[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) [TILT ] 上カメラの傾きのお手本 (各エピソードの 1 枚目の中央値) は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes から (安全範囲と同じ. 差だけ画像を回して AI に渡す. 依頼 144) [GRIP ] 爪の閉じる値は 25 (--grip-value). 締め直し r はこの値−3 とこの値を交互に送る (依頼 152) [CONFIRM] チャンクごとには確かめない (--no-step-confirm. 始めの確かめのあとは止まらずに進む. 止めるときはスペース. 依頼 178) [LAB ] 2026-11-14 18:08:39 GPU=NVIDIA A40 episode=run_0001_20261019_194818 log=/Volumes/KIOXIA/r2r2r-data/lab/Log35 [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 ] Log35 の Pod (id 9wypmq2uhnx2et) 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 2026-11-14 17:58:33) [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: 7711f98bf50a NVIDIA A40, 46068 MiB (5 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 (101 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 60964. このスクリプトが終わると閉じる) (2 秒) === 5b. 空打ち (1 回目の推論の待ちを先に済ませる) [WARM ] 空打ち: localhost:8000 に観測 (画像 384x216・state 7 つ・prompt) を 1 回投げて捨てます (お手本 pi05_20261031_175527 の 1 枚目) [WARM ] 空打ち 0.9 秒 (つなぐまで含めて 2.1 秒. 答え 10x7 は捨てた) (3 秒) === 6. デーモンの状態 --- process 514 /usr/bin/python3 -u /home/ubuntu/mecharm_daemon.py --- 5555 LISTEN 0 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: [0.17, 1.40, 2.19, -0.26, -0.26, -30.23] [SEND] HOME へ移動指令 [WAIT] t=0.6s max_err=2.19° [DONE] HOME 到達 max_err=2.19° [POST] 最終姿勢: [0.17, 1.40, 2.19, -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 [TILT ] 傾きのお手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes 中央値 -0.61° (測れた 50/50 本. プラス=右下がり) [TILT ] 傾きはソフトでそろえる: ライブをお手本の中央値との差だけ回して重ねる (AI に渡す画像と同じ. 回す角度が 3° を超えたら画面の色を変える. 止めない) [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= +0.6 dx= -1.6 response=0.829 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き -1.95° → -0.61° にソフトでそろえる (+1.34° 回して重ねる. プラス=右下がり) [ALIGN ] dy= +13.1 dx= +1.4 response=0.021 → 測れない (相関が弱く dx/dy が当てにならない (response=0.021 < 0.20)) 傾き -10.82° → -0.61° にソフトでそろえる (+10.21° 回して重ねる. プラス=右下がり) → 回す角度が 3° を超える (TILT DIFFERS. iPhone の付け方を見直す) [ALIGN ] dy= +7.2 dx= +3.4 response=0.055 → 測れない (相関が弱く dx/dy が当てにならない (response=0.055 < 0.20)) 傾き -10.82° → -0.61° にソフトでそろえる (+10.21° 回して重ねる. プラス=右下がり) → 回す角度が 3° を超える (TILT DIFFERS. iPhone の付け方を見直す) [ALIGN ] dy= +16.8 dx= +4.6 response=0.010 → 測れない (相関が弱く dx/dy が当てにならない (response=0.010 < 0.20)) 傾き -10.82° → -0.61° にソフトでそろえる (+10.21° 回して重ねる. プラス=右下がり) → 回す角度が 3° を超える (TILT DIFFERS. iPhone の付け方を見直す) [ALIGN ] dy= +9.8 dx= +2.8 response=0.036 → 測れない (相関が弱く dx/dy が当てにならない (response=0.036 < 0.20)) 傾き -10.65° → -0.61° にソフトでそろえる (+10.03° 回して重ねる. プラス=右下がり) → 回す角度が 3° を超える (TILT DIFFERS. iPhone の付け方を見直す) [ALIGN ] dy= +0.6 dx= -1.2 response=0.794 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き -1.95° → -0.61° にソフトでそろえる (+1.34° 回して重ねる. プラス=右下がり) [DONE ] 終了 (何も書いていません) (15 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 [GRIP ] 閉じる値 25 締め直し r は 22 と 25 を交互に送る [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_20261114_181057 [MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1) [PAUSE ] --no-step-confirm: 始めの確かめのあとは入力欄を出さずに進みます. 止めるときはスペース (Enter も可). 今のチャンクを送り終えてから, 次の推論のあと (送る前) で入力欄を出します [CAMERA] 写り方 dy=-5.8 dx=+5.6 response=0.540 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 回したあとの画像で測った [CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg [CAMERA] 傾き -1.99° → -0.61° にそろえて渡す (+1.38° 回す. プラス=右下がり) (お手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes 測れた 50/50 本・今 5/5 コマ) [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_20261114_181057/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 790ms 10ステップ先 Δ= +3.0 +12.5 +7.9 -1.8 -16.3 +1.7 [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 > [GRIP ] 開始時にグリッパーを開く [Pi] GRIPPER: OPEN result= None [SEND] pi05_chunk000_via02: send_angles (single) [ +0.83, +4.45, +4.36, -0.38, -4.03, -30.01] speed=20 wait=0.0s (pre max|Δ|=3.