[接続] PS4 Controller GUID=03008fe54c050000cc09000000016800 軸=6 ボタン=16 [長押し] j1 を +55.28° → +46.58° まで（目標を 1 回送信。止めます） [PAD ] 補正 3 を終えました (10.4 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) [009] 推論 787ms 10ステップ先 Δ=+19.5 +2.7 -19.6 +3.7 +6.5 -3.5 [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 > 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|=61.52°, post-send timeout 11.2s) [SEND] arrival OK: max|Δ|=1.75° (tol 2.5°) [RECORD] 記録終了 コマ 637 (7.748 fps) 実測角 699 回 (8.5 Hz) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_185225/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_185225 [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)) (88 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 (8 回目) [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [0.43, 1.49, 1.75, -0.35, -0.52, -29.61] [SEND] HOME へ移動指令 [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [WARN] get_angles 失敗 (試行 1/3) [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [WARN] get_angles 失敗 (試行 2/3) [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [WARN] get_angles 失敗 (試行 3/3) [WAIT] t=7.5s max_err=1.75° [DONE] HOME 到達 max_err=1.75° [POST] 最終姿勢: [0.08, 1.49, 1.75, -0.26, -0.26, -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= +0.4 response=0.922 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません) (20 秒) === 8. 実機推論 (8 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_185415 [MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2) [CAMERA] 写り方 dy=-4.4 dx=+7.5 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_185415/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 572ms 10ステップ先 Δ= +3.4 +16.1 +11.4 -1.7 -23.3 +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 > [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) [ +0.99, +5.80, +4.80, -0.40, -6.25, -29.59] speed=20 wait=0.0s (pre max|Δ|=5.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.21° (tol 3.0°) [VIA ] step 2 Δ= +0.9 +4.3 +3.0 -0.1 -6.0 +0.1 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.89, +10.89, +8.51, -0.76, -14.06, -29.18] speed=20 wait=0.0s (pre max|Δ|=9.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.94° (tol 3.0°) [VIA ] step 5 Δ= +0.6 +4.3 +2.7 -0.5 -9.9 +0.5 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +3.13, +15.89, +12.06, -1.64, -21.35, -28.40] speed=20 wait=0.0s (pre max|Δ|=9.23°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.02° (tol 3.0°) [VIA ] step 8 Δ= +0.9 +4.1 +2.6 -1.5 -9.2 +1.3 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +3.45, +17.58, +13.18, -1.96, -23.51, -28.12] speed=20 wait=0.0s (pre max|Δ|=4.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.28° (tol 3.0°) [VIA ] step 9 Δ= +0.5 +0.9 +0.3 -1.5 -4.2 +1.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.28°（関節 j4） [001] 推論 782ms 10ステップ先 Δ= +4.2 +12.8 +8.3 -1.9 -21.0 +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 > [SEND] pi05_chunk001_via02: send_angles (single) [ +4.78, +22.14, +16.20, -2.58, -29.49, -27.49] speed=20 wait=0.0s (pre max|Δ|=7.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 2 Δ= +1.3 +3.6 +2.3 -1.5 -7.3 +1.5 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +5.95, +26.29, +18.85, -2.67, -35.78, -27.21] speed=20 wait=0.0s (pre max|Δ|=7.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.51° (tol 3.0°) [VIA ] step 5 Δ= +1.3 +3.3 +1.7 -0.5 -7.3 +1.0 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +7.37, +30.35, +21.51, -2.73, -41.75, -27.11] speed=20 wait=0.0s (pre max|Δ|=7.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.41° (tol 3.0°) [VIA ] step 8 Δ= +1.4 +3.2 +2.0 -0.4 -7.5 +0.8 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +7.73, +31.33, +22.20, -2.73, -43.23, -27.06] speed=20 wait=0.0s (pre max|Δ|=2.89°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.45° (tol 3.0°) [VIA ] step 9 Δ= +0.3 +0.0 +0.1 -0.3 -2.9 +0.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.05°（関節 j4） [002] 推論 1463ms 10ステップ先 Δ= +4.0 +12.3 +6.8 -0.1 -19.3 +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_chunk002_via02: send_angles (single) [ +8.83, +34.97, +24.43, -2.61, -48.39, -26.91] speed=20 wait=0.0s (pre max|Δ|=6.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 2 Δ= +1.6 +2.7 +2.4 -0.3 -6.1 +0.5 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +10.27, +39.43, +26.81, -2.49, -54.95, -26.83] speed=20 wait=0.0s (pre max|Δ|=7.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.73° (tol 3.0°) [VIA ] step 5 Δ= +1.5 +3.5 +1.9 -0.2 -7.4 +0.5 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +11.02, +43.39, +28.57, -2.42, -60.22, -26.76] speed=20 wait=0.0s (pre max|Δ|=5.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 8 Δ= +0.6 +3.2 +1.4 -0.2 -5.9 +0.5 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +11.20, +44.45, +28.86, -2.35, -61.46, -26.75] speed=20 wait=0.0s (pre max|Δ|=1.