[RANGE ] 安全範囲 (学習データ ±10°) は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes から (--model deep1) [FRAME ] 写り方の確かめの基準画像は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes の最初のエピソードから (位置合わせと同じ trim2. 依頼 137) [LAB ] 2026-11-10 11:19:50 GPU=NVIDIA A40 episode=run_0001_20261019_194818 log=/Volumes/KIOXIA/r2r2r-data/lab/Log28 [MODEL ] --model deep1: π0.5 base から deep_even10_v1 で新しく学習した 2999 (依頼 133. decay_steps 5000) PixelstoMotors/pi05-mecharm-deep-even10-lora-v1 → /workspace/ckpt/deep_v1_2999 設定 pi05_mecharm_deep_even10_lora assets local/mecharm_redblock_box_deep_even10_v1 === 1. Pod を作る [POD ] Log28 の Pod (id prm86xv997s945) につなぎ直します (状態 RUNNING GPU=NVIDIA A40 1時間 0.59 ドル 作った時刻 2026-11-10 10:54:21) [POD ] 記録の最後のモデル: deep1 今回: --model deep1 (2 秒) === 2. Pod が立ち上がるまで待つ [POD ] SSH の IP とポートを API から取り直した (:) [POD ] 入れた: 291dbe7c1015 NVIDIA A40, 46068 MiB (6 秒) === 3. Pod の中を確かめる (つなぎ直し) [POD ] serve_policy.py のプロセス: ある 8000 番の LISTEN: ある [POD ] モデル (/workspace/ckpt/deep_v1_2999): ある openpi (215abfb): ある .venv: ある [POD ] 動いているサーバーのモデル: --policy.dir=/workspace/ckpt/deep_v1_2999 (--model deep1 と同じ) [POD ] サーバーは 8000 番で待っています. 3b〜4 を飛ばします INFO:websockets.server:server listening on 0.0.0.0:8000 (8 秒) === 3a. スクリプトを送る (75 秒) === 3b〜4. 準備とサーバーの起動 → 飛ばす (サーバーが 8000 番で待っている) === 5. Mac の 8000 番へのトンネル [TUNNEL] localhost:8000 → Pod の 8000 番 (pid 4875. このスクリプトが終わると閉じる) (2 秒) === 6. デーモンの状態 --- process 529 /usr/bin/python3 -u /home/ubuntu/mecharm_daemon.py --- 5555 LISTEN0 1 0.0.0.0:5555 0.0.0.0:* --- systemd enabled: enabled active: active (2 秒) === 7. HOME → 爪を開く → 位置合わせ (1 回目) [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [-0.08, 1.23, 1.23, 0.17, -0.26, -30.23] [SEND] HOME へ移動指令 [WAIT] t=0.7s max_err=1.23° [DONE] HOME 到達 max_err=1.23° [POST] 最終姿勢: [-0.08, 1.23, 1.23, 0.17, -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= +8.4 dx= -1.7 response=0.780 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません) (141 秒) === 8. 実機推論 (1 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 50 本 ±10°): j0[-72,+55] j1[-9,+88] j2[-45,+52] j3[-18,+27] j4[-87,+10] j5[-51,-15] [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_deep_even10_v1/raw_episodes [MODE ] EXECUTE steps/chunk=10 max_move=20.0° log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112346 [MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1) [CAMERA] 写り方 dy=+1.8 dx=+4.9 response=0.617 → 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_20261110_112346/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 1107ms 10ステップ先 Δ=-11.7 +21.7 -0.1 -0.0 -23.4 +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 > [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) [ -2.10, +4.79, +1.18, +0.32, -4.06, -30.22] speed=20 wait=0.0s (pre max|Δ|=3.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.48° (tol 3.0°) [VIA ] step 2 Δ= -2.0 +3.6 -0.1 +0.1 -3.8 +0.0 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -5.94, +12.78, +1.12, +0.33, -12.66, -30.21] speed=20 wait=0.0s (pre max|Δ|=10.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=3.00° (tol 3.0°) [VIA ] step 5 Δ= -3.8 +7.2 -0.9 +0.1 -10.6 +0.0 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -10.35, +20.74, +1.18, +0.16, -21.34, -30.20] speed=20 wait=0.0s (pre max|Δ|=10.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 3.0°) [VIA ] step 8 Δ= -5.0 +6.9 -0.8 -0.2 -10.4 +0.0 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -11.75, +22.91, +1.11, +0.13, -23.65, -30.18] speed=20 wait=0.0s (pre max|Δ|=3.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 9 Δ= -1.8 +1.0 -0.9 -0.2 -4.0 +0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.91°（関節 j2） [001] 推論 827ms 10ステップ先 Δ=-16.9 +23.6 -1.0 +0.9 -29.3 +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_chunk001_via02: send_angles (single) [ -17.45, +30.01, +1.08, +0.63, -31.61, -30.17] speed=20 wait=0.0s (pre max|Δ|=8.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.10° (tol 3.0°) [VIA ] step 2 Δ= -5.5 +6.2 -0.9 +0.6 -8.8 +0.1 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -22.52, +37.24, +1.10, +0.93, -40.11, -30.16] speed=20 wait=0.0s (pre max|Δ|=9.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.08° (tol 3.0°) [VIA ] step 5 Δ= -5.5 +6.1 -0.9 +0.5 -9.3 -0.0 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -27.69, +45.35, +1.12, +0.94, -49.73, -30.15] speed=20 wait=0.0s (pre max|Δ|=10.54°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.63° (tol 3.0°) [VIA ] step 8 Δ= -5.6 +7.0 -0.9 +0.1 -10.5 -0.1 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -28.96, +47.44, +0.99, +0.92, -52.02, -30.16] speed=20 wait=0.0s (pre max|Δ|=3.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.16° (tol 3.0°) [VIA ] step 9 Δ= -1.6 +1.0 -1.0 +0.0 -3.2 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.16°（関節 j1） [002] 推論 1541ms 10ステップ先 Δ=-11.6 +17.0 -1.0 +1.0 -16.4 -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_chunk002_via02: send_angles (single) [ -34.50, +55.44, +1.04, +0.70, -61.11, -30.16] speed=20 wait=0.0s (pre max|Δ|=9.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.16° (tol 3.0°) [VIA ] step 2 Δ= -5.8 +6.8 -0.9 -0.1 -9.4 -0.1 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -38.89, +62.51, +0.89, +0.95, -68.11, -30.16] speed=20 wait=0.0s (pre max|Δ|=7.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.81° (tol 3.0°) [VIA ] step 5 Δ= -4.5 +5.9 -1.0 -0.0 -7.7 -0.1 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -40.18, +65.14, +1.00, +1.63, -68.56, -30.17] speed=20 wait=0.0s (pre max|Δ|=1.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.12° (tol 3.0°) [VIA ] step 8 Δ= -1.1 +1.4 -0.9 +0.3 -1.1 -0.1 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -40.20, +65.63, +0.95, +1.74, -67.97, -30.19] speed=20 wait=0.0s (pre max|Δ|=0.89°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.90° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -0.6 -0.9 +0.4 +0.1 -0.2 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 744ms 10ステップ先 Δ= -0.1 +4.6 -1.5 +0.2 -3.5 -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_chunk003_via02: send_angles (single) [ -40.69, +65.68, +0.84, +1.68, -68.81, -30.19] speed=20 wait=0.0s (pre max|Δ|=1.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 2 Δ= -0.2 -0.9 -1.0 +0.3 -0.7 -0.2 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -40.71, +67.33, +0.68, +1.65, -69.71, -30.18] speed=20 wait=0.0s (pre max|Δ|=1.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.16° (tol 3.0°) [VIA ] step 5 Δ= -0.2 +0.8 -1.2 +0.3 -1.6 -0.2 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -40.58, +70.47, +0.40, +1.58, -71.23, -30.15] speed=20 wait=0.0s (pre max|Δ|=2.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.44° (tol 3.0°) [VIA ] step 8 Δ= -0.1 +2.0 -1.4 +0.2 -1.7 -0.2 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -40.65, +71.15, +0.30, +1.55, -71.63, -30.14] speed=20 wait=0.0s (pre max|Δ|=1.54°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.54° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -0.4 -1.5 +0.2 -1.1 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.54°（関節 j2） [004] 推論 802ms 10ステップ先 Δ= +0.3 +7.1 -2.5 -0.1 -3.6 -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_chunk004_via02: send_angles (single) [ -40.47, +74.73, +0.01, +1.43, -72.84, -30.10] speed=20 wait=0.0s (pre max|Δ|=2.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.30° (tol 3.0°) [VIA ] step 2 Δ= +0.0 +2.5 -1.8 +0.0 -1.8 -0.1 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -40.28, +77.76, -0.35, +1.37, -74.07, -30.08] speed=20 wait=0.0s (pre max|Δ|=2.09°, post-send timeout 8.0s) [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [SEND] arrival OK: max|Δ|=1.14° (tol 3.0°) [VIA ] step 5 Δ= +0.2 +2.1 -1.6 -0.0 -1.6 -0.1 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ -40.29, +79.08, -0.62, +1.30, -74.56, -30.07] speed=20 wait=0.0s (pre max|Δ|=1.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.20° (tol 3.0°) [VIA ] step 8 Δ= +0.2 +0.4 -1.4 -0.1 -0.4 -0.1 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ -40.25, +79.32, -0.69, +1.31, -74.63, -30.08] speed=20 wait=0.0s (pre max|Δ|=1.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.13° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -0.7 -1.0 -0.1 +1.1 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.13°（関節 j4） [005] 推論 625ms 3ステップ先 Δ= +0.3 -0.1 -1.2 -0.1 +0.7 -0.2 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) [ -40.17, +80.08, -0.81, +1.31, -75.03, -30.08] speed=20 wait=0.0s (pre max|Δ|=1.16°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.43° (tol 3.0°) [VIA ] step 2 Δ= +0.3 -0.1 -1.2 -0.1 +0.7 -0.2 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 2.05°（関節 j4） [006] 推論 638ms 10ステップ先 Δ= +0.9 -12.1 +1.3 +0.7 +8.2 -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_chunk006_via02: send_angles (single) [ -40.05, +77.04, -0.50, +1.28, -73.56, -30.08] speed=20 wait=0.0s (pre max|Δ|=3.81°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.23° (tol 3.0°) [VIA ] step 2 Δ= +0.4 -3.8 -0.2 +0.4 +3.5 -0.2 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -40.19, +73.57, +0.00, +1.38, -71.35, -30.06] speed=20 wait=0.0s (pre max|Δ|=5.70°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.54° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -5.7 +0.3 +0.4 +3.4 -0.2 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -40.03, +69.82, +0.79, +1.52, -69.29, -30.04] speed=20 wait=0.0s (pre max|Δ|=6.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.68° (tol 3.0°) [VIA ] step 8 Δ= +0.4 -6.0 +1.0 +0.3 +2.5 -0.2 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -39.56, +68.75, +1.03, +1.57, -68.87, -30.03] speed=20 wait=0.0s (pre max|Δ|=3.23°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.96° (tol 3.0°) [VIA ] step 9 Δ= +1.0 -3.2 +0.1 +0.3 +0.9 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.96°（関節 j1） [007] 推論 1515ms 10ステップ先 Δ=+25.9 -15.3 +5.0 +3.9 +4.4 -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 > [SEND] pi05_chunk007_via02: send_angles (single) [ -33.18, +65.01, +2.39, +2.54, -67.41, -30.07] speed=20 wait=0.0s (pre max|Δ|=6.70°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.57° (tol 3.0°) [VIA ] step 2 Δ= +5.9 -6.7 +1.2 +1.1 +1.8 -0.3 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ -24.72, +61.33, +4.07, +3.74, -66.54, -30.05] speed=20 wait=0.0s (pre max|Δ|=8.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.56° (tol 3.0°) [VIA ] step 5 Δ= +8.7 -6.3 +1.1 +1.2 +1.1 -0.3 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ -15.85, +57.61, +5.78, +4.92, -65.35, -30.08] speed=20 wait=0.0s (pre max|Δ|=9.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.59° (tol 3.0°) [VIA ] step 8 Δ= +9.2 -6.3 +1.1 +1.1 +1.6 -0.3 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ -13.20, +56.37, +6.25, +5.23, -64.85, -30.12] speed=20 wait=0.0s (pre max|Δ|=3.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.25° (tol 3.0°) [VIA ] step 9 Δ= +2.9 -3.8 +0.0 +0.1 +0.8 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.25°（関節 j1） [008] 推論 732ms 10ステップ先 Δ=+29.2 -12.8 +4.4 +1.4 +4.4 -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_chunk008_via02: send_angles (single) [ -4.68, +53.31, +7.48, +6.09, -63.50, -30.17] speed=20 wait=0.0s (pre max|Δ|=8.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.23° (tol 3.0°) [VIA ] step 2 Δ= +8.7 -5.3 +0.7 +0.6 +1.5 -0.5 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +4.21, +50.07, +9.19, +6.59, -62.37, -30.14] speed=20 wait=0.0s (pre max|Δ|=9.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.48° (tol 3.0°) [VIA ] step 5 Δ= +9.0 -5.5 +1.2 +0.3 +1.4 -0.4 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +13.03, +46.72, +10.81, +6.76, -60.81, -30.16] speed=20 wait=0.0s (pre max|Δ|=8.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.58° (tol 3.0°) [VIA ] step 8 Δ= +9.0 -5.8 +1.1 +0.3 +1.9 -0.4 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +15.77, +45.82, +11.13, +6.77, -60.62, -30.18] speed=20 wait=0.0s (pre max|Δ|=3.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.08° (tol 3.0°) [VIA ] step 9 Δ= +2.9 -3.5 -0.2 +0.0 +0.3 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.08°（関節 j1） [009] 推論 1759ms 10ステップ先 Δ=+26.2 -9.8 +3.5 -0.6 +4.7 -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_chunk009_via02: send_angles (single) [ +24.34, +43.13, +12.45, +7.05, -59.28, -30.19] speed=20 wait=0.0s (pre max|Δ|=8.70°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.30° (tol 3.0°) [VIA ] step 2 Δ= +8.7 -4.8 +0.8 +0.1 +1.6 -0.4 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +33.33, +39.91, +14.01, +7.02, -57.77, -30.18] speed=20 wait=0.0s (pre max|Δ|=9.08°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.62° (tol 3.0°) [VIA ] step 5 Δ= +9.1 -5.5 +1.0 -0.0 +1.6 -0.4 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +40.72, +37.82, +15.18, +6.55, -56.19, -30.20] speed=20 wait=0.0s (pre max|Δ|=7.15°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 8 Δ= +7.1 -4.5 +0.8 -0.7 +1.8 -0.4 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +41.85, +38.09, +15.06, +6.39, -56.18, -30.21] speed=20 wait=0.0s (pre max|Δ|=1.