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 3.0°) [VIA ] step 2 Δ= +0.8 +3.1 +2.2 -0.1 -3.8 +0.2 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.85, +8.73, +6.90, -1.03, -9.65, -29.52] speed=20 wait=0.0s (pre max|Δ|=7.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.36° (tol 3.0°) [VIA ] step 5 Δ= +0.8 +3.4 +1.5 -0.8 -7.6 +0.7 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +2.80, +12.98, +9.59, -1.89, -15.27, -28.70] speed=20 wait=0.0s (pre max|Δ|=7.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 8 Δ= +1.3 +3.2 +1.7 -1.6 -7.0 +0.9 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +3.22, +13.88, +10.04, -2.07, -16.55, -28.51] speed=20 wait=0.0s (pre max|Δ|=2.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.26° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -0.1 -0.4 -1.1 -2.7 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.26°（関節 j4） [001] 推論 641ms 10ステップ先 Δ= +4.9 +16.1 +9.6 -2.1 -25.9 +1.7 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk001_via02: send_angles (single) [ +4.54, +18.56, +12.59, -2.66, -22.88, -27.71] speed=20 wait=0.0s (pre max|Δ|=7.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 2 Δ= +1.3 +3.8 +2.0 -1.5 -7.5 +1.0 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +5.78, +23.16, +15.41, -2.87, -29.66, -27.30] speed=20 wait=0.0s (pre max|Δ|=7.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.84° (tol 3.0°) [VIA ] step 5 Δ= +1.4 +3.6 +2.0 -0.5 -7.6 +0.6 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +7.43, +28.67, +18.83, -3.06, -38.00, -27.13] speed=20 wait=0.0s (pre max|Δ|=9.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 8 Δ= +1.8 +4.6 +2.6 -0.5 -9.0 +0.3 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +8.18, +30.81, +20.21, -3.15, -41.24, -27.16] speed=20 wait=0.0s (pre max|Δ|=4.16°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 9 Δ= +1.2 +1.2 +0.7 -0.3 -4.2 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.91°（関節 j1） [002] 推論 1483ms 10ステップ先 Δ= +1.7 +3.9 +1.1 +0.3 -7.2 +0.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk002_via02: send_angles (single) [ +8.82, +31.54, +20.52, -3.07, -42.16, -27.12] speed=20 wait=0.0s (pre max|Δ|=1.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.89° (tol 3.0°) [VIA ] step 2 Δ= +0.7 -0.2 -0.1 -0.2 -1.6 +0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +9.24, +32.94, +20.71, -2.89, -44.10, -27.12] speed=20 wait=0.0s (pre max|Δ|=2.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 5 Δ= +0.5 +0.5 +0.1 +0.2 -2.2 +0.2 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +9.66, +34.88, +21.45, -2.66, -46.69, -27.09] speed=20 wait=0.0s (pre max|Δ|=2.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 8 Δ= +0.9 +1.0 +0.8 +0.3 -2.9 +0.2 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +9.77, +35.60, +21.74, -2.59, -47.82, -27.09] speed=20 wait=0.0s (pre max|Δ|=1.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -0.2 -0.1 +0.3 -1.2 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.96°（関節 j1） [003] 推論 583ms 10ステップ先 Δ= +2.0 +11.4 +2.6 +1.0 -12.6 +0.3 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk003_via02: send_angles (single) [ +10.62, +39.53, +23.37, -2.21, -53.21, -27.07] speed=20 wait=0.0s (pre max|Δ|=5.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.83° (tol 3.0°) [VIA ] step 2 Δ= +1.0 +2.9 +1.1 +0.7 -5.7 +0.3 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ +11.13, +43.69, +24.72, -1.94, -57.49, -27.05] speed=20 wait=0.0s (pre max|Δ|=4.94°, 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|=1.04° (tol 3.0°) [VIA ] step 5 Δ= +0.4 +3.4 +1.0 +1.0 -4.9 +0.2 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ +11.48, +47.24, +25.02, -1.87, -59.91, -27.03] speed=20 wait=0.0s (pre max|Δ|=2.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 8 Δ= +0.8 +2.5 -0.1 +0.4 -2.8 +0.2 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ +11.59, +47.91, +24.84, -1.85, -60.02, -27.03] speed=20 wait=0.0s (pre max|Δ|=0.