[長押し] j1 を +54.05° → +50.71° まで（目標を 1 回送信。止めます） [長押し] j1 を +46.31° → +46.31° まで（目標を 1 回送信。止めます） [PAD ] 補正 2 を終えました (18.0 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) [009] 推論 1464ms 10ステップ先 Δ=+21.1 +1.0 -13.2 +3.0 +4.8 -2.6 [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 > 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|=60.90°, post-send timeout 11.1s) [SEND] arrival OK: max|Δ|=2.46° (tol 2.5°) [RECORD] 記録終了 コマ 599 (8.097 fps) 実測角 647 回 (8.75 Hz) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_185415/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_185415 [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)) (82 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 (9 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, -0.43, -29.70] [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, -0.43, -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= +2.1 dx= +0.4 response=0.921 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません) (15 秒) === 8. 実機推論 (9 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_185554 [MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2) [CAMERA] 写り方 dy=-4.5 dx=+7.5 response=0.543 → 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_185554/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 566ms 10ステップ先 Δ= +3.5 +17.7 +11.5 -1.5 -24.0 +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 > [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) [ +0.80, +7.32, +5.40, -0.43, -7.87, -29.49] speed=20 wait=0.0s (pre max|Δ|=7.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 2 Δ= +0.7 +5.8 +3.7 -0.2 -7.6 +0.2 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.40, +12.70, +8.84, -0.72, -15.15, -29.04] speed=20 wait=0.0s (pre max|Δ|=9.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.80° (tol 3.0°) [VIA ] step 5 Δ= +0.5 +4.4 +2.4 -0.5 -9.5 +0.7 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +2.86, +17.47, +12.12, -1.51, -22.05, -28.17] speed=20 wait=0.0s (pre max|Δ|=8.70°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.75° (tol 3.0°) [VIA ] step 8 Δ= +2.1 +3.8 +2.4 -1.3 -8.7 +1.5 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +3.56, +19.14, +13.28, -1.79, -24.24, -27.84] speed=20 wait=0.0s (pre max|Δ|=3.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.27° (tol 3.0°) [VIA ] step 9 Δ= +0.3 +0.8 +0.4 -1.4 -3.9 +1.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.27°（関節 j3） [001] 推論 615ms 10ステップ先 Δ= +5.1 +14.1 +9.1 -2.7 -23.3 +2.1 [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) [ +4.79, +23.81, +16.30, -2.40, -30.84, -27.24] speed=20 wait=0.0s (pre max|Δ|=7.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.31° (tol 3.0°) [VIA ] step 2 Δ= +1.2 +3.8 +2.3 -1.5 -7.8 +1.6 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +6.36, +28.21, +19.36, -2.75, -37.24, -26.96] speed=20 wait=0.0s (pre max|Δ|=7.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.30° (tol 3.0°) [VIA ] step 5 Δ= +1.9 +3.4 +2.2 -0.7 -7.7 +1.1 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +7.69, +32.84, +22.36, -3.13, -44.49, -26.81] speed=20 wait=0.0s (pre max|Δ|=8.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.43° (tol 3.0°) [VIA ] step 8 Δ= +1.8 +3.8 +2.4 -0.8 -8.6 +0.9 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +8.07, +34.10, +23.11, -3.21, -46.35, -26.77] speed=20 wait=0.0s (pre max|Δ|=3.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.88° (tol 3.0°) [VIA ] step 9 Δ= +0.7 +0.3 +0.3 -0.8 -3.3 +0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.88°（関節 j1） [002] 推論 1662ms 10ステップ先 Δ= +2.2 +12.0 +7.1 -0.3 -19.4 +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 > [SEND] pi05_chunk002_via02: send_angles (single) [ +9.10, +38.42, +25.61, -3.05, -53.16, -26.73] speed=20 wait=0.0s (pre max|Δ|=7.