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.98° (tol 3.0°) [VIA ] step 9 Δ= +1.1 -2.0 -0.6 -0.4 +0.2 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.98°（関節 j1） [010] 推論 986ms 10ステップ先 Δ= +1.3 +17.9 -8.4 +2.3 -11.7 -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_chunk010_via02: send_angles (single) [ +42.52, +43.21, +13.36, +6.80, -58.72, -30.25] speed=20 wait=0.0s (pre max|Δ|=3.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.21° (tol 3.0°) [VIA ] step 2 Δ= +0.7 +3.1 -2.3 -0.1 -2.3 -0.5 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +43.00, +50.47, +10.40, +7.99, -63.41, -30.31] speed=20 wait=0.0s (pre max|Δ|=6.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.89° (tol 3.0°) [VIA ] step 5 Δ= +0.5 +6.1 -4.7 +0.9 -6.9 -0.5 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +43.08, +57.06, +7.66, +9.12, -67.81, -30.33] speed=20 wait=0.0s (pre max|Δ|=6.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.37° (tol 3.0°) [VIA ] step 8 Δ= +0.3 +5.4 -4.2 +1.7 -6.3 -0.5 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +43.21, +57.98, +7.25, +9.20, -68.15, -30.37] speed=20 wait=0.0s (pre max|Δ|=1.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.62° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -0.1 -1.7 +0.8 -1.7 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.45°（関節 j2） [011] 推論 738ms 10ステップ先 Δ= +0.4 +2.0 -2.6 +1.3 -5.6 -0.7 グリッパー→開 [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) [ +43.17, +60.01, +6.38, +9.65, -69.71, -30.41] speed=20 wait=0.0s (pre max|Δ|=2.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.35° (tol 3.0°) [VIA ] step 2 Δ= +0.4 +0.9 -2.3 +1.0 -2.9 -0.6 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +43.13, +60.82, +6.17, +9.82, -70.96, -30.43] speed=20 wait=0.0s (pre max|Δ|=1.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.56° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -0.3 -1.6 +0.4 -1.7 -0.6 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +43.15, +61.03, +6.13, +9.86, -72.35, -30.47] speed=20 wait=0.0s (pre max|Δ|=2.22°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.22° (tol 3.0°) [VIA ] step 8 Δ= +0.4 -0.8 -1.6 +0.4 -2.2 -0.5 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +43.15, +61.03, +6.13, +9.86, -72.35, -30.47] speed=20 wait=0.0s (pre max|Δ|=1.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.60° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -1.0 -1.6 +0.4 -0.7 -0.5 着いた [Pi] GRIPPER: OPEN result= None [STATE ] 目標を渡す 目標と実測の最大差 1.60°（関節 j2） [012] 推論 633ms 10ステップ先 Δ= +1.4 -21.7 +5.2 -1.7 +11.2 -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_chunk012_via02: send_angles (single) [ +43.40, +58.28, +7.12, +9.57, -71.66, -30.49] speed=20 wait=0.0s (pre max|Δ|=3.77°, post-send timeout 8.0s) [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [SEND] arrival OK: max|Δ|=2.10° (tol 3.0°) [VIA ] step 2 Δ= +0.6 -3.8 -0.6 -0.0 -0.0 -0.4 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +43.60, +50.84, +9.75, +8.87, -67.51, -30.48] speed=20 wait=0.0s (pre max|Δ|=9.54°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.77° (tol 3.0°) [VIA ] step 5 Δ= +0.8 -9.5 +2.0 -0.9 +5.3 -0.3 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +44.03, +42.97, +12.28, +8.13, -62.49, -30.47] speed=20 wait=0.0s (pre max|Δ|=10.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.64° (tol 3.0°) [VIA ] step 8 Δ= +0.7 -10.2 +2.1 -1.8 +6.6 -0.3 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +44.18, +40.35, +12.95, +7.85, -60.44, -30.46] speed=20 wait=0.0s (pre max|Δ|=4.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.83° (tol 3.0°) [VIA ] step 9 Δ= +0.9 -4.6 +0.2 -1.4 +3.4 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.83°（関節 j1） [013] 推論 1548ms 10ステップ先 Δ=-13.8 -20.0 -1.4 -5.0 +26.3 -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_chunk013_via02: send_angles (single) [ +42.44, +33.99, +14.82, +6.91, -55.66, -30.37] speed=20 wait=0.0s (pre max|Δ|=8.19°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 2 Δ= -1.4 -8.2 +1.4 -1.6 +5.6 -0.2 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +37.75, +28.47, +14.29, +5.56, -47.32, -30.30] speed=20 wait=0.0s (pre max|Δ|=9.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.02° (tol 3.0°) [VIA ] step 5 Δ= -4.5 -7.7 -1.2 -1.9 +9.0 -0.2 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +31.70, +23.37, +12.66, +4.09, -37.74, -30.24] speed=20 wait=0.0s (pre max|Δ|=10.07°, post-send timeout 8.0s) [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [SEND] arrival OK: max|Δ|=1.85° (tol 3.0°) [VIA ] step 8 Δ= -6.5 -7.0 -2.8 -1.9 +10.1 -0.0 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +30.01, +22.15, +12.07, +3.67, -35.29, -30.20] speed=20 wait=0.0s (pre max|Δ|=3.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.25° (tol 3.0°) [VIA ] step 9 Δ= -1.9 -3.1 -2.2 -0.8 +2.9 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.25°（関節 j2） [014] 推論 564ms 10ステップ先 Δ=-21.1 -16.8 -9.6 -3.8 +28.5 +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 > [SEND] pi05_chunk014_via02: send_angles (single) [ +24.16, +17.51, +10.13, +2.19, -26.68, -30.17] speed=20 wait=0.0s (pre max|Δ|=8.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.73° (tol 3.0°) [VIA ] step 2 Δ= -5.8 -6.4 -4.2 -1.4 +8.9 +0.2 着いた [SEND] pi05_chunk014_via05: send_angles (single) [ +17.94, +12.70, +7.93, +0.89, -18.13, -30.18] speed=20 wait=0.0s (pre max|Δ|=8.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.73° (tol 3.0°) [VIA ] step 5 Δ= -6.4 -6.5 -3.9 -1.3 +8.7 +0.3 着いた [SEND] pi05_chunk014_via08: send_angles (single) [ +10.87, +8.00, +5.57, +0.05, -9.33, -30.15] speed=20 wait=0.0s (pre max|Δ|=9.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.72° (tol 3.0°) [VIA ] step 8 Δ= -7.3 -6.2 -4.1 -1.2 +9.0 +0.3 着いた [SEND] pi05_chunk014_via09: send_angles (single) [ +8.86, +7.07, +4.74, -0.08, -7.07, -30.14] speed=20 wait=0.0s (pre max|Δ|=2.59°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.85° (tol 3.0°) [VIA ] step 9 Δ= -2.5 -2.4 -2.5 -0.3 +2.6 +0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.85°（関節 j2） [015] 推論 660ms 10ステップ先 Δ= -6.8 -6.4 -4.2 -0.1 +7.6 +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 > [SEND] pi05_chunk015_via02: send_angles (single) [ +3.15, +2.96, +2.82, -0.15, -0.73, -30.16] speed=20 wait=0.0s (pre max|Δ|=6.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.75° (tol 3.0°) [VIA ] step 2 Δ= -5.4 -5.7 -3.8 -0.1 +6.6 +0.3 着いた [SEND] pi05_chunk015_via05: send_angles (single) [ +1.57, +2.17, +2.19, -0.21, +0.58, -30.17] speed=20 wait=0.0s (pre max|Δ|=2.22°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.11° (tol 3.0°) [VIA ] step 5 Δ= -1.9 -2.2 -2.2 -0.0 +1.6 +0.3 着いた [SEND] pi05_chunk015_via08: send_angles (single) [ +1.87, +2.23, +2.35, -0.17, +0.31, -30.18] speed=20 wait=0.0s (pre max|Δ|=1.95°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.95° (tol 3.0°) [VIA ] step 8 Δ= +0.7 -1.4 -1.9 +0.1 +0.1 +0.3 着いた [SEND] pi05_chunk015_via09: send_angles (single) [ +1.85, +2.25, +2.37, -0.16, +0.31, -30.18] speed=20 wait=0.0s (pre max|Δ|=1.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 3.0°) [VIA ] step 9 Δ= -0.3 -1.3 -1.9 +0.1 +0.1 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.93°（関節 j2） [016] 推論 555ms 10ステップ先 Δ= -1.3 -1.4 -2.1 +0.1 +1.5 +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 > [SEND] pi05_chunk016_via02: send_angles (single) [ +1.05, +2.19, +2.26, -0.16, +1.14, -30.18] speed=20 wait=0.0s (pre max|Δ|=2.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.04° (tol 3.0°) [VIA ] step 2 Δ= -1.0 -1.4 -2.0 +0.2 +0.9 +0.3 着いた [SEND] pi05_chunk016_via05: send_angles (single) [ +0.79, +2.28, +2.17, -0.15, +1.34, -30.19] speed=20 wait=0.0s (pre max|Δ|=2.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 5 Δ= -0.4 -1.3 -2.1 +0.2 +0.5 +0.3 着いた [SEND] pi05_chunk016_via08: send_angles (single) [ +0.67, +2.22, +2.22, -0.20, +1.64, -30.20] speed=20 wait=0.0s (pre max|Δ|=2.08°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.08° (tol 3.0°) [VIA ] step 8 Δ= -0.3 -1.4 -2.1 +0.1 +0.7 +0.3 着いた [SEND] pi05_chunk016_via09: send_angles (single) [ +0.70, +2.22, +2.24, -0.20, +1.74, -30.19] speed=20 wait=0.0s (pre max|Δ|=2.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.06° (tol 3.0°) [VIA ] step 9 Δ= -0.3 -1.4 -2.1 +0.1 +0.4 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.06°（関節 j2） [017] 推論 584ms 10ステップ先 Δ= -1.1 -1.1 -2.1 +0.3 -0.9 +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|=4.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.40° (tol 2.5°) [RECORD] 記録終了 コマ 932 (8.887 fps) 実測角 757 回 (7.22 Hz) 電流 771 行 (read_servo) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112346/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_20261110_112346 [CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)) (110 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 (2 回目) [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [-0.17, 1.14, 1.23, -0.26, 0.26, -30.23] [SEND] HOME へ移動指令 [WAIT] t=0.6s max_err=1.23° [DONE] HOME 到達 max_err=1.23° [POST] 最終姿勢: [-0.17, 1.14, 1.23, -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= +8.6 dx= -2.2 response=0.733 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません) (28 秒) === 8. 実機推論 (2 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 50 本 ±10°): j0[-72,+55] j1[-9,+88] j2[-45,+52] j3[-18,+27] j4[-87,+10] j5[-51,-15] [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_deep_even10_v1/raw_episodes [MODE ] EXECUTE steps/chunk=10 max_move=20.0° log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112639 [MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1) [CAMERA] 写り方 dy=+1.8 dx=+4.1 response=0.666 → 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_20261110_112639/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 1564ms 10ステップ先 Δ=-12.1 +19.8 -0.5 +0.8 -19.6 -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 > [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) [ -1.26, +2.49, +1.12, -0.26, -0.97, -30.26] speed=20 wait=0.0s (pre max|Δ|=1.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.84° (tol 3.0°) [VIA ] step 2 Δ= -1.1 +1.3 -0.1 +0.0 -1.2 -0.0 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -5.84, +10.30, +0.95, +0.07, -9.11, -30.29] speed=20 wait=0.0s (pre max|Δ|=8.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 5 Δ= -4.9 +6.9 -1.0 +0.3 -8.3 -0.1 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -10.80, +18.43, +0.76, +0.46, -17.15, -30.32] speed=20 wait=0.0s (pre max|Δ|=8.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.17° (tol 3.0°) [VIA ] step 8 Δ= -5.6 +7.2 -1.2 +0.5 -8.4 -0.1 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -12.32, +20.91, +0.74, +0.55, -19.38, -30.33] speed=20 wait=0.0s (pre max|Δ|=2.69°, post-send timeout 8.0s) [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [SEND] arrival OK: max|Δ|=1.19° (tol 3.0°) [VIA ] step 9 Δ= -1.8 +1.4 -1.2 +0.2 -2.7 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.19°（関節 j2） [001] 推論 868ms 10ステップ先 Δ=-15.9 +26.4 -2.1 +0.7 -28.9 -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_chunk001_via02: send_angles (single) [ -17.30, +28.40, +0.50, +1.03, -26.98, -30.38] speed=20 wait=0.0s (pre max|Δ|=8.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.43° (tol 3.0°) [VIA ] step 2 Δ= -4.7 +6.5 -1.4 +0.2 -8.1 -0.2 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -22.49, +36.82, +0.25, +1.36, -35.87, -30.41] speed=20 wait=0.0s (pre max|Δ|=8.89°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.68° (tol 3.0°) [VIA ] step 5 Δ= -5.6 +7.2 -1.7 -0.3 -8.9 -0.3 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -27.31, +45.86, +0.04, +1.57, -45.31, -30.42] speed=20 wait=0.0s (pre max|Δ|=9.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.89° (tol 3.0°) [VIA ] step 8 Δ= -4.9 +7.9 -1.9 -0.4 -9.6 -0.3 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -28.41, +48.29, -0.21, +1.54, -47.80, -30.42] speed=20 wait=0.0s (pre max|Δ|=2.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.96° (tol 3.0°) [VIA ] step 9 Δ= -1.6 +1.3 -2.1 -0.7 -2.4 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.79°（関節 j2） [002] 推論 596ms 10ステップ先 Δ=-13.0 +19.5 -2.1 -0.5 -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) [ -34.34, +56.42, -0.35, +1.37, -56.19, -30.41] speed=20 wait=0.0s (pre max|Δ|=8.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 3.0°) [VIA ] step 2 Δ= -6.0 +7.0 -1.9 -0.8 -8.7 -0.4 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -38.94, +63.53, -0.48, +1.53, -63.39, -30.44] speed=20 wait=0.0s (pre max|Δ|=7.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.53° (tol 3.0°) [VIA ] step 5 Δ= -4.5 +6.0 -2.0 -0.3 -7.1 -0.4 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -41.15, +68.05, -0.58, +1.82, -66.81, -30.49] speed=20 wait=0.0s (pre max|Δ|=3.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.45° (tol 3.0°) [VIA ] step 8 Δ= -2.6 +3.4 -1.6 -0.0 -3.5 -0.3 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -41.37, +68.93, -0.52, +1.88, -67.18, -30.51] speed=20 wait=0.0s (pre max|Δ|=1.