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 9 Δ= -0.0 -0.4 -0.3 -0.0 -0.6 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.95°（関節 j1） [004] 推論 571ms 10ステップ先 Δ= +0.5 +10.1 -4.7 -0.6 -2.1 +0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk004_via02: send_angles (single) [ +12.05, +50.89, +24.95, -1.94, -60.91, -27.01] speed=20 wait=0.0s (pre max|Δ|=2.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.05° (tol 3.0°) [VIA ] step 2 Δ= +0.4 +2.0 -0.2 -0.1 -1.4 +0.2 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ +12.37, +56.30, +22.14, -2.27, -61.46, -27.02] speed=20 wait=0.0s (pre max|Δ|=4.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.94° (tol 3.0°) [VIA ] step 5 Δ= +0.8 +4.4 -3.0 -0.4 -0.7 +0.2 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ +12.21, +58.81, +20.59, -2.38, -61.55, -27.09] speed=20 wait=0.0s (pre max|Δ|=2.52°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.64° (tol 3.0°) [VIA ] step 8 Δ= +0.1 +1.7 -2.5 -0.9 +0.5 +0.1 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ +12.08, +58.92, +20.39, -2.39, -61.60, -27.11] speed=20 wait=0.0s (pre max|Δ|=1.68°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.68° (tol 3.0°) [VIA ] step 9 Δ= -0.0 -0.6 -1.0 -0.9 +1.7 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.68°（関節 j4） [005] 推論 1545ms 4ステップ先 Δ= +0.2 +0.7 -2.5 -0.9 +1.6 +0.2 グリッパー→閉 [VIA ] 中継点 2 点: step 2, 3 [SEND] pi05_chunk005_via02: send_angles (single) [ +12.32, +60.28, +18.76, -2.35, -61.63, -27.18] speed=20 wait=0.0s (pre max|Δ|=2.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 2 Δ= +0.3 +0.7 -2.5 -0.8 +1.6 +0.2 着いた [SEND] pi05_chunk005_via03: send_angles (single) [ +12.32, +60.28, +18.76, -2.35, -61.63, -27.18] speed=20 wait=0.0s (pre max|Δ|=1.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 3 Δ= +0.3 -0.6 -0.6 -0.7 +1.6 +0.2 着いた [Pi] GRIPPER: VALUE=25 speed=100 result= None [STATE ] 目標を渡す 目標と実測の最大差 2.44°（関節 j4） [006] 推論 750ms 10ステップ先 Δ= +1.0 -7.3 +9.4 -1.0 -0.4 +1.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk006_via02: send_angles (single) [ +12.53, +58.53, +20.69, -2.63, -61.88, -27.07] speed=20 wait=0.0s (pre max|Δ|=2.37°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 3.0°) [VIA ] step 2 Δ= +0.6 -2.4 +1.4 -0.9 +2.2 +0.5 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +12.61, +55.86, +24.93, -2.80, -62.19, -26.51] speed=20 wait=0.0s (pre max|Δ|=4.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.64° (tol 3.0°) [VIA ] step 5 Δ= +0.7 -3.9 +4.9 -0.8 +1.3 +1.0 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +12.89, +54.01, +28.19, -2.75, -63.76, -26.40] speed=20 wait=0.0s (pre max|Δ|=4.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.09° (tol 3.0°) [VIA ] step 8 Δ= +0.9 -2.9 +4.1 -0.1 -0.3 +0.5 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +12.99, +53.56, +28.70, -2.69, -64.48, -26.42] speed=20 wait=0.0s (pre max|Δ|=1.54°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.37° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -1.5 +1.4 -0.2 -0.2 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.37°（関節 j1） [007] 推論 1714ms 10ステップ先 Δ=+12.4 -1.4 -9.6 +2.5 +3.9 -2.9 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk007_via02: send_angles (single) [ +17.65, +53.08, +25.70, -1.81, -63.41, -27.44] speed=20 wait=0.0s (pre max|Δ|=5.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.58° (tol 3.0°) [VIA ] step 2 Δ= +5.1 -1.8 -2.2 +0.7 +1.0 -0.7 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +22.12, +53.44, +21.02, -0.81, -62.11, -28.68] speed=20 wait=0.0s (pre max|Δ|=5.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.09° (tol 3.0°) [VIA ] step 5 Δ= +4.4 -1.2 -5.3 +0.9 +0.9 -1.9 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +24.64, +53.50, +18.36, -0.06, -60.71, -29.54] speed=20 wait=0.0s (pre max|Δ|=3.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.42° (tol 3.0°) [VIA ] step 8 Δ= +2.6 -1.2 -3.6 +1.4 +0.0 -2.5 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +25.01, +53.49, +18.31, +0.05, -60.57, -29.61] speed=20 wait=0.0s (pre max|Δ|=1.