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 2 Δ= +1.0 +3.4 +2.8 -0.4 -7.5 +0.5 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +10.05, +43.27, +28.46, -3.02, -60.15, -26.65] speed=20 wait=0.0s (pre max|Δ|=7.95°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.09° (tol 3.0°) [VIA ] step 5 Δ= +0.6 +4.0 +2.5 -0.2 -8.0 +0.5 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +10.27, +46.28, +29.92, -2.85, -64.30, -26.62] speed=20 wait=0.0s (pre max|Δ|=5.15°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 8 Δ= +0.3 +2.1 +1.4 -0.3 -5.1 +0.5 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +10.23, +47.01, +29.91, -2.79, -65.05, -26.62] speed=20 wait=0.0s (pre max|Δ|=1.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.25° (tol 3.0°) [VIA ] step 9 Δ= +0.0 -0.2 -0.1 -0.3 -1.2 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.25°（関節 j4） [003] 推論 717ms 10ステップ先 Δ= +1.9 +10.2 -6.0 -0.5 -0.3 +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[53570]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffc890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1336912c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffc8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffc958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffc980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1336913b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffc9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1336914d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1336915c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1336915e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[53570]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1336917c8). 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 +47.19 +29.97 -2.54 -63.80 -26.89 届いた（ずれ 0.79°） 届いた角度 +11.25 +47.90 +29.97 -2.28 -64.59 -26.80 [送信] j0 +1.0° → +12.19 +47.19 +29.97 -2.54 -63.80 -26.89 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 0.79°） 届いた角度 +11.42 +47.90 +29.97 -2.37 -64.59 -26.80 [送信] j0 +1.0° → +13.19 +47.19 +29.97 -2.54 -63.80 -26.89 届いた（ずれ 0.79°） 届いた角度 +13.44 +47.90 +29.97 -2.46 -64.59 -26.80 [PAD ] 補正 1 を終えました (9.9 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 560ms 10ステップ先 Δ= +0.8 +12.2 -9.4 -0.2 -0.2 -0.6 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) [ +13.45, +52.38, +27.55, -2.91, -65.49, -26.62] speed=20 wait=0.0s (pre max|Δ|=4.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.19° (tol 3.0°) [VIA ] step 2 Δ= +0.3 +4.5 -2.4 -0.2 -0.9 +0.2 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ +13.72, +57.70, +22.89, -2.96, -65.33, -26.78] speed=20 wait=0.0s (pre max|Δ|=5.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.20° (tol 3.0°) [VIA ] step 5 Δ= +0.5 +4.4 -5.9 -0.2 +1.1 +0.0 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ +13.97, +60.10, +20.52, -2.93, -64.79, -27.38] speed=20 wait=0.0s (pre max|Δ|=3.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.74° (tol 3.0°) [VIA ] step 8 Δ= +0.8 +1.6 -3.3 -0.2 +1.7 -0.6 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ +13.97, +60.10, +20.52, -2.93, -64.79, -27.38] speed=20 wait=0.0s (pre max|Δ|=1.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.74° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -0.8 -0.9 -0.4 +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 2.35°（関節 j4） [005] 推論 578ms 10ステップ先 Δ= +0.1 -3.2 -1.4 -1.0 +4.4 +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_chunk005_via02: send_angles (single) [ +13.84, +58.80, +21.60, -3.12, -64.06, -26.92] speed=20 wait=0.0s (pre max|Δ|=3.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.64° (tol 3.0°) [VIA ] step 2 Δ= +0.1 -2.1 +0.2 -0.6 +3.3 +0.5 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ +13.87, +58.19, +21.35, -3.35, -63.64, -26.50] speed=20 wait=0.0s (pre max|Δ|=2.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.98° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -2.3 -0.1 -0.8 +3.1 +0.8 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ +13.76, +57.47, +20.75, -3.51, -62.90, -26.39] speed=20 wait=0.0s (pre max|Δ|=3.28°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.78° (tol 3.0°) [VIA ] step 8 Δ= +0.1 -2.6 -0.7 -0.9 +3.3 +0.6 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ +13.78, +57.68, +20.07, -3.50, -62.76, -26.45] speed=20 wait=0.0s (pre max|Δ|=1.