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.31° (tol 3.0°) [VIA ] step 9 Δ= -0.2 -0.2 -1.3 -0.1 -0.6 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.31°（関節 j2） [003] 推論 1548ms 10ステップ先 Δ= +0.3 +5.5 -2.5 -0.4 -3.2 -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 > [SEND] pi05_chunk003_via02: send_angles (single) [ -41.12, +70.45, -0.75, +1.78, -67.87, -30.48] speed=20 wait=0.0s (pre max|Δ|=1.54°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.54° (tol 3.0°) [VIA ] step 2 Δ= -0.1 +0.5 -1.5 -0.3 -0.9 -0.3 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -40.86, +72.82, -1.14, +1.72, -68.85, -30.44] speed=20 wait=0.0s (pre max|Δ|=1.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.18° (tol 3.0°) [VIA ] step 5 Δ= +0.2 +1.2 -1.8 -0.4 -0.7 -0.3 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -40.61, +74.92, -1.59, +1.66, -69.76, -30.39] speed=20 wait=0.0s (pre max|Δ|=1.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.16° (tol 3.0°) [VIA ] step 8 Δ= +0.4 +0.9 -1.5 -0.4 -1.0 -0.3 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -40.70, +75.44, -1.72, +1.67, -70.13, -30.40] speed=20 wait=0.0s (pre max|Δ|=1.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -0.6 -1.1 -0.4 -0.3 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.11°（関節 j2） [004] 推論 552ms 9ステップ先 Δ= +1.1 +5.4 -2.3 -0.5 -5.3 -0.2 グリッパー→閉 [VIA ] 中継点 3 点: step 2, 5, 8 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) [ -40.45, +79.43, -2.31, +1.61, -72.58, -30.36] speed=20 wait=0.0s (pre max|Δ|=2.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.26° (tol 3.0°) [VIA ] step 2 Δ= +0.6 +3.0 -1.7 -0.5 -2.7 -0.2 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -40.24, +81.91, -2.83, +1.57, -74.50, -30.37] speed=20 wait=0.0s (pre max|Δ|=1.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.14° (tol 3.0°) [VIA ] step 5 Δ= +0.8 +1.7 -1.3 -0.5 -0.6 -0.2 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ -39.92, +81.86, -2.88, +1.59, -75.16, -30.36] speed=20 wait=0.0s (pre max|Δ|=1.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.48° (tol 3.0°) [VIA ] step 8 Δ= +0.7 -0.7 -0.6 -0.4 +1.5 -0.2 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 2.44°（関節 j4） [005] 推論 554ms 10ステップ先 Δ= +0.3 -11.6 +0.8 +0.1 +9.1 -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) [ -39.70, +79.66, -2.63, +1.57, -74.18, -30.37] speed=20 wait=0.0s (pre max|Δ|=3.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.02° (tol 3.0°) [VIA ] step 2 Δ= +0.5 -3.0 -0.3 -0.1 +3.4 -0.2 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -39.86, +76.25, -2.18, +1.60, -71.71, -30.37] speed=20 wait=0.0s (pre max|Δ|=5.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.41° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -5.3 +0.1 -0.2 +4.5 -0.2 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -39.94, +72.23, -1.67, +1.70, -69.07, -30.35] speed=20 wait=0.0s (pre max|Δ|=6.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.65° (tol 3.0°) [VIA ] step 8 Δ= +0.2 -6.3 +0.6 -0.1 +2.6 -0.0 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -39.87, +71.06, -1.51, +1.75, -68.48, -30.35] speed=20 wait=0.0s (pre max|Δ|=3.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.59° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -3.3 -0.4 -0.2 -0.0 -0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.59°（関節 j1） [006] 推論 1549ms 10ステップ先 Δ=+21.8 -14.2 +3.8 +3.0 +3.4 -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_chunk006_via02: send_angles (single) [ -37.22, +67.51, -0.74, +2.37, -67.38, -30.40] speed=20 wait=0.0s (pre max|Δ|=6.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.27° (tol 3.0°) [VIA ] step 2 Δ= +2.9 -6.1 +0.4 +0.4 +0.6 -0.2 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -29.52, +64.29, +0.56, +3.43, -66.26, -30.43] speed=20 wait=0.0s (pre max|Δ|=7.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.50° (tol 3.0°) [VIA ] step 5 Δ= +7.7 -5.3 +0.8 +1.5 +1.4 -0.1 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -20.65, +60.45, +2.20, +4.60, -64.91, -30.52] speed=20 wait=0.0s (pre max|Δ|=9.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.65° (tol 3.0°) [VIA ] step 8 Δ= +8.1 -6.2 +1.1 +2.5 +1.8 -0.2 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -18.39, +59.40, +2.62, +4.90, -64.53, -30.59] speed=20 wait=0.0s (pre max|Δ|=3.70°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.21° (tol 3.0°) [VIA ] step 9 Δ= +2.4 -3.7 -0.1 +0.7 +0.6 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.21°（関節 j1） [007] 推論 550ms 10ステップ先 Δ=+29.4 -12.4 +4.7 +2.5 +4.3 -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_chunk007_via02: send_angles (single) [ -9.81, +56.88, +3.87, +6.02, -63.52, -30.66] speed=20 wait=0.0s (pre max|Δ|=8.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.44° (tol 3.0°) [VIA ] step 2 Δ= +8.6 -4.7 +0.7 +1.3 +1.1 -0.3 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ -1.30, +53.79, +5.54, +6.82, -62.19, -30.65] speed=20 wait=0.0s (pre max|Δ|=8.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.54° (tol 3.0°) [VIA ] step 5 Δ= +8.7 -5.5 +1.0 +1.2 +1.5 -0.3 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +8.02, +50.22, +7.34, +7.22, -60.61, -30.70] speed=20 wait=0.0s (pre max|Δ|=9.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.42° (tol 3.0°) [VIA ] step 8 Δ= +9.4 -6.1 +1.1 +0.8 +1.9 -0.4 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +10.86, +49.19, +7.82, +7.16, -60.29, -30.71] speed=20 wait=0.0s (pre max|Δ|=3.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.31° (tol 3.0°) [VIA ] step 9 Δ= +3.0 -3.5 -0.2 +0.2 +0.5 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.31°（関節 j1） [008] 推論 575ms 10ステップ先 Δ=+29.3 -9.0 +2.3 +0.5 +6.4 -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_chunk008_via02: send_angles (single) [ +19.87, +47.36, +7.93, +7.19, -57.95, -30.75] speed=20 wait=0.0s (pre max|Δ|=8.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.38° (tol 3.0°) [VIA ] step 2 Δ= +9.0 -4.1 -0.1 +0.1 +2.6 -0.4 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +29.36, +45.06, +8.34, +7.33, -55.62, -30.77] speed=20 wait=0.0s (pre max|Δ|=9.68°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.48° (tol 3.0°) [VIA ] step 5 Δ= +9.7 -4.7 +0.3 +0.3 +2.7 -0.5 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +38.50, +42.72, +9.78, +7.49, -54.31, -30.80] speed=20 wait=0.0s (pre max|Δ|=8.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.28° (tol 3.0°) [VIA ] step 8 Δ= +9.0 -4.8 +1.8 +0.3 +1.5 -0.5 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +40.23, +42.53, +10.27, +7.48, -54.13, -30.81] speed=20 wait=0.0s (pre max|Δ|=2.47°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.47° (tol 3.0°) [VIA ] step 9 Δ= +1.6 -2.5 -0.0 +0.0 +0.5 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.47°（関節 j1） [009] 推論 1520ms 10ステップ先 Δ= +2.0 +15.2 -6.1 +1.5 -12.4 -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_chunk009_via02: send_angles (single) [ +41.57, +47.09, +9.06, +7.49, -56.62, -30.83] speed=20 wait=0.0s (pre max|Δ|=2.22°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.04° (tol 3.0°) [VIA ] step 2 Δ= +1.5 +2.1 -1.8 -0.2 -2.2 -0.5 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +41.98, +53.39, +7.07, +8.16, -61.43, -30.88] speed=20 wait=0.0s (pre max|Δ|=6.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.11° (tol 3.0°) [VIA ] step 5 Δ= +0.4 +5.1 -3.7 +0.3 -6.8 -0.6 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +42.12, +58.99, +5.14, +9.09, -66.05, -30.96] speed=20 wait=0.0s (pre max|Δ|=6.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.77° (tol 3.0°) [VIA ] step 8 Δ= +0.7 +4.4 -3.4 +1.2 -6.7 -0.6 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +42.12, +60.23, +4.67, +9.26, -66.79, -30.98] speed=20 wait=0.0s (pre max|Δ|=2.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 9 Δ= +0.0 +0.2 -1.8 +1.1 -2.5 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.39°（関節 j2） [010] 推論 580ms 7ステップ先 Δ= +0.0 +1.3 -2.2 +1.3 -3.5 -0.4 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) [ +42.12, +62.57, +3.86, +9.63, -68.60, -31.01] speed=20 wait=0.0s (pre max|Δ|=2.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.06° (tol 3.0°) [VIA ] step 2 Δ= +0.0 +1.3 -2.2 +0.8 -2.5 -0.3 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +42.12, +62.54, +3.86, +9.73, -69.62, -31.03] 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 5 Δ= -0.1 -1.0 -1.1 +0.4 -0.9 -0.4 着いた [SEND] pi05_chunk010_via06: send_angles (single) [ +42.12, +62.54, +3.86, +9.73, -69.62, -31.03] 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 6 Δ= -0.1 -1.0 -1.1 +0.4 -0.9 -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 1.06°（関節 j2） [011] 推論 557ms 10ステップ先 Δ= +0.6 -16.1 +3.2 -1.2 +8.5 -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 > [SEND] pi05_chunk011_via02: send_angles (single) [ +42.29, +61.47, +4.06, +9.52, -69.40, -30.99] speed=20 wait=0.0s (pre max|Δ|=2.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.07° (tol 3.0°) [VIA ] step 2 Δ= +0.0 -2.1 -0.9 +0.1 -0.7 -0.3 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +42.63, +55.55, +5.66, +8.84, -65.78, -30.98] speed=20 wait=0.0s (pre max|Δ|=7.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.68° (tol 3.0°) [VIA ] step 5 Δ= +0.4 -8.0 +0.7 -0.6 +3.0 -0.3 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +42.81, +49.19, +7.67, +8.33, -61.56, -30.97] speed=20 wait=0.0s (pre max|Δ|=8.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.16° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -8.5 +1.4 -1.6 +6.9 -0.3 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +42.84, +47.47, +8.16, +8.21, -60.22, -30.98] speed=20 wait=0.0s (pre max|Δ|=3.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.27° (tol 3.0°) [VIA ] step 9 Δ= +0.7 -3.8 -0.1 -1.3 +3.5 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.27°（関節 j1） [012] 推論 1529ms 10ステップ先 Δ=-10.0 -21.5 +2.0 -4.2 +21.8 -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_chunk012_via02: send_angles (single) [ +42.41, +40.87, +10.47, +7.52, -56.26, -30.86] speed=20 wait=0.0s (pre max|Δ|=8.87°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.19° (tol 3.0°) [VIA ] step 2 Δ= -0.4 -8.9 +1.8 -1.3 +5.0 -0.2 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +40.58, +34.85, +11.79, +6.58, -50.52, -30.74] speed=20 wait=0.0s (pre max|Δ|=8.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.06° (tol 3.0°) [VIA ] step 5 Δ= -2.1 -8.2 +0.6 -1.4 +6.4 -0.1 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +34.82, +29.62, +11.04, +5.36, -42.50, -30.68] speed=20 wait=0.0s (pre max|Δ|=8.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.10° (tol 3.0°) [VIA ] step 8 Δ= -6.0 -7.3 -1.3 -1.5 +8.7 -0.0 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +32.82, +28.24, +10.73, +5.01, -40.20, -30.67] speed=20 wait=0.0s (pre max|Δ|=3.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.99° (tol 3.0°) [VIA ] step 9 Δ= -2.4 -3.5 -1.6 -0.7 +3.0 -0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.99°（関節 j1） [013] 推論 555ms 10ステップ先 Δ=-19.4 -18.2 -5.6 -4.5 +29.3 +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[5037]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d608e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d609d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5037]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d7c8). 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 13 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 +32.95 +36.12 +13.00 +5.00 -38.58 -30.58 [止める] stop（released_while_sending） 止まった角度 None [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [送信] j0 -1.0° → +46.98 +36.12 +12.30 +5.09 -40.69 -30.58 届いた（ずれ 1.32°） 届いた角度 +46.84 +37.44 +12.39 +5.18 -39.46 -30.58 [送信] j0 -2.0° → +44.98 +36.12 +12.30 +5.09 -40.69 -30.58 届いた（ずれ 1.32°） 届いた角度 +44.82 +37.44 +12.39 +4.65 -39.46 -30.58 [止める] stop（released_while_sending） 止まった角度 +38.14 +38.75 +13.18 +4.65 -37.88 -30.58 [送信] j0 +2.0° → +40.14 +36.12 +12.30 +5.09 -40.69 -30.58 届いた（ずれ 2.55°） 届いた角度 +40.60 +38.49 +12.21 +4.30 -38.14 -30.67 [関節] 上下で動かす関節を j2 にしました [関節] 上下で動かす関節を j3 にしました [関節] 上下で動かす関節を j4 にしました [送信] j4 -1.0° → +40.14 +36.12 +12.30 +5.09 -41.69 -30.58 届いた（ずれ 2.37°） 届いた角度 +40.42 +38.49 +12.21 +5.27 -41.92 -30.58 [長押し] j4 を -41.92° → -41.92° まで（目標を 1 回送信。止めます） [長押し] j4 を -49.39° → -49.39° まで（目標を 1 回送信。止めます） [関節] 上下で動かす関節を j5 にしました [関節] 上下で動かす関節を j1 にしました [送信] j1 +1.0° → +40.14 +40.46 +12.30 +5.09 -59.58 -30.58 手前で止まった（次の押しは この目標の先から）（ずれ 4.14°） 届いた角度 +40.25 +41.66 +11.95 +5.71 -63.72 -30.58 [止める] stop（released_while_sending） 止まった角度 +40.25 +47.54 +12.65 +5.62 -61.87 -30.58 [送信] j1 +1.0° → +40.14 +48.54 +12.30 +5.09 -59.58 -30.58 手前で止まった（次の押しは この目標の先から）（ずれ 2.64°） 届いた角度 +40.16 +49.74 +12.30 +5.71 -62.22 -30.58 [Pi] GRIPPER: OPEN result= None [爪] 爪を開く（待ち 0.8 秒のあと受付） ^C[PAD ] 補正 1 を終えました (53.7 秒, 送った目標 12 回, 爪を動かした). この姿勢から推論に戻ります [STOP ] Ctrl-C [RECORD] 記録終了 コマ 1160 (8.607 fps) 実測角 1035 回 (7.68 Hz) 電流 1059 行 (read_servo) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112639/recording [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112639 [CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)) (138 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 (3 回目) [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [40.16, 49.74, 12.30, 5.18, -64.16, -30.58] [SEND] HOME へ移動指令 [WAIT] t=0.7s max_err=48.95° [WAIT] t=1.2s max_err=33.22° [WAIT] t=1.7s max_err=17.40° [WAIT] t=2.2s max_err=2.46° [DONE] HOME 到達 max_err=2.46° [POST] 最終姿勢: [0.17, 1.40, 1.93, -0.79, -2.46, -30.49] [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= +8.4 dx= -2.8 response=0.734 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません) (24 秒) === 8. 