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.40° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -1.2 -0.9 +1.0 -1.2 -1.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.40°（関節 j5） [008] 推論 942ms 10ステップ先 Δ= +3.2 +1.1 -6.8 +1.6 -0.3 -2.3 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk008_via02: send_angles (single) [ +26.28, +53.48, +16.56, +0.48, -59.94, -29.93] speed=20 wait=0.0s (pre max|Δ|=2.68°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.18° (tol 3.0°) [VIA ] step 2 Δ= +1.6 -1.2 -2.7 +1.1 -0.5 -1.4 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +27.13, +53.81, +14.49, +0.67, -59.39, -30.20] speed=20 wait=0.0s (pre max|Δ|=3.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.06° (tol 3.0°) [VIA ] step 5 Δ= +0.9 -0.9 -3.2 +0.7 -0.1 -0.9 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +27.85, +55.08, +12.74, +0.88, -59.44, -30.48] speed=20 wait=0.0s (pre max|Δ|=2.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.25° (tol 3.0°) [VIA ] step 8 Δ= +0.7 +0.3 -2.7 +0.8 -0.6 -1.0 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +27.89, +55.75, +12.45, +0.98, -59.72, -30.50] speed=20 wait=0.0s (pre max|Δ|=1.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.43° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -0.6 -1.4 +0.4 -0.9 -0.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.43°（関節 j2） [009] 推論 776ms 10ステップ先 Δ= +0.6 -0.9 -8.2 +0.8 -0.8 -0.8 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk009_via02: send_angles (single) [ +27.99, +55.75, +10.29, +1.03, -59.62, -30.55] speed=20 wait=0.0s (pre max|Δ|=3.59°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 2 Δ= +0.5 -0.9 -3.6 +0.5 -0.8 -0.8 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +27.89, +55.64, +8.05, +1.07, -59.59, -30.57] speed=20 wait=0.0s (pre max|Δ|=3.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.13° (tol 3.0°) [VIA ] step 5 Δ= +0.4 -1.1 -3.2 +0.0 -0.8 -0.6 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +28.10, +55.63, +5.99, +1.21, -59.51, -30.61] speed=20 wait=0.0s (pre max|Δ|=3.15°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.21° (tol 3.0°) [VIA ] step 8 Δ= +0.6 -1.1 -3.2 -0.1 -0.7 -0.6 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +28.14, +55.75, +5.65, +1.28, -59.63, -30.62] speed=20 wait=0.0s (pre max|Δ|=1.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -1.0 -1.5 -0.3 -0.8 -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） [010] 推論 754ms 10ステップ先 Δ= +7.8 -1.7 -2.7 +0.4 -0.2 -0.7 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk010_via02: send_angles (single) [ +28.38, +55.68, +5.54, +1.34, -59.67, -30.60] speed=20 wait=0.0s (pre max|Δ|=1.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.57° (tol 3.0°) [VIA ] step 2 Δ= +0.9 -1.1 -1.6 -0.2 -0.9 -0.4 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +29.29, +55.28, +5.39, +1.56, -59.46, -30.62] speed=20 wait=0.0s (pre max|Δ|=1.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.72° (tol 3.0°) [VIA ] step 5 Δ= +1.3 -1.5 -1.7 -0.2 -0.7 -0.4 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +33.77, +55.06, +4.61, +1.93, -59.09, -30.78] speed=20 wait=0.0s (pre max|Δ|=4.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 8 Δ= +4.6 -1.7 -2.5 -0.3 -0.3 -0.5 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +35.29, +55.08, +4.40, +2.02, -59.03, -30.88] speed=20 wait=0.0s (pre max|Δ|=1.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.69° (tol 3.0°) [VIA ] step 9 Δ= +1.2 -1.7 -1.5 +0.4 -0.2 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.69°（関節 j1） [011] 推論 596ms 10ステップ先 Δ= +0.8 +4.2 -2.8 +1.1 -3.6 -0.7 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk011_via02: send_angles (single) [ +35.55, +55.74, +3.61, +2.19, -59.42, -30.90] speed=20 wait=0.0s (pre max|Δ|=2.19°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.19° (tol 3.0°) [VIA ] step 2 Δ= +0.1 -1.0 -2.2 +0.5 -0.6 -0.4 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +35.89, +57.76, +3.22, +2.47, -60.29, -31.01] speed=20 wait=0.0s (pre max|Δ|=2.