69, -3.15, -62.18, -26.04] speed=20 wait=0.0s (pre max|Δ|=3.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.06° (tol 3.0°) [VIA ] step 5 Δ= +0.4 -4.0 +3.8 -0.3 +0.7 +0.4 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +13.79, +54.25, +26.45, -3.24, -62.90, -26.00] speed=20 wait=0.0s (pre max|Δ|=2.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.29° (tol 3.0°) [VIA ] step 8 Δ= +0.6 -2.0 +1.8 +0.0 -1.1 +0.0 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +13.74, +54.54, +25.92, -3.23, -62.94, -26.09] speed=20 wait=0.0s (pre max|Δ|=1.33°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.33° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -0.9 +0.4 +0.2 -1.3 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.33°（関節 j4） [007] 推論 813ms 10ステップ先 Δ= +0.5 -0.5 -6.5 +0.3 -2.1 -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 > 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 +55.45° → +48.25° まで（目標を 1 回送信。止めます） [長押し] j1 を +40.51° → +47.02° まで（目標を 1 回送信。止めます） [送信] j1 +1.0° → +13.18 +54.61 +25.48 -3.42 -61.78 -25.48 届いた（ずれ 0.97°） 届いた角度 +13.35 +55.01 +26.27 -3.51 -62.75 -25.66 [PAD ] 補正 2 を終えました (12.1 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 1524ms 10ステップ先 Δ= +0.1 +0.3 -3.3 +0.3 -0.5 -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 > 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 > p [PAD ] 補正 3 (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