実機推論 (3 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 50 本 ±10°): j0[-72,+55] j1[-9,+88] j2[-45,+52] j3[-18,+27] j4[-87,+10] j5[-51,-15] [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_deep_even10_v1/raw_episodes [MODE ] EXECUTE steps/chunk=10 max_move=20.0° log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112924 [MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1) [CAMERA] 写り方 dy=+1.8 dx=+3.8 response=0.662 → 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_20261110_112924/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 590ms 10ステップ先 Δ=-12.5 +19.6 +0.8 -0.0 -21.9 +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 > [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) [ -3.19, +5.19, +2.06, -0.16, -4.67, -30.22] speed=20 wait=0.0s (pre max|Δ|=4.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.04° (tol 3.0°) [VIA ] step 2 Δ= -2.8 +3.9 +0.1 +0.1 -4.4 +0.0 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -7.18, +11.52, +2.31, -0.16, -11.74, -30.20] speed=20 wait=0.0s (pre max|Δ|=9.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.81° (tol 3.0°) [VIA ] step 5 Δ= -3.7 +5.5 -0.6 +0.0 -9.1 +0.0 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -11.53, +18.58, +2.69, -0.25, -19.82, -30.17] speed=20 wait=0.0s (pre max|Δ|=9.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.33° (tol 3.0°) [VIA ] step 8 Δ= -4.7 +6.1 -0.3 -0.5 -9.8 +0.1 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -12.81, +20.93, +2.70, -0.26, -22.20, -30.15] speed=20 wait=0.0s (pre max|Δ|=3.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.13° (tol 3.0°) [VIA ] step 9 Δ= -1.8 +1.3 -0.7 -0.5 -3.8 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.13°（関節 j1） [001] 推論 759ms 10ステップ先 Δ=-16.0 +23.3 -0.1 +0.1 -29.1 +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_chunk001_via02: send_angles (single) [ -17.73, +27.71, +2.92, +0.04, -30.17, -30.14] speed=20 wait=0.0s (pre max|Δ|=8.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.65° (tol 3.0°) [VIA ] step 2 Δ= -5.1 +5.7 -0.5 -0.0 -8.2 -0.0 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -22.73, +35.50, +3.33, +0.49, -39.11, -30.12] speed=20 wait=0.0s (pre max|Δ|=8.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.15° (tol 3.0°) [VIA ] step 5 Δ= -5.1 +6.7 -0.1 +0.8 -8.8 +0.0 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -27.60, +43.21, +3.46, +0.53, -48.24, -30.10] speed=20 wait=0.0s (pre max|Δ|=9.40°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.17° (tol 3.0°) [VIA ] step 8 Δ= -5.2 +6.6 -0.5 +0.4 -9.4 -0.4 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -28.62, +45.35, +3.32, +0.51, -50.31, -30.11] speed=20 wait=0.0s (pre max|Δ|=2.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.23° (tol 3.0°) [VIA ] step 9 Δ= -1.5 +1.0 -0.6 +0.3 -2.4 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.23°（関節 j1） [002] 推論 568ms 10ステップ先 Δ=-11.6 +18.3 -0.3 +1.0 -18.0 -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) [ -34.77, +53.62, +3.52, +0.24, -60.31, -30.08] speed=20 wait=0.0s (pre max|Δ|=9.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.13° (tol 3.0°) [VIA ] step 2 Δ= -6.4 +7.0 -0.4 +0.2 -9.7 -0.4 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -38.91, +60.60, +3.52, +0.59, -67.73, -30.06] speed=20 wait=0.0s (pre max|Δ|=8.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.59° (tol 3.0°) [VIA ] step 5 Δ= -4.0 +5.9 -0.4 +0.2 -8.1 -0.4 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -40.35, +64.41, +3.54, +1.15, -69.43, -30.04] speed=20 wait=0.0s (pre max|Δ|=2.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.68° (tol 3.0°) [VIA ] step 8 Δ= -1.1 +2.6 -0.4 +0.0 -1.9 -0.3 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -40.20, +64.89, +3.63, +1.26, -68.62, -30.09] speed=20 wait=0.0s (pre max|Δ|=0.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -0.8 -0.3 +0.1 +0.4 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.94°（関節 j1） [003] 推論 1594ms 10ステップ先 Δ= -0.0 +4.8 -0.9 +0.1 -4.3 -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 > [VIA ] step 2 Δ= -0.1 -0.5 -0.4 +0.2 -0.5 -0.3 送らず (0.5° 以下) [SEND] pi05_chunk003_via05: send_angles (single) [ -40.83, +67.00, +3.43, +1.18, -71.01, -30.10] speed=20 wait=0.0s (pre max|Δ|=1.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 5 Δ= -0.1 +1.2 -0.5 +0.1 -1.9 -0.3 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -40.71, +69.98, +3.15, +1.13, -72.90, -30.08] speed=20 wait=0.0s (pre max|Δ|=2.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.12° (tol 3.0°) [VIA ] step 8 Δ= -0.0 +1.9 -0.8 +0.1 -2.5 -0.3 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -40.70, +70.67, +3.01, +1.11, -73.39, -30.07] speed=20 wait=0.0s (pre max|Δ|=1.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 9 Δ= -0.0 -0.5 -0.9 +0.1 -1.2 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.04°（関節 j1） [004] 推論 621ms 9ステップ先 Δ= +0.3 +6.0 -1.5 -0.1 -3.6 -0.2 グリッパー→閉 [VIA ] 中継点 3 点: step 2, 5, 8 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) [ -40.49, +74.91, +2.60, +1.04, -74.73, -30.02] speed=20 wait=0.0s (pre max|Δ|=3.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.26° (tol 3.0°) [VIA ] step 2 Δ= +0.2 +3.1 -1.3 -0.1 -2.1 -0.2 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -40.54, +77.33, +2.31, +1.01, -75.75, -30.00] speed=20 wait=0.0s (pre max|Δ|=1.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 5 Δ= +0.1 +1.4 -1.6 -0.1 -1.0 -0.2 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ -40.36, +77.73, +2.35, +1.04, -76.17, -30.01] speed=20 wait=0.0s (pre max|Δ|=0.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 8 Δ= +0.3 -0.5 -1.0 -0.1 +0.3 -0.2 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 1.43°（関節 j4） [005] 推論 757ms 10ステップ先 Δ= +0.6 -10.8 +0.2 +0.5 +7.4 -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 > [SEND] pi05_chunk005_via02: send_angles (single) [ -40.32, +75.21, +2.54, +1.03, -74.81, -30.01] speed=20 wait=0.0s (pre max|Δ|=3.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.48° (tol 3.0°) [VIA ] step 2 Δ= +0.4 -3.4 -0.8 +0.2 +2.9 -0.2 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -40.43, +72.24, +2.82, +1.07, -72.90, -30.00] speed=20 wait=0.0s (pre max|Δ|=5.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.37° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -5.5 -0.5 +0.0 +3.8 -0.2 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -40.33, +68.76, +3.34, +1.18, -70.63, -29.98] speed=20 wait=0.0s (pre max|Δ|=5.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.16° (tol 3.0°) [VIA ] step 8 Δ= +0.4 -5.5 +0.0 +0.0 +3.9 -0.2 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -40.08, +67.80, +3.57, +1.24, -70.18, -29.98] speed=20 wait=0.0s (pre max|Δ|=3.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.95° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -3.1 +0.2 +0.1 +1.9 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.86°（関節 j1） [006] 推論 1558ms 10ステップ先 Δ=+24.4 -13.5 +4.8 +3.6 +5.2 -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 > [SEND] pi05_chunk006_via02: send_angles (single) [ -33.99, +64.96, +4.77, +2.14, -68.80, -30.04] speed=20 wait=0.0s (pre max|Δ|=6.08°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.54° (tol 3.0°) [VIA ] step 2 Δ= +6.1 -5.7 +1.4 +0.9 +2.2 -0.2 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -26.42, +61.85, +6.20, +3.29, -67.77, -30.04] speed=20 wait=0.0s (pre max|Δ|=7.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.39° (tol 3.0°) [VIA ] step 5 Δ= +7.9 -5.7 +1.0 +1.3 +1.6 -0.2 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -18.44, +58.45, +7.70, +4.44, -66.86, -30.08] speed=20 wait=0.0s (pre max|Δ|=8.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.45° (tol 3.0°) [VIA ] step 8 Δ= +8.3 -5.8 +0.9 +1.3 +1.5 -0.3 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -15.71, +57.12, +8.15, +4.80, -66.28, -30.12] speed=20 wait=0.0s (pre max|Δ|=3.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.29° (tol 3.0°) [VIA ] step 9 Δ= +2.9 -3.8 -0.0 +0.6 +1.0 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.29°（関節 j1） [007] 推論 562ms 10ステップ先 Δ=+28.4 -13.4 +4.9 +2.0 +4.8 -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 > [SEND] pi05_chunk007_via02: send_angles (single) [ -7.15, +53.91, +9.56, +5.82, -64.98, -30.11] speed=20 wait=0.0s (pre max|Δ|=8.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.86° (tol 3.0°) [VIA ] step 2 Δ= +8.6 -5.5 +0.9 +1.2 +1.6 -0.3 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +1.31, +50.46, +11.29, +6.38, -63.70, -30.08] speed=20 wait=0.0s (pre max|Δ|=8.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.36° (tol 3.0°) [VIA ] step 5 Δ= +8.3 -5.9 +1.4 +1.6 +1.6 -0.3 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +10.14, +46.97, +13.12, +6.61, -62.35, -30.11] speed=20 wait=0.0s (pre max|Δ|=9.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.60° (tol 3.0°) [VIA ] step 8 Δ= +9.2 -5.8 +1.4 +0.5 +1.7 -0.3 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +12.64, +46.04, +13.55, +6.56, -61.80, -30.13] speed=20 wait=0.0s (pre max|Δ|=3.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.82° (tol 3.0°) [VIA ] step 9 Δ= +2.7 -3.5 -0.2 +0.3 +0.9 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.12°（関節 j1） [008] 推論 704ms 10ステップ先 Δ=+27.8 -12.3 +4.9 +0.1 +5.0 -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 > [SEND] pi05_chunk008_via02: send_angles (single) [ +21.28, +42.87, +14.85, +6.80, -60.40, -30.13] speed=20 wait=0.0s (pre max|Δ|=8.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.39° (tol 3.0°) [VIA ] step 2 Δ= +8.6 -5.3 +0.9 +0.3 +1.7 -0.3 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +30.21, +39.29, +16.80, +6.80, -58.83, -30.11] speed=20 wait=0.0s (pre max|Δ|=8.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.63° (tol 3.0°) [VIA ] step 5 Δ= +8.9 -6.0 +1.4 +0.2 +1.9 -0.3 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +39.08, +35.95, +18.71, +6.51, -57.43, -30.11] speed=20 wait=0.0s (pre max|Δ|=9.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.28° (tol 3.0°) [VIA ] step 8 Δ= +9.0 -6.0 +1.2 -0.3 +1.6 -0.3 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +40.67, +35.83, +18.90, +6.30, -57.12, -30.11] speed=20 wait=0.0s (pre max|Δ|=2.40°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.40° (tol 3.0°) [VIA ] step 9 Δ= +1.7 -2.4 -0.4 -0.0 +0.6 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.40°（関節 j1） [009] 推論 1566ms 10ステップ先 Δ= +2.1 +17.8 -8.4 +3.0 -12.2 -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_chunk009_via02: send_angles (single) [ +42.33, +40.48, +17.56, +6.90, -59.85, -30.15] speed=20 wait=0.0s (pre max|Δ|=2.37°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.29° (tol 3.0°) [VIA ] step 2 Δ= +1.6 +2.2 -1.8 +0.4 -2.4 -0.4 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +42.86, +48.09, +14.43, +8.24, -64.86, -30.17] speed=20 wait=0.0s (pre max|Δ|=7.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.94° (tol 3.0°) [VIA ] step 5 Δ= +0.6 +6.5 -4.9 +1.6 -7.3 -0.4 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +42.83, +54.71, +11.63, +9.18, -69.13, -30.19] speed=20 wait=0.0s (pre max|Δ|=6.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.55° (tol 3.0°) [VIA ] step 8 Δ= +0.6 +5.5 -4.2 +1.5 -6.2 -0.4 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +42.81, +56.05, +10.94, +9.37, -69.70, -30.20] speed=20 wait=0.0s (pre max|Δ|=2.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.62° (tol 3.0°) [VIA ] step 9 Δ= +0.5 +0.2 -1.9 +0.9 -2.1 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.54°（関節 j2） [010] 推論 589ms 10ステップ先 Δ= +0.7 +4.6 -3.7 +1.6 -7.4 -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_chunk010_via02: send_angles (single) [ +42.72, +60.67, +8.92, +10.21, -72.60, -30.24] speed=20 wait=0.0s (pre max|Δ|=4.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.71° (tol 3.0°) [VIA ] step 2 Δ= +0.5 +3.5 -3.6 +1.3 -4.3 -0.5 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +42.74, +61.78, +8.63, +10.58, -74.44, -30.28] speed=20 wait=0.0s (pre max|Δ|=2.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.38° (tol 3.0°) [VIA ] step 5 Δ= +0.5 +0.1 -1.5 +0.9 -2.6 -0.3 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +42.85, +61.99, +8.66, +10.63, -75.24, -30.33] speed=20 wait=0.0s (pre max|Δ|=1.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.35° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -0.8 -1.4 +0.6 -1.2 -0.4 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +42.93, +61.73, +8.77, +10.61, -75.68, -30.40] speed=20 wait=0.0s (pre max|Δ|=1.