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.08° (tol 3.0°) [VIA ] step 5 Δ= +0.4 +1.0 -2.6 +0.8 -1.5 -0.5 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +36.23, +60.57, +3.06, +2.80, -61.90, -31.15] speed=20 wait=0.0s (pre max|Δ|=1.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.38° (tol 3.0°) [VIA ] step 8 Δ= +0.7 +1.8 -1.2 +0.1 -2.0 -0.5 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +36.28, +61.02, +3.04, +2.89, -62.34, -31.16] speed=20 wait=0.0s (pre max|Δ|=1.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.38° (tol 3.0°) [VIA ] step 9 Δ= +0.7 -0.3 -1.1 -0.9 +1.0 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.38°（関節 j4） [012] 推論 561ms 10ステップ先 Δ= +0.5 -8.3 -1.5 -0.6 +6.3 -0.6 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk012_via02: send_angles (single) [ +36.68, +61.49, +2.77, +3.00, -62.77, -31.34] speed=20 wait=0.0s (pre max|Δ|=1.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 2 Δ= +1.1 -0.3 -1.4 -0.8 +0.9 -0.6 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +36.51, +59.28, +2.72, +3.01, -61.61, -31.34] speed=20 wait=0.0s (pre max|Δ|=2.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.97° (tol 3.0°) [VIA ] step 5 Δ= +0.4 -2.9 -1.0 -0.8 +2.6 -0.3 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +36.24, +54.38, +2.65, +3.07, -58.22, -31.36] speed=20 wait=0.0s (pre max|Δ|=6.87°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.04° (tol 3.0°) [VIA ] step 8 Δ= +0.1 -6.9 -1.0 -0.5 +4.4 -0.3 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +36.10, +53.44, +2.63, +3.13, -57.39, -31.37] speed=20 wait=0.0s (pre max|Δ|=2.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.10° (tol 3.0°) [VIA ] step 9 Δ= -0.4 -3.0 -1.1 +0.2 +1.4 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.10°（関節 j1） [013] 推論 1555ms 10ステップ先 Δ= +2.9 +6.2 -3.1 +1.3 -3.7 -1.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk013_via02: send_angles (single) [ +36.88, +54.35, +1.66, +3.37, -57.46, -31.65] speed=20 wait=0.0s (pre max|Δ|=2.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.59° (tol 3.0°) [VIA ] step 2 Δ= +0.4 -1.2 -2.0 +0.5 +0.3 -0.4 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +38.35, +57.55, +0.98, +3.73, -58.90, -32.10] speed=20 wait=0.0s (pre max|Δ|=2.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 5 Δ= +1.9 +2.0 -2.3 +0.8 -1.2 -0.8 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +39.25, +60.76, +0.66, +4.05, -60.74, -32.37] speed=20 wait=0.0s (pre max|Δ|=2.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 8 Δ= +1.0 +2.2 -1.7 +0.9 -2.9 -0.5 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +39.32, +61.71, +0.61, +4.17, -61.45, -32.38] speed=20 wait=0.0s (pre max|Δ|=0.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.21° (tol 3.0°) [VIA ] step 9 Δ= +0.1 +0.2 -0.8 +0.9 -0.0 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.21°（関節 j4） [014] 推論 620ms 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 [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) [015] 推論 564ms 10ステップ先 Δ= -0.1 -11.1 +0.3 -0.2 +12.5 -0.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk015_via02: send_angles (single) [ +39.17, +62.14, +1.23, +5.02, -59.81, -32.09] speed=20 wait=0.0s (pre max|Δ|=0.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.78° (tol 3.0°) [VIA ] step 2 Δ= +0.1 -0.6 -0.2 -0.2 +0.7 -0.0 着いた [SEND] pi05_chunk015_via05: send_angles (single) [ +39.08, +56.95, +1.38, +4.90, -53.47, -32.15] speed=20 wait=0.0s (pre max|Δ|=6.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.28° (tol 3.0°) [VIA ] step 5 Δ= -0.0 -6.0 -0.0 -0.5 +6.7 -0.2 着いた [SEND] pi05_chunk015_via08: send_angles (single) [ +39.13, +52.65, +1.60, +4.81, -48.94, -32.23] speed=20 wait=0.0s (pre max|Δ|=6.