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.90° (tol 3.0°) [VIA ] step 9 Δ= +0.1 +0.1 +0.2 -0.2 -1.8 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.90°（関節 j1） [003] 推論 791ms 10ステップ先 Δ= +2.8 +4.0 +0.6 -0.7 -2.1 +0.3 [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 > p objc[53542]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca12c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a88e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca13b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a89d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca14d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca15c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca15e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53542]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca17c8). 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° → +12.07 +45.35 +28.65 -2.02 -60.90 -27.07 届いた（ずれ 1.59°） 届いた角度 +12.21 +45.35 +28.65 -1.84 -62.49 -26.98 [送信] j0 +1.0° → +13.07 +45.35 +28.65 -2.02 -60.90 -27.07 届いた（ずれ 1.59°） 届いた角度 +12.83 +45.35 +28.65 -1.84 -62.49 -26.98 [PAD ] 補正 1 を終えました (9.8 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 1547ms 10ステップ先 Δ= +0.5 +16.7 -10.0 +0.1 -3.4 -0.0 [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_chunk004_via02: send_angles (single) [ +12.86, +51.28, +28.20, -1.89, -67.02, -26.88] speed=20 wait=0.0s (pre max|Δ|=5.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 2 Δ= -0.3 +5.9 -0.5 +0.0 -4.5 +0.1 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ +13.28, +56.33, +24.31, -1.83, -67.14, -26.86] speed=20 wait=0.0s (pre max|Δ|=4.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.58° (tol 3.0°) [VIA ] step 5 Δ= +0.1 +4.1 -4.3 +0.1 -1.6 +0.1 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ +13.54, +60.89, +19.66, -1.88, -66.11, -26.95] speed=20 wait=0.0s (pre max|Δ|=5.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.73° (tol 3.0°) [VIA ] step 8 Δ= +0.4 +3.8 -5.6 +0.0 -0.5 +0.0 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ +13.73, +62.01, +18.64, -1.87, -65.86, -27.01] speed=20 wait=0.0s (pre max|Δ|=1.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 9 Δ= +0.6 +0.4 -1.8 -0.0 -0.2 -0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.87°（関節 j2） [005] 推論 641ms 3ステップ先 Δ= +0.3 -0.7 -1.0 -0.3 +1.0 +0.0 グリッパー→閉 [VIA ] 中継点 1 点: step 2 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) [ +13.74, +62.09, +18.50, -1.82, -65.71, -27.06] speed=20 wait=0.0s (pre max|Δ|=1.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 2 Δ= +0.3 -0.7 -1.0 -0.3 +1.0 +0.0 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 1.70°（関節 j4） [006] 推論 691ms 10ステップ先 Δ= +1.6 -7.5 +3.2 -1.9 +6.6 +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_chunk006_via02: send_angles (single) [ +14.17, +60.21, +19.19, -2.35, -63.09, -26.77] speed=20 wait=0.0s (pre max|Δ|=4.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.65° (tol 3.0°) [VIA ] step 2 Δ= +0.7 -2.6 -0.2 -1.0 +4.7 +0.6 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +14.71, +56.36, +22.07, -2.99, -60.43, -26.30] speed=20 wait=0.0s (pre max|Δ|=5.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 5 Δ= +1.3 -5.3 +2.6 -1.4 +5.3 +0.9 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +14.79, +54.84, +23.55, -3.22, -60.62, -26.02] speed=20 wait=0.0s (pre max|Δ|=2.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.58° (tol 3.0°) [VIA ] step 8 Δ= +0.3 -3.0 +2.0 -0.5 +1.1 +0.5 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +15.08, +55.36, +22.63, -3.11, -60.81, -26.13] speed=20 wait=0.0s (pre max|Δ|=1.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.06° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -1.1 -0.3 -0.2 +0.4 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.06°（関節 j1） [007] 推論 571ms 10ステップ先 Δ= +0.8 -1.6 -3.5 +0.1 -0.7 -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_chunk007_via02: send_angles (single) [ +15.16, +54.92, +22.20, -2.97, -61.37, -26.21] speed=20 wait=0.0s (pre max|Δ|=1.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.50° (tol 3.0°) [VIA ] step 2 Δ= +0.7 -1.5 -0.7 -0.1 -0.1 -0.0 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +15.15, +54.77, +21.03, -2.87, -61.61, -26.33] speed=20 wait=0.0s (pre max|Δ|=1.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 5 Δ= +0.6 -1.7 -1.9 +0.0 -0.4 -0.1 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +14.99, +54.84, +20.03, -2.82, -61.91, -26.37] speed=20 wait=0.0s (pre max|Δ|=1.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.94° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -1.6 -1.9 +0.1 -1.3 -0.2 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +15.27, +54.83, +19.40, -2.78, -61.91, -26.42] speed=20 wait=0.0s (pre max|Δ|=2.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.78° (tol 3.0°) [VIA ] step 9 Δ= +0.8 -1.6 -2.2 +0.1 -1.3 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.69°（関節 j2） [008] 推論 600ms 10ステップ先 Δ= +0.5 -1.9 -4.4 +0.2 -2.3 -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 > p [PAD ] 補正 2 (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 [接続] PS4 Controller GUID=03008fe54c050000cc09000000016800 軸=6 ボタン=16 [止める] stop（released_while_sending） 止まった角度 +15.11 +54.05 +20.65 -2.98 -63.19 -26.01