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.24° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -1.2 -1.2 +0.6 -1.5 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.24°（関節 j2） [011] 推論 742ms 1ステップ先 Δ= +0.0 +0.0 +0.0 +0.0 +0.0 +0.0 グリッパー→開 [VIA ] 中継点 1 点: step 0 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 > [VIA ] step 0 Δ= +0.0 +0.0 +0.0 -0.1 +0.0 +0.0 送らず (0.5° 以下) [Pi] GRIPPER: OPEN result= None [STATE ] 実測を渡す (直前に送った目標がない) [012] 推論 583ms 10ステップ先 Δ= +1.9 -19.1 +6.1 -2.6 +13.1 -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 > [SEND] pi05_chunk012_via02: send_angles (single) [ +42.69, +60.68, +10.89, +10.20, -76.95, -30.16] speed=20 wait=0.0s (pre max|Δ|=2.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.24° (tol 3.0°) [VIA ] step 2 Δ= +0.3 -2.2 +0.9 -0.2 +0.1 -0.2 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +43.22, +53.20, +13.37, +9.05, -71.91, -30.20] speed=20 wait=0.0s (pre max|Δ|=9.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.79° (tol 3.0°) [VIA ] step 5 Δ= +0.9 -9.7 +2.2 -1.3 +5.2 -0.2 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +44.13, +46.10, +15.57, +8.11, -66.24, -30.25] speed=20 wait=0.0s (pre max|Δ|=9.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.22° (tol 3.0°) [VIA ] step 8 Δ= +1.0 -9.3 +1.8 -2.1 +8.5 -0.3 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +44.27, +43.84, +16.07, +7.80, -63.97, -30.26] speed=20 wait=0.0s (pre max|Δ|=4.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.86° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -4.3 -0.0 -1.2 +4.5 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.86°（関節 j1） [013] 推論 563ms 10ステップ先 Δ=-13.1 -19.8 -1.0 -4.5 +25.4 -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_chunk013_via02: send_angles (single) [ +43.63, +37.46, +18.01, +7.00, -59.57, -30.24] speed=20 wait=0.0s (pre max|Δ|=8.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.91° (tol 3.0°) [VIA ] step 2 Δ= -0.2 -8.2 +1.6 -1.5 +5.8 -0.3 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +39.65, +32.24, +17.74, +5.85, -52.47, -30.21] speed=20 wait=0.0s (pre max|Δ|=8.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.03° (tol 3.0°) [VIA ] step 5 Δ= -4.2 -7.1 -0.8 -1.8 +8.3 -0.2 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +32.72, +27.23, +15.99, +4.49, -43.01, -30.19] speed=20 wait=0.0s (pre max|Δ|=10.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.86° (tol 3.0°) [VIA ] step 8 Δ= -7.3 -7.0 -2.6 -1.8 +10.5 -0.2 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +30.70, +25.90, +15.45, +4.15, -40.38, -30.18] speed=20 wait=0.0s (pre max|Δ|=3.47°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.21° (tol 3.0°) [VIA ] step 9 Δ= -2.2 -3.2 -2.2 -0.8 +3.5 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.21°（関節 j2） [014] 推論 1573ms 10ステップ先 Δ=-20.6 -17.2 -10.1 -4.9 +31.1 -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 > [SEND] pi05_chunk014_via02: send_angles (single) [ +24.95, +21.61, +13.77, +2.78, -32.27, -30.17] speed=20 wait=0.0s (pre max|Δ|=8.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.85° (tol 3.0°) [VIA ] step 2 Δ= -5.7 -6.2 -3.9 -1.7 +8.8 -0.2 着いた [SEND] pi05_chunk014_via05: send_angles (single) [ +18.93, +16.92, +11.57, +1.22, -23.17, -30.21] speed=20 wait=0.0s (pre max|Δ|=9.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.88° (tol 3.0°) [VIA ] step 5 Δ= -6.5 -6.5 -4.0 -1.9 +9.6 -0.2 着いた [SEND] pi05_chunk014_via08: send_angles (single) [ +12.01, +11.68, +8.43, -0.15, -12.68, -30.23] speed=20 wait=0.0s (pre max|Δ|=10.87°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.67° (tol 3.0°) [VIA ] step 8 Δ= -7.4 -7.1 -4.9 -1.6 +10.9 -0.3 着いた [SEND] pi05_chunk014_via09: send_angles (single) [ +10.12, +10.56, +7.52, -0.41, -10.00, -30.23] speed=20 wait=0.0s (pre max|Δ|=3.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.14° (tol 3.0°) [VIA ] step 9 Δ= -2.3 -2.7 -2.6 -0.6 +3.1 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.88°（関節 j2） [015] 推論 603ms 10ステップ先 Δ= -8.4 -7.7 -6.3 -0.4 +9.0 -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 > [SEND] pi05_chunk015_via02: send_angles (single) [ +5.40, +6.57, +5.21, -0.47, -3.86, -30.26] speed=20 wait=0.0s (pre max|Δ|=6.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.55° (tol 3.0°) [VIA ] step 2 Δ= -4.5 -5.6 -4.2 -0.3 +6.4 -0.3 着いた [SEND] pi05_chunk015_via05: send_angles (single) [ +2.43, +4.57, +3.79, -0.54, -1.21, -30.26] speed=20 wait=0.0s (pre max|Δ|=3.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.74° (tol 3.0°) [VIA ] step 5 Δ= -3.2 -3.4 -3.0 -0.3 +3.1 -0.3 着いた [SEND] pi05_chunk015_via08: send_angles (single) [ +1.59, +4.45, +3.22, -0.52, -1.18, -30.26] speed=20 wait=0.0s (pre max|Δ|=2.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.31° (tol 3.0°) [VIA ] step 8 Δ= -0.8 -1.6 -2.3 -0.3 +0.3 -0.3 着いた [SEND] pi05_chunk015_via09: send_angles (single) [ +1.55, +4.54, +3.15, -0.55, -1.29, -30.28] speed=20 wait=0.0s (pre max|Δ|=2.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.21° (tol 3.0°) [VIA ] step 9 Δ= -0.5 -1.5 -2.2 -0.3 +0.2 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.21°（関節 j2） [016] 推論 1762ms 10ステップ先 Δ= -1.8 -2.0 -2.4 -0.3 +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 > 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|=6.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.23° (tol 2.5°) [RECORD] 記録終了 コマ 1016 (8.863 fps) 実測角 1004 回 (8.76 Hz) 電流 1014 行 (read_servo) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112924/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_20261110_112924 [CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)) (120 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 (4 回目) [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [-0.17, 1.14, 1.23, -0.35, -0.26, -29.97] [SEND] HOME へ移動指令 [WAIT] t=0.6s max_err=1.23° [DONE] HOME 到達 max_err=1.23° [POST] 最終姿勢: [-0.17, 1.14, 1.23, -0.35, -0.26, -29.97] [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= +8.7 dx= -2.1 response=0.766 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) ^C [STOP ] Ctrl-C [DONE ] 終了 (何も書いていません) (184 秒) === 8. 実機推論 (4 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 50 本 ±10°): j0[-72,+55] j1[-9,+88] j2[-45,+52] j3[-18,+27] j4[-87,+10] j5[-51,-15] [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_deep_even10_v1/raw_episodes [MODE ] EXECUTE steps/chunk=10 max_move=20.0° log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113433 [MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1) [CAMERA] 写り方 dy=+2.0 dx=+4.2 response=0.595 → 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_20261110_113433/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 984ms 10ステップ先 Δ=-11.6 +21.0 -3.1 +2.5 -19.7 -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) [ -2.63, +4.74, +0.78, +0.06, -3.47, -30.33] speed=20 wait=0.0s (pre max|Δ|=3.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.07° (tol 3.0°) [VIA ] step 2 Δ= -2.4 +3.6 -0.5 +0.3 -3.2 -0.4 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -6.41, +11.61, -0.16, +0.90, -10.43, -30.87] speed=20 wait=0.0s (pre max|Δ|=9.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.56° (tol 3.0°) [VIA ] step 5 Δ= -3.6 +6.1 -1.4 +1.1 -9.0 -0.9 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -10.58, +19.71, -1.48, +1.97, -17.75, -31.38] speed=20 wait=0.0s (pre max|Δ|=8.88°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.83° (tol 3.0°) [VIA ] step 8 Δ= -4.4 +7.1 -2.7 +1.1 -8.9 -1.3 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -11.89, +22.11, -1.87, +2.24, -19.92, -31.54] speed=20 wait=0.0s (pre max|Δ|=3.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.22° (tol 3.0°) [VIA ] step 9 Δ= -1.7 +1.3 -2.2 +0.5 -3.5 -0.9 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.22°（関節 j2） [001] 推論 970ms 10ステップ先 Δ=-14.9 +28.1 -8.2 +3.2 -28.6 -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 > [SEND] pi05_chunk001_via02: send_angles (single) [ -16.61, +30.51, -3.42, +3.50, -27.63, -31.99] speed=20 wait=0.0s (pre max|Δ|=8.83°, post-send timeout 8.0s) [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [SEND] arrival OK: max|Δ|=1.76° (tol 3.0°) [VIA ] step 2 Δ= -4.6 +7.5 -3.8 +1.1 -8.8 -1.1 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -21.50, +39.48, -5.25, +4.68, -36.48, -32.19] speed=20 wait=0.0s (pre max|Δ|=9.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 5 Δ= -5.1 +7.8 -3.6 +0.8 -9.5 -0.6 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -25.80, +48.89, -7.24, +5.41, -45.33, -32.33] speed=20 wait=0.0s (pre max|Δ|=9.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.71° (tol 3.0°) [VIA ] step 8 Δ= -4.7 +8.3 -3.6 +0.1 -9.1 -0.4 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -26.85, +51.14, -7.87, +5.57, -47.42, -32.36] speed=20 wait=0.0s (pre max|Δ|=2.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 9 Δ= -1.5 +1.1 -2.3 -0.3 -2.1 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.46°（関節 j2） [002] 推論 987ms 10ステップ先 Δ=-11.0 +17.3 -3.6 +0.0 -13.6 -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) [ -31.96, +59.43, -8.95, +5.91, -54.48, -32.44] speed=20 wait=0.0s (pre max|Δ|=7.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.57° (tol 3.0°) [VIA ] step 2 Δ= -5.3 +7.1 -2.5 -0.5 -6.7 -0.4 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -35.63, +65.73, -9.55, +6.14, -59.43, -32.53] speed=20 wait=0.0s (pre max|Δ|=5.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 5 Δ= -3.7 +5.1 -2.2 -0.5 -4.9 -0.4 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -37.19, +68.88, -9.94, +6.31, -61.30, -32.62] speed=20 wait=0.0s (pre max|Δ|=2.33°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.68° (tol 3.0°) [VIA ] step 8 Δ= -1.8 +2.1 -1.9 -0.4 -2.3 -0.4 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -37.60, +69.54, -10.04, +6.32, -61.34, -32.64] speed=20 wait=0.0s (pre max|Δ|=1.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.43° (tol 3.0°) [VIA ] step 9 Δ= -0.6 -0.4 -1.6 -0.5 -0.1 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.43°（関節 j2） [003] 推論 986ms 10ステップ先 Δ= -0.8 +1.0 -2.7 -0.8 -1.2 -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_chunk003_via02: send_angles (single) [ -38.00, +70.39, -10.39, +6.32, -62.00, -32.70] speed=20 wait=0.0s (pre max|Δ|=1.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.69° (tol 3.0°) [VIA ] step 2 Δ= -1.0 -0.4 -1.8 -0.4 -0.7 -0.4 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -37.85, +70.68, -10.72, +6.21, -62.32, -32.74] speed=20 wait=0.0s (pre max|Δ|=1.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.58° (tol 3.0°) [VIA ] step 5 Δ= +0.6 -0.9 -1.7 -0.5 -0.5 -0.4 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -37.78, +71.47, -11.21, +6.02, -62.51, -32.85] speed=20 wait=0.0s (pre max|Δ|=2.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.55° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -0.2 -2.1 -0.6 -0.6 -0.4 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -37.79, +71.72, -11.32, +6.01, -62.57, -32.87] speed=20 wait=0.0s (pre max|Δ|=1.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.48° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -1.1 -1.5 -0.4 -0.0 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.48°（関節 j2） [004] 推論 1007ms 10ステップ先 Δ= +0.0 +7.0 -8.6 -0.5 +4.4 -1.2 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 > p objc[5198]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8ca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8ca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8ccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5198]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d7c8). 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 4 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 +2.0° → -35.70 +72.77 -9.84 +6.32 -62.57 -32.51 届いた（ずれ 0.96°） 届いた角度 -35.68 +72.77 -9.84 +5.36 -62.57 -32.51 [送信] j0 +2.0° → -33.70 +72.77 -9.84 +6.32 -62.57 -32.51 届いた（ずれ 0.79°） 届いた角度 -33.75 +72.77 -9.84 +5.53 -62.57 -32.51 ^C[PAD ] 補正 1 を終えました (12.8 秒, 送った目標 2 回). この姿勢から推論に戻ります [STOP ] Ctrl-C [RECORD] 記録終了 コマ 400 (8.151 fps) 実測角 353 回 (7.19 Hz) 電流 357 行 (read_servo) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113433/recording [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113433 [CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)) (52 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: [-33.92, 72.77, -9.84, 5.71, -62.57, -32.51] [SEND] HOME へ移動指令 [WAIT] t=0.6s max_err=59.94° [WAIT] t=1.1s max_err=43.85° [WAIT] t=1.6s max_err=27.94° [WAIT] t=2.1s max_err=12.21° [WAIT] t=2.6s max_err=2.37° [DONE] HOME 到達 max_err=2.37° [POST] 最終姿勢: [-0.35, 1.31, 0.79, -0.26, -2.37, -30.84] [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= +8.8 dx= -2.2 response=0.790 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) ^C [STOP ] Ctrl-C [DONE ] 終了 (何も書いていません) (29 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 50 本 ±10°): j0[-72,+55] j1[-9,+88] j2[-45,+52] j3[-18,+27] j4[-87,+10] j5[-51,-15] [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_deep_even10_v1/raw_episodes [MODE ] EXECUTE steps/chunk=10 max_move=20.0° log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113600 [MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1) [CAMERA] 写り方 dy=+2.1 dx=+4.4 response=0.584 → 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_20261110_113600/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 971ms 10ステップ先 Δ=-10.6 +18.1 -2.8 +2.2 -17.7 -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 > [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) [ -0.93, +2.05, +0.76, -0.03, -1.01, -30.23] speed=20 wait=0.0s (pre max|Δ|=0.