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.72° (tol 3.0°) [VIA ] step 8 Δ= +0.0 -6.6 +0.2 -1.0 +4.0 -0.1 着いた [SEND] pi05_chunk015_via09: send_angles (single) [ +39.01, +51.66, +1.68, +4.80, -48.04, -32.26] speed=20 wait=0.0s (pre max|Δ|=2.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.30° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -2.9 -0.5 -0.7 +0.3 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.30°（関節 j1） [016] 推論 561ms 10ステップ先 Δ= -2.5 -8.0 -0.2 -1.0 +3.4 -0.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk016_via02: send_angles (single) [ +38.94, +50.54, +1.63, +4.82, -46.80, -32.36] speed=20 wait=0.0s (pre max|Δ|=3.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.10° (tol 3.0°) [VIA ] step 2 Δ= -0.2 -3.4 -0.6 -0.6 +0.7 -0.2 着いた [SEND] pi05_chunk016_via05: send_angles (single) [ +38.74, +50.40, +1.59, +5.03, -47.39, -32.45] 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 5 Δ= -0.4 -2.2 -0.6 -0.3 -1.0 -0.3 着いた [SEND] pi05_chunk016_via08: send_angles (single) [ +37.72, +48.29, +1.76, +4.79, -45.94, -32.41] speed=20 wait=0.0s (pre max|Δ|=4.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.89° (tol 3.0°) [VIA ] step 8 Δ= -1.4 -4.3 -0.4 -0.6 +0.5 -0.2 着いた [SEND] pi05_chunk016_via09: send_angles (single) [ +36.59, +46.00, +1.95, +4.46, -44.08, -32.33] speed=20 wait=0.0s (pre max|Δ|=4.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.90° (tol 3.0°) [VIA ] step 9 Δ= -1.5 -4.2 -0.2 -0.7 +2.0 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.90°（関節 j1） [017] 推論 1493ms 10ステップ先 Δ=-15.4 -21.8 -0.1 -3.4 +19.7 +0.7 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk017_via02: send_angles (single) [ +33.17, +41.60, +1.89, +3.85, -39.92, -32.02] speed=20 wait=0.0s (pre max|Δ|=6.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 2 Δ= -3.6 -6.3 -0.7 -1.0 +4.3 +0.2 着いた [SEND] pi05_chunk017_via05: send_angles (single) [ +28.17, +35.25, +2.01, +2.92, -33.99, -31.71] speed=20 wait=0.0s (pre max|Δ|=8.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.92° (tol 3.0°) [VIA ] step 5 Δ= -5.1 -8.2 -0.6 -1.2 +6.2 +0.5 着いた [SEND] pi05_chunk017_via08: send_angles (single) [ +22.58, +27.90, +2.37, +1.84, -26.82, -31.51] speed=20 wait=0.0s (pre max|Δ|=9.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.42° (tol 3.0°) [VIA ] step 8 Δ= -5.6 -9.3 -0.4 -1.4 +7.4 +0.6 着いた [SEND] pi05_chunk017_via09: send_angles (single) [ +21.29, +26.05, +2.50, +1.51, -24.51, -31.50] speed=20 wait=0.0s (pre max|Δ|=3.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.72° (tol 3.0°) [VIA ] step 9 Δ= -1.6 -3.6 -0.2 -0.5 +2.6 +0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.72°（関節 j1） [018] 推論 576ms 10ステップ先 Δ= -0.4 -2.1 -0.4 +0.2 -0.4 +0.5 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk018_via02: send_angles (single) [ +21.23, +25.48, +2.57, +1.54, -24.02, -31.50] speed=20 wait=0.0s (pre max|Δ|=2.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.11° (tol 3.0°) [VIA ] step 2 Δ= -0.1 -2.3 -0.5 -0.0 +0.8 +0.5 着いた [SEND] pi05_chunk018_via05: send_angles (single) [ +21.15, +25.72, +2.62, +1.61, -24.61, -31.50] speed=20 wait=0.0s (pre max|Δ|=1.87°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.87° (tol 3.0°) [VIA ] step 5 Δ= -0.2 -1.9 -0.5 +0.0 -0.4 +0.5 着いた [SEND] pi05_chunk018_via08: send_angles (single) [ +21.06, +25.69, +2.67, +1.70, -24.95, -31.47] speed=20 wait=0.0s (pre max|Δ|=1.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.90° (tol 3.0°) [VIA ] step 8 Δ= -0.3 -1.9 -0.6 +0.1 -0.7 +0.5 着いた [SEND] pi05_chunk018_via09: send_angles (single) [ +21.13, +25.67, +2.66, +1.75, -25.16, -31.47] speed=20 wait=0.0s (pre max|Δ|=1.