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.92° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -1.5 -1.4 -0.6 +1.9 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.92°（関節 j4） [006] 推論 703ms 10ステップ先 Δ= +1.4 -2.1 -4.3 +0.1 -0.2 +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 [PAD ] 補正 2 (推論 6 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 +59.15° → +53.43° まで（目標を 1 回送信。止めます） [送信] j1 -1.0° → +13.62 +48.30 +21.44 -2.90 -64.51 -26.71 届いた（ずれ 4.22°） 届いた角度 +13.71 +47.98 +21.26 -3.95 -60.29 -25.83 [送信] j1 -1.0° → +13.62 +47.30 +21.44 -2.90 -64.51 -26.71 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 3.08°） 届いた角度 +13.71 +49.39 +21.26 -3.86 -61.43 -25.83 [送信] j1 -1.0° → +13.62 +46.30 +21.44 -2.90 -64.51 -26.71 手前で止まった（次の押しは この目標の先から）（ずれ 3.08°） 届いた角度 +13.71 +48.16 +21.26 -3.86 -61.43 -25.92 [止める] stop（released_while_sending） 止まった角度 +13.71 +46.66 +21.35 -3.86 -60.20 -26.01 [長押し] j1 を +46.84° → +39.81° まで（目標を 1 回送信。止めます） [PAD ] 補正 2 を終えました (15.0 秒, 送った目標 6 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) [007] 推論 1527ms 10ステップ先 Δ= +7.4 +4.4 +5.3 +1.3 -8.0 -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) [ +15.88, +35.60, +23.66, -3.14, -60.84, -26.13] speed=20 wait=0.0s (pre max|Δ|=2.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 2 Δ= +2.2 +0.5 +1.2 +0.6 -1.8 -0.1 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +17.97, +37.10, +26.30, -2.80, -63.50, -26.21] speed=20 wait=0.0s (pre max|Δ|=3.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.45° (tol 3.0°) [VIA ] step 5 Δ= +2.5 +1.4 +3.8 +0.6 -1.7 -0.2 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +20.55, +38.78, +27.93, -2.52, -65.80, -26.23] speed=20 wait=0.0s (pre max|Δ|=3.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 8 Δ= +2.5 +0.7 +1.6 -0.4 -3.1 -0.2 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +21.10, +39.47, +27.69, -2.43, -66.40, -26.24] speed=20 wait=0.0s (pre max|Δ|=0.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -0.3 -0.6 +0.0 -0.9 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.93°（関節 j4） [008] 推論 631ms 10ステップ先 Δ=+21.4 +4.8 -19.8 +4.2 +5.8 -4.0 [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_chunk008_via02: send_angles (single) [ +28.02, +40.12, +21.94, -1.03, -64.20, -27.45] speed=20 wait=0.0s (pre max|Δ|=7.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.54° (tol 3.0°) [VIA ] step 2 Δ= +7.6 +0.4 -6.4 +1.3 +1.3 -1.4 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +34.74, +41.25, +15.34, +0.35, -61.71, -28.82] speed=20 wait=0.0s (pre max|Δ|=7.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.09° (tol 3.0°) [VIA ] step 5 Δ= +6.8 +0.2 -7.8 +1.6 +4.0 -2.2 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +40.54, +43.22, +9.42, +1.58, -59.77, -29.85] speed=20 wait=0.0s (pre max|Δ|=7.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.92° (tol 3.0°) [VIA ] step 8 Δ= +5.7 +1.1 -7.1 +1.3 +4.0 -1.8 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +41.87, +44.52, +8.46, +1.86, -59.72, -30.00] speed=20 wait=0.0s (pre max|Δ|=2.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.82° (tol 3.0°) [VIA ] step 9 Δ= +1.5 +0.4 -2.2 +0.2 +2.0 -0.8 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.73°（関節 j2） [009] 推論 616ms 10ステップ先 Δ= +0.6 +15.2 -6.1 +1.6 -11.8 -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_chunk009_via02: send_angles (single) [ +42.56, +49.35, +6.16, +2.24, -62.16, -30.03] speed=20 wait=0.0s (pre max|Δ|=4.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 2 Δ= +0.8 +3.7 -4.0 +0.5 -1.1 -0.6 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +42.91, +54.84, +5.25, +2.43, -66.92, -30.05] speed=20 wait=0.0s (pre max|Δ|=5.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.62° (tol 3.0°) [VIA ] step 5 Δ= +0.3 +4.5 -2.3 +0.8 -5.9 -0.6 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +42.98, +59.89, +4.34, +2.62, -71.79, -30.19] speed=20 wait=0.0s (pre max|Δ|=6.