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 2 Δ= -0.7 +0.7 -0.1 +0.2 -0.7 +0.0 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -4.67, +9.18, -0.14, +0.77, -8.22, -30.60] speed=20 wait=0.0s (pre max|Δ|=7.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 5 Δ= -3.6 +6.1 -1.7 +1.0 -8.0 -0.4 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -9.45, +17.07, -1.42, +1.69, -15.72, -31.06] speed=20 wait=0.0s (pre max|Δ|=9.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.77° (tol 3.0°) [VIA ] step 8 Δ= -4.8 +6.9 -3.0 +1.8 -9.8 -0.8 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -10.85, +19.45, -1.92, +1.90, -17.95, -31.18] speed=20 wait=0.0s (pre max|Δ|=3.89°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.84° (tol 3.0°) [VIA ] step 9 Δ= -1.2 +1.4 -2.3 +0.8 -3.9 -0.9 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.84°（関節 j2） [001] 推論 997ms 10ステップ先 Δ=-16.4 +27.9 -7.1 +4.3 -29.0 -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 > [SEND] pi05_chunk001_via02: send_angles (single) [ -15.67, +27.48, -3.33, +3.03, -25.41, -31.62] speed=20 wait=0.0s (pre max|Δ|=8.54°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.67° (tol 3.0°) [VIA ] step 2 Δ= -4.8 +6.9 -3.3 +1.6 -8.5 -1.2 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -20.89, +36.37, -5.07, +4.34, -34.12, -31.83] speed=20 wait=0.0s (pre max|Δ|=9.08°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 5 Δ= -5.4 +7.7 -3.4 +1.0 -9.1 -1.0 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -25.70, +45.75, -6.97, +5.43, -43.36, -31.94] speed=20 wait=0.0s (pre max|Δ|=9.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.70° (tol 3.0°) [VIA ] step 8 Δ= -5.0 +8.2 -3.5 +0.6 -9.5 -0.7 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -27.33, +48.43, -7.20, +5.65, -45.85, -31.96] speed=20 wait=0.0s (pre max|Δ|=3.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.84° (tol 3.0°) [VIA ] step 9 Δ= -1.2 +1.4 -1.8 -0.4 -3.2 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.84°（関節 j2） [002] 推論 917ms 10ステップ先 Δ=-11.8 +18.2 -4.2 -0.0 -15.2 -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_chunk002_via02: send_angles (single) [ -33.17, +57.26, -8.64, +5.99, -53.55, -32.06] speed=20 wait=0.0s (pre max|Δ|=8.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.61° (tol 3.0°) [VIA ] step 2 Δ= -6.0 +7.8 -3.3 -0.4 -8.0 -0.6 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -37.14, +64.35, -9.55, +6.13, -59.20, -32.18] speed=20 wait=0.0s (pre max|Δ|=6.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 5 Δ= -4.4 +5.9 -2.5 -0.6 -6.1 -0.5 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -38.79, +67.38, -9.59, +6.38, -61.09, -32.30] speed=20 wait=0.0s (pre max|Δ|=2.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.51° (tol 3.0°) [VIA ] step 8 Δ= -1.9 +1.7 -1.5 -0.5 -2.4 -0.5 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -38.95, +67.67, -9.56, +6.38, -60.73, -32.36] speed=20 wait=0.0s (pre max|Δ|=1.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.48° (tol 3.0°) [VIA ] step 9 Δ= -0.4 -0.8 -1.5 -0.6 -0.3 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.48°（関節 j2） [003] 推論 938ms 10ステップ先 Δ= -1.0 +3.9 -3.3 -1.3 -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 objc[5249]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4ca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4ca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4ccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5249]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd7c8). 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° → -37.67 +68.55 -8.08 +6.76 -60.38 -32.08 届いた（ずれ 0.09°） 届いた角度 -37.70 +68.55 -8.08 +6.67 -60.38 -32.08 [送信] j0 +1.0° → -36.67 +68.55 -8.08 +6.76 -60.38 -32.08 届いた（ずれ 0.52°） 届いた角度 -37.08 +68.55 -8.08 +6.24 -60.38 -32.08 [送信] j0 +2.0° → -34.67 +68.55 -8.08 +6.76 -60.38 -32.08 届いた（ずれ 1.05°） 届いた角度 -34.54 +68.55 -8.08 +5.71 -60.38 -32.08 [送信] j0 +1.0° → -33.67 +68.55 -8.08 +6.76 -60.38 -32.08 届いた（ずれ 0.79°） 届いた角度 -33.22 +68.55 -8.08 +5.97 -60.38 -32.08 [PAD ] 補正 1 を終えました (14.1 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) [004] 推論 988ms 10ステップ先 Δ= -0.4 +4.8 -0.9 +0.1 -1.8 -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 > [SEND] pi05_chunk004_via02: send_angles (single) [ -33.82, +70.75, -8.32, +6.28, -61.49, -32.15] speed=20 wait=0.0s (pre max|Δ|=2.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.14° (tol 3.0°) [VIA ] step 2 Δ= -0.3 +2.2 -0.2 +0.2 -1.1 -0.1 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -33.75, +71.81, -8.47, +6.41, -61.90, -32.18] speed=20 wait=0.0s (pre max|Δ|=0.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.22° (tol 3.0°) [VIA ] step 5 Δ= -0.3 -0.1 -0.6 +0.3 +0.2 -0.1 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ -33.79, +72.90, -8.80, +6.29, -62.13, -32.25] speed=20 wait=0.0s (pre max|Δ|=1.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.10° (tol 3.0°) [VIA ] step 8 Δ= -0.3 -0.1 -1.1 +0.1 +0.6 -0.2 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ -33.85, +73.30, -9.01, +6.21, -62.21, -32.28] speed=20 wait=0.0s (pre max|Δ|=1.28°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.28° (tol 3.0°) [VIA ] step 9 Δ= -0.4 -0.9 -1.3 +0.1 +0.6 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.28°（関節 j2） [005] 推論 921ms 8ステップ先 Δ= -0.3 +4.7 -5.6 -0.2 +1.0 -0.6 グリッパー→閉 [VIA ] 中継点 3 点: step 2, 5, 7 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) [ -33.89, +75.70, -10.69, +6.10, -62.09, -32.45] speed=20 wait=0.0s (pre max|Δ|=2.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.82° (tol 3.0°) [VIA ] step 2 Δ= -0.4 +1.5 -3.0 -0.0 +0.8 -0.4 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -33.83, +78.36, -12.97, +5.98, -61.84, -32.62] speed=20 wait=0.0s (pre max|Δ|=3.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.52° (tol 3.0°) [VIA ] step 5 Δ= -0.4 +1.4 -3.5 -0.2 +1.0 -0.4 着いた [SEND] pi05_chunk005_via07: send_angles (single) [ -33.77, +78.83, -13.33, +5.98, -61.81, -32.67] speed=20 wait=0.0s (pre max|Δ|=1.47°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.21° (tol 3.0°) [VIA ] step 7 Δ= -0.3 -0.7 -1.5 -0.2 +1.0 -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 1.21°（関節 j2） [006] 推論 969ms 10ステップ先 Δ= +6.7 -7.0 +1.5 +1.3 +0.4 -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 > 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|=79.89°, post-send timeout 14.0s) [SEND] arrival OK: max|Δ|=1.49° (tol 2.5°) [RECORD] 記録終了 コマ 466 (8.223 fps) 実測角 457 回 (8.06 Hz) 電流 466 行 (read_servo) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113600/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_20261110_113600 [CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)) (62 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: [-0.26, 1.49, 0.70, 0.26, -0.26, -30.41] [SEND] HOME へ移動指令 [WAIT] t=0.7s max_err=1.49° [DONE] HOME 到達 max_err=1.49° [POST] 最終姿勢: [-0.26, 1.49, 0.70, 0.26, -0.26, -30.32] [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= +9.6 dx= -2.4 response=0.669 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません) (37 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 50 本 ±10°): j0[-72,+55] j1[-9,+88] j2[-45,+52] j3[-18,+27] j4[-87,+10] j5[-51,-15] [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_deep_even10_v1/raw_episodes [MODE ] EXECUTE steps/chunk=10 max_move=20.0° log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113741 [MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1) [CAMERA] 写り方 dy=+2.6 dx=+4.1 response=0.590 → 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_20261110_113741/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 920ms 10ステップ先 Δ=-13.1 +22.2 -3.6 +1.5 -21.9 -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 > [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) [ -2.78, +5.72, +0.23, +0.40, -4.42, -30.41] speed=20 wait=0.0s (pre max|Δ|=4.23°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.23° (tol 3.0°) [VIA ] step 2 Δ= -2.5 +4.2 -0.5 +0.1 -4.2 -0.2 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -7.18, +13.48, -0.89, +0.92, -12.16, -30.81] speed=20 wait=0.0s (pre max|Δ|=9.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.88° (tol 3.0°) [VIA ] step 5 Δ= -4.0 +6.9 -1.6 +0.7 -10.0 -0.6 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -11.88, +21.47, -2.38, +1.59, -19.90, -31.25] speed=20 wait=0.0s (pre max|Δ|=9.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.77° (tol 3.0°) [VIA ] step 8 Δ= -5.0 +6.9 -3.1 +1.3 -9.5 -0.9 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -13.33, +23.68, -2.87, +1.80, -22.16, -31.38] speed=20 wait=0.0s (pre max|Δ|=3.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.26° (tol 3.0°) [VIA ] step 9 Δ= -1.6 +1.1 -2.3 +1.2 -3.6 -1.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.26°（関節 j2） [001] 推論 917ms 10ステップ先 Δ=-17.2 +27.9 -7.3 +3.6 -26.2 -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 > [SEND] pi05_chunk001_via02: send_angles (single) [ -18.87, +31.97, -4.32, +2.94, -29.48, -31.64] speed=20 wait=0.0s (pre max|Δ|=8.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.86° (tol 3.0°) [VIA ] step 2 Δ= -5.2 +7.2 -3.7 +1.8 -8.1 -1.1 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -24.46, +41.18, -5.95, +4.14, -37.65, -31.76] speed=20 wait=0.0s (pre max|Δ|=8.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 5 Δ= -5.8 +8.1 -3.4 +0.6 -8.9 -0.8 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -29.35, +50.36, -7.59, +4.68, -45.55, -31.84] speed=20 wait=0.0s (pre max|Δ|=8.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.62° (tol 3.0°) [VIA ] step 8 Δ= -5.0 +8.0 -3.3 +0.5 -8.5 -0.7 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -30.39, +52.67, -7.96, +4.68, -47.50, -31.85] speed=20 wait=0.0s (pre max|Δ|=2.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.81° (tol 3.0°) [VIA ] step 9 Δ= -1.4 +1.1 -1.9 -0.8 -2.4 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.81°（関節 j2） [002] 推論 987ms 10ステップ先 Δ= -9.3 +13.7 -2.7 +0.2 -12.6 -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) [ -35.75, +60.67, -8.57, +5.03, -54.67, -31.98] speed=20 wait=0.0s (pre max|Δ|=7.39°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.54° (tol 3.0°) [VIA ] step 2 Δ= -5.6 +6.7 -2.4 -0.4 -7.4 -0.6 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -38.50, +65.81, -8.81, +5.33, -58.88, -32.05] speed=20 wait=0.0s (pre max|Δ|=4.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.78° (tol 3.0°) [VIA ] step 5 Δ= -3.2 +3.8 -1.8 -0.2 -4.8 -0.4 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -39.29, +67.34, -8.88, +5.52, -59.77, -32.11] speed=20 wait=0.0s (pre max|Δ|=1.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.85° (tol 3.0°) [VIA ] step 8 Δ= -1.2 +0.5 -1.8 -0.2 -1.9 -0.4 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -39.37, +67.65, -8.81, +5.60, -59.90, -32.15] speed=20 wait=0.0s (pre max|Δ|=1.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.78° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -0.9 -1.8 -0.4 -0.2 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.78°（関節 j2） [003] 推論 990ms 10ステップ先 Δ= +0.1 +2.0 -2.9 -0.7 -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 objc[5303]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576ca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576ca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576ccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5303]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd7c8). 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 +2.0° → -37.55 +68.55 -7.03 +5.97 -59.67 -31.81 届いた（ずれ 0.97°） 届いた角度 -37.35 +68.55 -7.03 +5.00 -59.67 -31.81 [送信] j0 +2.0° → -35.55 +68.55 -7.03 +5.97 -59.67 -31.81 届いた（ずれ 1.32°） 届いた角度 -35.15 +68.55 -7.03 +4.65 -59.67 -31.81 [送信] j0 +2.0° → -33.55 +68.55 -7.03 +5.97 -59.67 -31.81 届いた（ずれ 0.97°） 届いた角度 -33.31 +68.55 -7.03 +5.00 -59.67 -31.90 [送信] j1 -1.0° → -33.55 +67.55 -7.03 +5.97 -59.67 -31.81 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 1.0°） 届いた角度 -33.75 +68.55 -7.03 +5.36 -59.67 -31.90 [送信] j1 -1.0° → -33.55 +66.55 -7.03 +5.97 -59.67 -31.81 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 2.0°） 届いた角度 -33.75 +68.55 -7.03 +5.36 -59.67 -31.90 [送信] j1 -1.0° → -33.55 +65.55 -7.03 +5.97 -59.67 -31.81 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 2.91°） 届いた角度 -33.75 +68.46 -7.03 +5.36 -59.67 -31.90 [送信] j1 -1.0° → -33.55 +64.55 -7.03 +5.97 -59.67 -31.81 手前で止まった（次の押しは この目標の先から）（ずれ 2.33°） 届いた角度 -33.75 +66.88 -7.03 +5.36 -59.67 -31.90 [止める] stop（released_while_sending） 止まった角度 -33.75 +55.72 -7.03 +5.36 -59.85 -31.99 [関節] 上下で動かす関節を j2 にしました [送信] j2 -1.0° → -33.55 +55.72 -8.03 +5.97 -59.67 -31.81 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 1.0°） 届いた角度 -33.75 +55.72 -7.03 +5.36 -59.85 -31.99 [止める] stop（released_while_sending） 止まった角度 -33.75 +57.12 -9.49 +5.36 -58.18 -31.99 [送信] j2 -1.0° → -33.55 +55.72 -10.49 +5.97 -59.67 -31.81 届いた（ずれ 0.61°） 届いた角度 -33.75 +55.54 -10.81 +5.36 -59.58 -31.99 [関節] 上下で動かす関節を j3 にしました [関節] 上下で動かす関節を j4 にしました [関節] 上下で動かす関節を j5 にしました [関節] 上下で動かす関節を j1 にしました [送信] j1 +2.0° → -33.55 +57.72 -10.49 +5.97 -59.67 -31.81 届いた（ずれ 0.91°） 届いた角度 -33.75 +58.09 -9.58 +5.36 -59.67 -31.99 [止める] stop（released_while_sending） 止まった角度 -33.75 +64.42 -8.96 +5.44 -58.00 -31.99 [送信] j1 +2.0° → -33.55 +66.42 -10.49 +5.97 -59.67 -31.81 手前で止まった（次の押しは この目標の先から）（ずれ 1.67°） 届いた角度 -33.75 +67.58 -9.14 +5.44 -58.00 -31.99 [送信] j1 +2.0° → -33.55 +68.42 -10.49 +5.97 -59.67 -31.81 手前で止まった（次の押しは この目標の先から）（ずれ 1.36°） 届いた角度 -33.75 +69.78 -9.14 +5.44 -58.44 -31.99 [送信] j1 +2.0° → -33.55 +70.42 -10.49 +5.97 -59.67 -31.81 手前で止まった（次の押しは この目標の先から）（ずれ 1.38°） 届いた角度 -33.75 +71.80 -9.14 +5.44 -58.79 -31.99 [関節] 上下で動かす関節を j2 にしました [送信] j2 +1.0° → -33.55 +70.42 -9.49 +5.97 -48.33 -31.81 届いた（ずれ 1.38°） 届いた角度 -33.75 +71.80 -9.22 +5.27 -48.33 -32.34 [長押し] j2 を -9.22° → -3.51° まで（目標を 1 回送信。