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.92° (tol 3.0°) [VIA ] step 9 Δ= -0.2 -1.9 -0.6 +0.2 -0.9 +0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.92°（関節 j1） [019] 推論 559ms 10ステップ先 Δ= +3.2 +12.2 -0.7 +1.2 -14.2 +0.4 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk019_via02: send_angles (single) [ +22.54, +29.39, +2.99, +2.30, -29.30, -31.54] speed=20 wait=0.0s (pre max|Δ|=5.05°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.53° (tol 3.0°) [VIA ] step 2 Δ= +1.3 +1.8 -0.3 +0.7 -5.1 +0.4 着いた [SEND] pi05_chunk019_via05: send_angles (single) [ +23.62, +34.70, +3.09, +2.72, -34.92, -31.59] speed=20 wait=0.0s (pre max|Δ|=6.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 5 Δ= +1.1 +4.2 -0.6 +1.2 -7.0 +0.4 着いた [SEND] pi05_chunk019_via08: send_angles (single) [ +24.23, +39.10, +2.73, +2.79, -38.26, -31.61] speed=20 wait=0.0s (pre max|Δ|=4.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.35° (tol 3.0°) [VIA ] step 8 Δ= +0.7 +3.2 -1.0 +1.0 -4.2 +0.4 着いた [SEND] pi05_chunk019_via09: send_angles (single) [ +24.52, +39.80, +2.55, +2.81, -38.49, -31.63] speed=20 wait=0.0s (pre max|Δ|=1.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.14° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -0.3 -1.1 +0.9 -1.5 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.14°（関節 j2） [020] 推論 1478ms 10ステップ先 Δ= +7.2 +14.8 -1.5 +1.9 -15.3 +0.3 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [PAUSE ] 止める予約 (Enter). 推論 20 は送らずに入力欄を出します [PAUSE ] 止めました (推論 20 はまだ送っていません). Enter で実行すると, また止まらずに進みます 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|=40.69°, post-send timeout 8.1s) [SEND] arrival OK: max|Δ|=2.19° (tol 2.5°) [RECORD] 記録終了 コマ 946 (8.878 fps) 実測角 890 回 (8.35 Hz) 電流 895 行 (read_servo) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261114_181057/recording 結果: y=成功 / n=失敗 / Enter=記録しない > n [GRIP ] 閉じて 1 秒後の爪の電流 (中央値): 1 回目 758 (9 行) (閉じる値 25) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261114_181057 [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)) (111 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, 1.31, 2.19, 0.52, -0.87, -30.32] [SEND] HOME へ移動指令 [WAIT] t=0.6s max_err=2.19° [DONE] HOME 到達 max_err=2.19° [POST] 最終姿勢: [-0.17, 1.31, 2.19, 0.43, -0.79, -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 [TILT ] 傾きのお手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes 中央値 -0.61° (測れた 50/50 本. プラス=右下がり) [TILT ] 傾きはソフトでそろえる: ライブをお手本の中央値との差だけ回して重ねる (AI に渡す画像と同じ. 回す角度が 3° を超えたら画面の色を変える. 止めない) [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= +0.4 dx= -2.3 response=0.819 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き -1.95° → -0.61° にソフトでそろえる (+1.34° 回して重ねる. プラス=右下がり) [DONE ] 終了 (何も書いていません) (9 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 [GRIP ] 閉じる値 25 締め直し r は 22 と 25 を交互に送る [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_20261114_181300 [MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1) [PAUSE ] --no-step-confirm: 始めの確かめのあとは入力欄を出さずに進みます. 止めるときはスペース (Enter も可). 今のチャンクを送り終えてから, 次の推論のあと (送る前) で入力欄を出します [CAMERA] 写り方 dy=-6.0 dx=+4.7 response=0.540 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 回したあとの画像で測った [CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg [CAMERA] 傾き -1.87° → -0.61° にそろえて渡す (+1.25° 回す. プラス=右下がり) (お手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes 測れた 50/50 本・今 5/5 コマ) [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_20261114_181300/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 601ms 10ステップ先 Δ= +3.3 +13.4 +9.4 -2.1 -18.9 +2.4 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [CONFIRM] 2 回目からの試行なので始めの確かめ (Enter) を待たずに実行します (次の推論からは今までどおり確かめます) [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) [ +0.57, +4.99, +4.58, +0.09, -4.65, -29.84] speed=20 wait=0.0s (pre max|Δ|=4.39°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 3.0°) [VIA ] step 2 Δ= +0.7 +3.7 +2.4 -0.2 -4.4 +0.4 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.82, +9.61, +7.77, -0.69, -11.14, -29.02] speed=20 wait=0.0s (pre max|Δ|=8.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 5 Δ= +1.5 +3.7 +2.1 -1.0 -8.4 +1.0 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +2.83, +13.58, +10.75, -1.63, -17.47, -28.09] speed=20 wait=0.0s (pre max|Δ|=7.