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.48° (tol 3.0°) [VIA ] step 8 Δ= +0.5 +3.8 -2.4 +0.7 -6.5 -0.7 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +42.85, +60.92, +4.08, +2.69, -72.93, -30.23] speed=20 wait=0.0s (pre max|Δ|=2.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.62° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -0.1 -1.6 +0.6 -2.6 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.01°（関節 j4） [010] 推論 1526ms 5ステップ先 Δ= +0.3 +1.0 -1.5 +0.8 -3.8 -0.5 グリッパー→開 [VIA ] 中継点 2 点: step 2, 4 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) [ +42.93, +62.89, +3.98, +2.95, -74.46, -30.22] speed=20 wait=0.0s (pre max|Δ|=3.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 2 Δ= +0.4 +0.8 -1.5 +0.7 -3.1 -0.4 着いた [SEND] pi05_chunk010_via04: send_angles (single) [ +42.85, +62.60, +4.03, +3.04, -74.76, -30.22] speed=20 wait=0.0s (pre max|Δ|=1.47°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 4 Δ= +0.3 -1.5 -1.4 +0.4 -0.2 -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 1.47°（関節 j1） [011] 推論 627ms 10ステップ先 Δ= +0.0 -18.3 -1.1 +0.3 +17.1 -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_chunk011_via02: send_angles (single) [ +42.79, +58.51, +4.13, +3.07, -71.45, -30.42] speed=20 wait=0.0s (pre max|Δ|=5.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.72° (tol 3.0°) [VIA ] step 2 Δ= +0.3 -5.6 -1.3 +0.3 +3.1 -0.5 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +42.91, +52.83, +4.09, +3.01, -64.91, -30.62] speed=20 wait=0.0s (pre max|Δ|=9.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.59° (tol 3.0°) [VIA ] step 5 Δ= +0.5 -7.6 -1.3 +0.2 +9.3 -0.6 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +42.94, +47.53, +4.21, +3.07, -59.24, -30.91] speed=20 wait=0.0s (pre max|Δ|=8.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.37° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -7.4 -1.1 +0.2 +8.2 -0.6 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +42.57, +45.73, +4.31, +3.06, -57.41, -30.97] speed=20 wait=0.0s (pre max|Δ|=4.20°, post-send timeout 8.0s) h  [SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.92° actual=[ +42.45, +49.65, +5.36, +2.98, -59.85, -30.58] [SEND] リトライしません: pre→last max|Δ| 1.76° >= 1.0° (部分移動/ストール疑い) [VIA ] step 9 Δ= +0.1 -3.9 -1.0 +0.1 +4.2 -0.4 未到達 [WARN] 未到達. j4 の発熱などを確認してください [STATE ] 目標を渡す 目標と実測の最大差 3.92°（関節 j1） [012] 推論 552ms 10ステップ先 Δ=-17.2 -23.6 -1.9 -2.4 +26.5 -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 > 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|=59.67°, post-send timeout 11.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 2.5°) [RECORD] 記録終了 コマ 724 (8.249 fps) 実測角 747 回 (8.51 Hz) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_185554/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_185554 [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)) (93 秒) もう1回やりますか? y=やる / 他=終わる > y  === かかった時間 モデル corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2) 1. Pod を作る 2 秒 2. Pod が立ち上がるまで待つ 28 秒 3a. スクリプトを送る 56 秒 3b. huggingface_hub を入れ, 鍵を渡す 10 秒 3c. モデルを取る (hf download PixelstoMotors/pi05-mecharm-trim-corr-lora-v2) 32 秒 3d. openpi を取る (215abfb) 14 秒 3e. uv sync 21 秒 3f. addon・設定・assets (pi05_mecharm_trim_corr_v4_lora) 2 秒 4. サーバーの起動 44 秒 5. Mac の 8000 番へのトンネル 2 秒 6. デーモンの状態 3 秒 7. HOME → 爪を開く → 位置合わせ (1 回目) 47 秒 8. 実機推論 (1 回目) 199 秒 7. HOME → 爪を開く → 位置合わせ (2 回目) 25 秒 8. 実機推論 (2 回目) 79 秒 7. HOME → 爪を開く → 位置合わせ (3 回目) 18 秒 8. 実機推論 (3 回目) 98 秒 7. HOME → 爪を開く → 位置合わせ (4 回目) 19 秒 8. 実機推論 (4 回目) 119 秒 7. HOME → 爪を開く → 位置合わせ (5 回目) 14 秒 8. 実機推論 (5 回目) 92 秒 7. HOME → 爪を開く → 位置合わせ (6 回目) 12 秒 8. 実機推論 (6 回目) 79 秒 7. HOME → 爪を開く → 位置合わせ (7 回目) 13 秒 8. 実機推論 (7 回目) 88 秒 7. HOME → 爪を開く → 位置合わせ (8 回目) 20 秒 8. 実機推論 (8 回目) 82 秒 7. HOME → 爪を開く → 位置合わせ (9 回目) 15 秒 8. 実機推論 (9 回目) 93 秒 [LAB ] Pod は残しています (id b6j7nc4m74h7ru). 片付けは ./lab_stop.sh --log Log22 [TUNNEL] 8000 番のトンネルを閉じました