止めます） [長押し] j2 を +4.74° → -4.39° まで（目標を 1 回送信。止めます） [止める] stop（released_while_sending） 止まった角度 -33.57 +74.79 -17.66 +5.44 -55.10 -31.37 [関節] 上下で動かす関節を j3 にしました [関節] 上下で動かす関節を j4 にしました [関節] 上下で動かす関節を j5 にしました [関節] 上下で動かす関節を j1 にしました [送信] j1 +1.0° → -33.55 +75.79 -17.66 +5.97 -54.75 -31.81 手前で止まった（次の押しは この目標の先から）（ずれ 5.98°） 届いた角度 -33.66 +77.25 -22.41 +5.53 -60.73 -31.37 [範囲] j1 を +92.25° → +90.87° に切った（j1 の上限 90.87 (PICK_J1_FIXED) +90.87°） [送信] j1 +1.0° → -33.55 +76.79 -17.66 +5.97 -54.75 -31.81 手前で止まった（次の押しは この目標の先から）（ずれ 5.98°） 届いた角度 -33.66 +77.95 -22.41 +5.53 -60.73 -31.55 [送信] j1 +2.0° → -33.55 +78.79 -17.66 +5.97 -54.75 -31.81 手前で止まった（次の押しは この目標の先から）（ずれ 5.98°） 届いた角度 -33.66 +80.24 -22.41 +5.62 -60.73 -31.64 [送信] j1 +2.0° → -33.55 +80.79 -17.66 +5.97 -54.75 -31.81 手前で止まった（次の押しは この目標の先から）（ずれ 5.98°） 届いた角度 -33.75 +82.35 -22.41 +5.62 -60.73 -31.72 [送信] j1 +2.0° → -33.55 +82.79 -17.66 +5.97 -54.75 -31.81 手前で止まった（次の押しは この目標の先から）（ずれ 5.98°） 届いた角度 -33.75 +84.02 -22.41 +5.62 -60.73 -31.81 [送信] j1 +2.0° → -33.55 +84.79 -17.66 +5.97 -54.75 -31.81 手前で止まった（次の押しは この目標の先から）（ずれ 5.89°） 届いた角度 -33.75 +86.13 -22.41 +5.71 -60.64 -31.81 [PAD ] 補正 1 を終えました (88.5 秒, 送った目標 27 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 916ms 6ステップ先 Δ= +0.2 +1.9 -5.3 -0.1 +2.3 -0.5 グリッパー→閉 [LIMIT] j1 安全範囲でクランプ +89.9→+88.0 [VIA ] 中継点 2 点: step 2, 5 [LIMIT] step 2: j1 安全範囲でクランプ +89.4→+88.0 [LIMIT] step 5: j1 安全範囲でクランプ +89.9→+88.0 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) [ -33.58, +88.00, -26.79, +5.62, -58.37, -32.15] speed=20 wait=0.0s (pre max|Δ|=4.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 2 Δ= +0.2 +1.9 -4.4 -0.1 +1.8 -0.3 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -33.55, +88.00, -27.76, +5.62, -58.07, -32.28] speed=20 wait=0.0s (pre max|Δ|=1.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.43° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -0.8 -1.6 +0.1 +1.6 -0.4 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 1.43°（関節 j4） [005] 推論 986ms 10ステップ先 Δ= +1.5 -11.8 +5.5 +1.1 +0.9 -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_chunk005_via02: send_angles (single) [ -33.48, +84.31, -26.06, +5.67, -58.32, -32.36] speed=20 wait=0.0s (pre max|Δ|=4.54°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.52° (tol 3.0°) [VIA ] step 2 Δ= +0.3 -4.5 +0.8 +0.5 +1.3 -0.1 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -33.31, +81.02, -23.99, +5.81, -58.68, -32.41] speed=20 wait=0.0s (pre max|Δ|=5.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.56° (tol 3.0°) [VIA ] step 5 Δ= +0.4 -5.7 +2.1 +0.5 -1.6 +0.0 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -33.27, +78.13, -22.03, +6.11, -58.69, -32.58] speed=20 wait=0.0s (pre max|Δ|=5.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.28° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -5.4 +1.3 +0.4 -1.8 -0.1 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -32.26, +77.00, -21.40, +6.36, -58.64, -32.74] speed=20 wait=0.0s (pre max|Δ|=3.41°, post-send timeout 8.0s) [SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.06° actual=[ -32.43, +80.06, -20.83, +6.50, -57.91, -32.43] [SEND] リトライしません: pre→last max|Δ| 1.32° >= 1.0° (部分移動/ストール疑い) [VIA ] step 9 Δ= +1.5 -3.4 -0.1 +0.7 -1.8 -0.3 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 3.06°（関節 j1） [006] 推論 960ms 10ステップ先 Δ=+11.5 -12.2 +6.0 +2.2 -0.1 -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_chunk006_via02: send_angles (single) [ -31.96, +72.75, -16.91, +6.81, -60.06, -32.82] speed=20 wait=0.0s (pre max|Δ|=7.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.57° (tol 3.0°) [VIA ] step 2 Δ= +0.5 -7.3 +3.9 +0.3 -1.9 -0.4 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -30.81, +71.38, -15.43, +7.47, -60.42, -33.26] speed=20 wait=0.0s (pre max|Δ|=3.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.62° (tol 3.0°) [VIA ] step 5 Δ= +1.6 -3.9 +0.6 +0.9 +1.0 -0.7 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -23.78, +68.86, -14.86, +8.39, -58.85, -34.08] speed=20 wait=0.0s (pre max|Δ|=7.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.59° (tol 3.0°) [VIA ] step 8 Δ= +7.1 -5.1 -0.2 +0.8 +2.6 -1.0 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -20.97, +67.88, -14.82, +8.69, -58.02, -34.33] speed=20 wait=0.0s (pre max|Δ|=3.57°, post-send timeout 8.0s) [SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.39° actual=[ -21.09, +71.27, -14.32, +9.14, -58.53, -34.01] [SEND] リトライしません: pre→last max|Δ| 2.90° >= 1.0° (部分移動/ストール疑い) [VIA ] step 9 Δ= +3.3 -3.6 -0.5 +0.1 +3.2 -0.7 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 3.39°（関節 j1） [007] 推論 922ms 10ステップ先 Δ=+28.1 -10.4 +2.5 +3.8 +4.3 -3.2 [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) [ -12.71, +65.79, -13.69, +10.07, -57.34, -35.27] speed=20 wait=0.0s (pre max|Δ|=8.38°, post-send timeout 8.0s) [SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.02° actual=[ -12.91, +68.81, -13.09, +9.84, -57.30, -34.98] [SEND] リトライしません: pre→last max|Δ| 8.18° >= 1.0° (部分移動/ストール疑い) [VIA ] step 2 Δ= +8.4 -5.5 +0.6 +0.9 +1.0 -1.3 未到達 [WARN] 未到達. j4 の発熱などを確認してください [SEND] pi05_chunk007_via05: send_angles (single) [ -4.07, +63.55, -12.78, +11.49, -56.26, -36.24] speed=20 wait=0.0s (pre max|Δ|=8.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.80° (tol 3.0°) [VIA ] step 5 Δ= +8.8 -5.3 +0.3 +1.7 +1.0 -1.3 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +4.45, +61.46, -11.98, +12.69, -55.00, -37.02] speed=20 wait=0.0s (pre max|Δ|=8.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.78° (tol 3.0°) [VIA ] step 8 Δ= +8.6 -4.9 +0.1 +1.3 +1.1 -1.1 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +7.04, +60.85, -11.86, +12.98, -54.21, -37.22] speed=20 wait=0.0s (pre max|Δ|=3.39°, post-send timeout 8.0s) [SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.31° actual=[ +7.03, +64.16, -11.16, +13.35, -54.05, -36.91] [SEND] リトライしません: pre→last max|Δ| 2.73° >= 1.0° (部分移動/ストール疑い) [VIA ] step 9 Δ= +2.7 -3.4 -0.4 +0.2 +0.5 -0.6 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 3.31°（関節 j1） [008] 推論 916ms 10ステップ先 Δ=+29.0 -12.4 +0.3 +3.7 +4.0 -2.3 [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 > [SEND] pi05_chunk008_via02: send_angles (single) [ +15.17, +58.22, -11.66, +14.06, -52.98, -38.19] speed=20 wait=0.0s (pre max|Δ|=8.14°, post-send timeout 8.0s) [SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.03° actual=[ +15.11, +61.25, -11.16, +13.79, -52.47, -37.88] [SEND] リトライしません: pre→last max|Δ| 8.08° >= 1.0° (部分移動/ストール疑い) [VIA ] step 2 Δ= +8.1 -5.9 -0.5 +0.8 +1.1 -1.3 未到達 [WARN] 未到達. j4 の発熱などを確認してください [SEND] pi05_chunk008_via05: send_angles (single) [ +24.07, +55.31, -11.30, +15.40, -52.03, -38.91] speed=20 wait=0.0s (pre max|Δ|=8.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.96° (tol 3.0°) [VIA ] step 5 Δ= +9.0 -5.9 -0.1 +1.6 +0.4 -1.0 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +32.92, +52.71, -10.96, +16.64, -50.64, -39.25] speed=20 wait=0.0s (pre max|Δ|=9.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.83° (tol 3.0°) [VIA ] step 8 Δ= +9.0 -5.6 -0.2 +1.3 +1.8 -0.7 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +36.04, +51.76, -10.90, +16.95, -50.03, -39.26] speed=20 wait=0.0s (pre max|Δ|=3.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.55° (tol 3.0°) [VIA ] step 9 Δ= +2.9 -3.8 -0.3 +0.3 +1.5 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.55°（関節 j1） [009] 推論 911ms 10ステップ先 Δ= +8.5 +8.2 -1.2 -2.3 -7.2 -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 > 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|=54.31°, post-send timeout 10.1s) [SEND] arrival OK: max|Δ|=1.58° (tol 2.5°) [RECORD] 記録終了 コマ 1559 (8.666 fps) 実測角 1621 回 (9.01 Hz) 電流 1644 行 (read_servo) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113741/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_20261110_113741 [CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)) (184 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: [-0.43, 1.58, 0.79, 0.00, -0.26, -30.49] [SEND] HOME へ移動指令 [WAIT] t=0.7s max_err=1.58° [DONE] HOME 到達 max_err=1.58° [POST] 最終姿勢: [-0.43, 1.58, 0.79, 0.00, -0.26, -30.41] [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= +9.4 dx= -2.8 response=0.675 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません) (18 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 50 本 ±10°): j0[-72,+55] j1[-9,+88] j2[-45,+52] j3[-18,+27] j4[-87,+10] j5[-51,-15] [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_deep_even10_v1/raw_episodes [MODE ] EXECUTE steps/chunk=10 max_move=20.0° log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_114106 [MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1) [CAMERA] 写り方 dy=+2.7 dx=+3.7 response=0.585 → 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_20261110_114106/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 971ms 10ステップ先 Δ=-13.3 +22.9 -4.1 +2.4 -22.1 -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 > [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) [ -3.08, +5.95, -0.12, +0.60, -4.33, -30.61] speed=20 wait=0.0s (pre max|Δ|=4.37°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.23° (tol 3.0°) [VIA ] step 2 Δ= -2.7 +4.4 -0.9 +0.6 -4.1 -0.4 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -7.61, +13.80, -1.49, +1.49, -11.77, -31.17] speed=20 wait=0.0s (pre max|Δ|=9.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.28° (tol 3.0°) [VIA ] step 5 Δ= -4.1 +6.9 -2.3 +1.5 -9.7 -0.9 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -12.21, +21.93, -2.88, +2.19, -19.61, -31.54] speed=20 wait=0.0s (pre max|Δ|=9.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.92° (tol 3.0°) [VIA ] step 8 Δ= -5.0 +7.1 -3.4 +1.7 -9.5 -1.2 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -13.76, +24.50, -3.29, +2.40, -22.31, -31.66] speed=20 wait=0.0s (pre max|Δ|=4.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.33° (tol 3.0°) [VIA ] step 9 Δ= -1.9 +1.6 -2.3 +1.2 -4.3 -1.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.98°（関節 j2） [001] 推論 923ms 10ステップ先 Δ=-17.3 +29.5 -8.0 +4.0 -27.4 -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_chunk001_via02: send_angles (single) [ -19.55, +33.91, -5.01, +4.03, -30.19, -31.97] speed=20 wait=0.0s (pre max|Δ|=8.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.76° (tol 3.0°) [VIA ] step 2 Δ= -5.5 +8.3 -3.7 +2.2 -8.9 -1.0 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -24.80, +43.29, -6.92, +5.13, -38.31, -32.02] speed=20 wait=0.0s (pre max|Δ|=8.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 5 Δ= -4.8 +8.2 -3.7 +0.5 -8.4 -0.7 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -29.35, +52.21, -8.80, +5.62, -46.18, -32.08] speed=20 wait=0.0s (pre max|Δ|=8.22°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.77° (tol 3.0°) [VIA ] step 8 Δ= -4.8 +7.6 -3.5 -0.2 -8.2 -0.5 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -30.88, +55.05, -9.34, +5.70, -48.67, -32.08] speed=20 wait=0.0s (pre max|Δ|=2.88°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.87° (tol 3.0°) [VIA ] step 9 Δ= -1.8 +1.5 -2.2 -0.4 -2.9 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.70°（関節 j2） [002] 推論 1002ms 10ステップ先 Δ= -6.3 +10.7 -2.4 +0.4 -10.7 -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_chunk002_via02: send_angles (single) [ -35.15, +62.66, -9.87, +6.15, -55.40, -32.19] speed=20 wait=0.0s (pre max|Δ|=7.15°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.44° (tol 3.0°) [VIA ] step 2 Δ= -4.6 +6.2 -2.2 -0.3 -7.1 -0.5 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -36.63, +66.84, -10.07, +6.33, -58.81, -32.30] speed=20 wait=0.0s (pre max|Δ|=3.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.64° (tol 3.0°) [VIA ] step 5 Δ= -1.7 +3.0 -1.6 -0.3 -4.0 -0.5 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -36.76, +67.15, -10.09, +6.35, -58.85, -32.35] speed=20 wait=0.0s (pre max|Δ|=1.66°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 3.0°) [VIA ] step 8 Δ= -0.1 -1.0 -1.7 -0.6 -0.7 -0.5 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -36.74, +67.08, -10.06, +6.37, -58.96, -32.37] speed=20 wait=0.0s (pre max|Δ|=1.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.63° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -1.0 -1.6 -0.5 -0.8 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.63°（関節 j2） [003] 推論 915ms 10ステップ先 Δ= -0.7 +5.2 -5.2 -0.7 -2.7 -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 objc[5357]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7512c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba088e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7513b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba089d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7514d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7515c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7515e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[5357]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7517c8). 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 +2.0° → -34.65 +68.11 -8.43 +6.76 -58.27 -31.99 届いた（ずれ 1.05°） 届いた角度 -34.54 +68.11 -8.43 +5.71 -59.15 -32.08 [送信] j0 +2.0° → -32.65 +68.11 -8.43 +6.76 -58.27 -31.99 届いた（ずれ 1.05°） 届いた角度 -32.43 +68.11 -8.43 +5.71 -59.15 -32.08 [関節] 上下で動かす関節を j2 にしました [長押し] j2 を -8.43° → -8.43° まで（目標を 1 回送信。止めます） [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [送信] j2 -1.0° → -32.65 +68.11 +5.50 +6.76 -58.27 -31.99 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 3.42°） 届いた角度 -33.04 +68.73 +6.32 +5.88 -61.69 -31.72 [送信] j2 -2.0° → -32.65 +68.11 +3.50 +6.76 -58.27 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 1.31°） 届いた角度 -33.04 +68.73 +4.30 +6.06 -59.58 -31.81 [送信] j2 -2.0° → -32.65 +68.11 +1.50 +6.76 -58.27 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 0.97°） 届いた角度 -33.04 +68.73 +2.46 +6.06 -57.30 -31.90 [長押し] j2 を +2.37° → -4.21° まで（目標を 1 回送信。止めます） [送信] j2 -2.0° → -32.65 +68.11 -13.68 +6.76 -58.27 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 1.76°） 届いた角度 -33.04 +69.87 -12.48 +6.15 -58.88 -31.90 [送信] j2 +2.0° → -32.65 +68.11 -11.68 +6.76 -58.27 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 1.76°） 届いた角度 -33.04 +69.87 -11.07 +6.15 -58.88 -31.90 [送信] j2 +2.0° → -32.65 +68.11 -9.68 +6.76 -58.27 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 1.76°） 届いた角度 -33.04 +69.87 -9.05 +6.15 -58.88 -31.90 [関節] 上下で動かす関節を j3 にしました [関節] 上下で動かす関節を j4 にしました [関節] 上下で動かす関節を j5 にしました [関節] 上下で動かす関節を j1 にしました [送信] j1 -1.0° → -32.65 +67.11 -9.68 +6.76 -58.27 -31.99 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 2.76°） 届いた角度 -33.04 +69.87 -8.96 +6.15 -58.88 -31.99 [送信] j1 +1.0° → -32.65 +68.11 -9.68 +6.76 -58.27 -31.99 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 13.63°） 届いた角度 -33.04 +69.87 -8.96 +5.97 -44.64 -32.87 [送信] j1 +1.0° → -32.65 +69.11 -9.68 +6.76 -44.56 -31.99 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 0.96°） 届いた角度 -33.04 +69.87 -8.96 +5.88 -44.56 -32.95 [送信] j1 -1.0° → -32.65 +68.11 -9.68 +6.76 -44.56 -31.99 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 1.85°） 届いた角度 -33.04 +69.96 -8.96 +6.15 -45.70 -32.95 [長押し] j1 を +69.96° → +62.92° まで（目標を 1 回送信。止めます） [止める] stop（released_while_sending） 止まった角度 -33.04 +62.05 -7.55 +6.24 -55.98 -32.95 [止める] stop（released_while_sending） 止まった角度 -33.04 +69.08 -7.64 +6.32 -55.10 -32.87 [送信] j1 +1.0° → -32.65 +70.08 -9.68 +6.76 -57.83 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 1.42°） 届いた角度 -33.04 +71.36 -8.26 +6.32 -56.60 -32.87 [関節] 上下で動かす関節を j2 にしました [長押し] j2 を -8.26° → -15.82° まで（目標を 1 回送信。止めます） [送信] j2 +1.0° → -32.65 +70.08 -20.18 +6.76 -57.83 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 2.78°） 届いた角度 -33.04 +72.86 -19.42 +6.41 -56.51 -32.78 [送信] j2 +2.0° → -32.65 +70.08 -18.18 +6.76 -57.83 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 2.78°） 届いた角度 -33.04 +72.86 -17.40 +6.41 -57.56 -32.78 [送信] j2 +2.0° → -32.65 +70.08 -16.18 +6.76 -57.83 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 2.78°） 届いた角度 -33.04 +72.86 -15.46 +6.41 -58.18 -32.78 [送信] j2 +2.0° → -32.65 +70.08 -14.18 +6.76 -57.83 -31.99 届いた（ずれ 2.78°） 届いた角度 -33.04 +72.86 -13.71 +6.41 -58.35 -32.78 [長押し] j2 を -13.44° → -13.44° まで（目標を 1 回送信。止めます） [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [送信] j2 -1.0° → -32.65 +70.08 +0.84 +6.76 -57.83 -31.99 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 5.18°） 届いた角度 -33.04 +72.15 +1.84 +6.24 -63.01 -31.90 [送信] j2 -1.0° → -32.65 +70.08 -0.16 +6.76 -57.83 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 4.39°） 届いた角度 -33.04 +72.15 +0.79 +6.32 -62.22 -31.99 [送信] j2 -2.0° → -32.65 +70.08 -2.16 +6.76 -57.83 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 3.95°） 届いた角度 -33.04 +72.15 -1.31 +6.41 -61.78 -32.08 [長押し] j2 を -1.31° → -1.31° まで（目標を 1 回送信。止めます） [止める] stop（released_while_sending） 止まった角度 -33.04 +74.97 -17.49 +6.41 -56.60 -32.16 [関節] 上下で動かす関節を j3 にしました [関節] 上下で動かす関節を j4 にしました [関節] 上下で動かす関節を j5 にしました [関節] 上下で動かす関節を j1 にしました [送信] j1 +1.0° → -32.65 +75.97 -17.49 +6.76 -57.83 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 4.39°） 届いた角度 -33.04 +77.51 -21.88 +6.50 -59.06 -32.16 [送信] j1 +1.0° → -32.65 +76.97 -17.49 +6.76 -57.83 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 4.39°） 届いた角度 -33.04 +78.13 -21.88 +6.59 -59.06 -32.16 [送信] j1 +1.0° → -32.65 +77.97 -17.49 +6.76 -57.83 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 4.39°） 届いた角度 -33.04 +79.36 -21.88 +6.59 -59.06 -32.08 [送信] j1 +2.0° → -32.65 +79.97 -17.49 +6.76 -57.83 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 4.39°） 届いた角度 -33.04 +81.38 -21.88 +6.59 -59.06 -32.16 [送信] j1 +2.0° → -32.65 +81.97 -17.49 +6.76 -57.83 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 4.48°） 届いた角度 -33.04 +83.32 -21.97 +6.59 -59.06 -32.08 [送信] j1 +2.0° → -32.65 +83.97 -17.49 +6.76 -57.83 -31.99 手前で止まった（次の押しは この目標の先から）（ずれ 4.48°） 届いた角度 -33.04 +85.25 -21.97 +6.59 -59.06 -32.25 [Pi] GRIPPER: VALUE=20 speed=100 result= None [爪] 爪を閉じる（待ち 0.8 秒のあと受付） [PAD ] 補正 1 を終えました (91.8 秒, 送った目標 36 回, 爪を動かした). 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 998ms 10ステップ先 Δ= +2.3 -11.6 +10.3 +1.5 -2.2 -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_chunk004_via02: send_angles (single) [ -32.94, +80.36, -17.34, +6.91, -61.04, -32.53] speed=20 wait=0.0s (pre max|Δ|=4.89°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.25° (tol 3.0°) [VIA ] step 2 Δ= +0.1 -4.9 +4.6 +0.5 -1.2 -0.0 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -32.86, +77.30, -14.23, +7.32, -61.97, -32.62] speed=20 wait=0.0s (pre max|Δ|=5.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.68° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -5.3 +3.0 +1.1 -1.4 -0.2 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ -32.04, +74.56, -11.86, +7.77, -62.29, -32.93] speed=20 wait=0.0s (pre max|Δ|=5.33°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.43° (tol 3.0°) [VIA ] step 8 Δ= +1.0 -5.3 +1.9 +1.0 -1.7 -0.4 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ -30.76, +73.67, -11.66, +7.93, -62.01, -33.08] speed=20 wait=0.0s (pre max|Δ|=3.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.97° (tol 3.0°) [VIA ] step 9 Δ= +1.0 -3.3 -0.6 +0.0 -1.5 -0.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.97°（関節 j1） [005] 推論 983ms 10ステップ先 Δ=+21.4 -12.8 +2.8 +3.1 +0.2 -2.9 [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_chunk005_via02: send_angles (single) [ -26.54, +71.16, -10.77, +8.82, -61.71, -33.62] speed=20 wait=0.0s (pre max|Δ|=5.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.49° (tol 3.0°) [VIA ] step 2 Δ= +3.9 -5.5 +0.3 +0.7 -1.2 -1.1 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -19.41, +68.28, -9.84, +9.97, -60.99, -34.36] speed=20 wait=0.0s (pre max|Δ|=7.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.64° (tol 3.0°) [VIA ] step 5 Δ= +7.0 -5.4 +0.3 +0.6 +0.9 -1.1 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -11.23, +64.99, -8.63, +10.98, -60.23, -35.14] speed=20 wait=0.0s (pre max|Δ|=8.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.86° (tol 3.0°) [VIA ] step 8 Δ= +8.5 -5.9 +0.5 +0.9 +1.6 -1.2 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -8.90, +63.88, -8.29, +11.20, -60.30, -35.30] speed=20 wait=0.0s (pre max|Δ|=3.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.56° (tol 3.0°) [VIA ] step 9 Δ= +2.2 -4.0 -0.4 +0.3 +1.6 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.56°（関節 j1） [006] 推論 975ms 10ステップ先 Δ=+28.8 -9.5 +0.6 +3.2 +4.1 -2.9 [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 > 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_chunk006_via02: send_angles (single) [ -0.76, +61.79, -7.91, +12.51, -59.32, -35.95] speed=20 wait=0.0s (pre max|Δ|=8.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.54° (tol 3.0°) [VIA ] step 2 Δ= +8.3 -4.7 -0.1 +0.8 +1.7 -1.0 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +8.02, +59.51, -7.60, +13.91, -58.66, -36.84] speed=20 wait=0.0s (pre max|Δ|=9.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.80° (tol 3.0°) [VIA ] step 5 Δ= +9.1 -4.8 -0.4 +1.8 +1.0 -1.2 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +17.29, +57.50, -7.28, +15.08, -58.04, -37.75] speed=20 wait=0.0s (pre max|Δ|=9.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.88° (tol 3.0°) [VIA ] step 8 Δ= +9.6 -4.8 -0.1 +1.5 +1.0 -1.3 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +19.88, +56.93, -7.23, +15.25, -57.81, -37.93] speed=20 wait=0.0s (pre max|Δ|=3.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.92° (tol 3.0°) [VIA ] step 9 Δ= +2.7 -3.5 -0.6 +0.4 +0.6 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.92°（関節 j1） [007] 推論 999ms 10ステップ先 Δ=+22.2 -8.2 -0.4 +1.9 +2.3 -1.5 [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_chunk007_via02: send_angles (single) [ +26.40, +54.62, -7.32, +16.01, -56.88, -38.37] speed=20 wait=0.0s (pre max|Δ|=6.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.68° (tol 3.0°) [VIA ] step 2 Δ= +6.5 -5.2 -0.7 +0.6 +1.1 -0.8 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +33.92, +52.63, -7.30, +16.80, -56.31, -38.81] speed=20 wait=0.0s (pre max|Δ|=7.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.65° (tol 3.0°) [VIA ] step 5 Δ= +7.6 -4.7 -0.6 +0.8 +0.9 -0.7 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +40.83, +51.70, -7.08, +17.25, -55.77, -38.99] speed=20 wait=0.0s (pre max|Δ|=6.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.79° (tol 3.0°) [VIA ] step 8 Δ= +6.8 -3.6 -0.4 +0.6 +0.9 -0.5 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +42.14, +51.66, -7.06, +17.25, -55.72, -38.98] speed=20 wait=0.0s (pre max|Δ|=2.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.83° (tol 3.0°) [VIA ] step 9 Δ= +1.4 -2.8 -0.4 -0.2 +0.4 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.83°（関節 j1） [008] 推論 991ms 10ステップ先 Δ= +1.2 +10.2 -0.6 -3.1 -8.0 +0.2 グリッパー→開 [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) [ +42.66, +56.47, -7.13, +16.31, -58.48, -38.84] speed=20 wait=0.0s (pre max|Δ|=2.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.23° (tol 3.0°) [VIA ] step 2 Δ= +0.6 +2.0 -0.5 -1.3 -2.4 -0.2 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +43.07, +61.71, -7.22, +15.20, -62.25, -38.64] speed=20 wait=0.0s (pre max|Δ|=5.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.84° (tol 3.0°) [VIA ] step 5 Δ= +1.0 +3.8 -0.6 -1.6 -5.9 +0.0 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +43.29, +64.69, -7.22, +14.47, -64.07, -38.50] speed=20 wait=0.0s (pre max|Δ|=4.31°, post-send timeout 8.0s) [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries [SEND] arrival OK: max|Δ|=1.22° (tol 3.0°) [VIA ] step 8 Δ= +0.1 +1.6 -0.6 -1.1 -4.4 +0.2 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +43.29, +64.69, -7.22, +14.47, -64.07, -38.50] speed=20 wait=0.0s (pre max|Δ|=1.22°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.22° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -1.2 -0.6 -0.3 -0.1 +0.2 着いた [Pi] GRIPPER: OPEN result= None [STATE ] 目標を渡す 目標と実測の最大差 1.22°（関節 j1） [009] 推論 918ms 10ステップ先 Δ= -0.4 -18.5 -0.3 +1.2 +13.3 -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 > 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|=65.91°, post-send timeout 11.9s) [SEND] arrival OK: max|Δ|=2.10° (tol 2.5°) [RECORD] 記録終了 コマ 1394 (8.699 fps) 実測角 1247 回 (7.78 Hz) 電流 1276 行 (read_servo) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_114106/recording 結果: y=成功 / n=失敗 / Enter=記録しない > [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_114106 [CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)) (167 秒) もう1回やりますか? y=やる / 他=終わる > === かかった時間 (Log28 の Pod (id prm86xv997s945) につなぎ直し) モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1) 1. Pod につなぎ直す 2 秒 2. Pod が立ち上がるまで待つ 6 秒 3. Pod の中を確かめる (つなぎ直し) 8 秒 3a. スクリプトを送る 75 秒 3b〜4. 準備とサーバーの起動 (飛ばした) 0 秒 5. Mac の 8000 番へのトンネル 2 秒 6. デーモンの状態 2 秒 7. HOME → 爪を開く → 位置合わせ (1 回目) 141 秒 8. 実機推論 (1 回目) 110 秒 7. HOME → 爪を開く → 位置合わせ (2 回目) 28 秒 8. 実機推論 (2 回目) 138 秒 7. HOME → 爪を開く → 位置合わせ (3 回目) 24 秒 8. 実機推論 (3 回目) 120 秒 7. HOME → 爪を開く → 位置合わせ (4 回目) 184 秒 8. 実機推論 (4 回目) 52 秒 7. HOME → 爪を開く → 位置合わせ (5 回目) 29 秒 8. 実機推論 (5 回目) 62 秒 7. HOME → 爪を開く → 位置合わせ (6 回目) 37 秒 8. 実機推論 (6 回目) 184 秒 7. HOME → 爪を開く → 位置合わせ (7 回目) 18 秒 8. 実機推論 (7 回目) 167 秒 [LAB ] Pod は残しています (id prm86xv997s945). 片付けは ./lab_stop.sh --log Log28 [TUNNEL] 8000 番のトンネルを閉じました