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.62° (tol 3.0°) [VIA ] step 8 Δ= +1.2 +3.1 +2.0 -0.9 -7.6 +1.1 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +3.18, +14.71, +11.55, -1.88, -19.21, -27.82] speed=20 wait=0.0s (pre max|Δ|=3.39°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 9 Δ= +0.8 +0.2 -0.1 -0.0 -3.4 +0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.11°（関節 j4） [001] 推論 561ms 10ステップ先 Δ= +3.8 +11.2 +8.3 -0.5 -22.1 +1.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk001_via02: send_angles (single) [ +4.12, +17.74, +13.73, -2.29, -24.38, -27.38] speed=20 wait=0.0s (pre max|Δ|=6.28°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.36° (tol 3.0°) [VIA ] step 2 Δ= +1.1 +2.1 +1.5 -0.0 -6.3 +0.6 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +5.24, +21.46, +16.28, -2.53, -30.50, -27.11] speed=20 wait=0.0s (pre max|Δ|=7.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.68° (tol 3.0°) [VIA ] step 5 Δ= +1.4 +2.9 +1.7 +0.0 -7.2 +0.4 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +6.70, +25.90, +19.79, -2.84, -38.43, -26.96] speed=20 wait=0.0s (pre max|Δ|=8.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.82° (tol 3.0°) [VIA ] step 8 Δ= +1.6 +3.5 +2.7 -0.1 -8.8 +0.4 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +6.88, +26.82, +20.51, -2.82, -40.22, -26.93] speed=20 wait=0.0s (pre max|Δ|=2.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 9 Δ= +0.5 +0.1 +0.0 +0.2 -2.6 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.95°（関節 j1） [002] 推論 556ms 10ステップ先 Δ= +3.5 +13.4 +6.9 +0.5 -20.9 +0.4 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk002_via02: send_angles (single) [ +7.90, +31.55, +22.56, -2.82, -46.97, -26.85] speed=20 wait=0.0s (pre max|Δ|=7.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.50° (tol 3.0°) [VIA ] step 2 Δ= +1.5 +3.8 +2.1 +0.3 -7.5 +0.3 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +8.79, +36.02, +24.76, -2.64, -53.55, -26.77] speed=20 wait=0.0s (pre max|Δ|=7.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.67° (tol 3.0°) [VIA ] step 5 Δ= +1.1 +3.6 +1.7 +0.5 -7.3 +0.3 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +9.61, +39.93, +26.94, -2.61, -59.09, -26.75] speed=20 wait=0.0s (pre max|Δ|=6.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.44° (tol 3.0°) [VIA ] step 8 Δ= +0.8 +3.0 +1.8 +0.6 -6.4 +0.2 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +9.88, +41.22, +27.37, -2.55, -60.34, -26.73] speed=20 wait=0.0s (pre max|Δ|=1.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.87° (tol 3.0°) [VIA ] step 9 Δ= +0.1 +0.5 +0.0 +0.5 -2.0 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.87°（関節 j1） [003] 推論 776ms 10ステップ先 Δ= +1.7 +4.4 +1.3 +0.3 -8.3 +0.3 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk003_via02: send_angles (single) [ +10.64, +44.20, +29.11, -2.55, -65.16, -26.70] speed=20 wait=0.0s (pre max|Δ|=5.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.83° (tol 3.0°) [VIA ] step 2 Δ= +1.0 +2.1 +1.8 +0.4 -5.3 +0.3 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ +11.09, +44.73, +28.90, -2.55, -66.53, -26.68] speed=20 wait=0.0s (pre max|Δ|=2.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.88° (tol 3.0°) [VIA ] step 5 Δ= +0.4 -0.3 -0.4 +0.3 -2.1 +0.2 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ +11.26, +46.06, +28.70, -2.57, -67.90, -26.66] speed=20 wait=0.0s (pre max|Δ|=1.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 8 Δ= +0.5 +0.5 -0.6 +0.2 -1.6 +0.2 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ +11.36, +46.48, +28.65, -2.58, -68.17, -26.65] speed=20 wait=0.0s (pre max|Δ|=0.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.89° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -0.5 -0.6 +0.2 -0.6 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.89°（関節 j1） [004] 推論 1550ms 10ステップ先 Δ= -0.4 +12.9 -11.2 +0.1 +0.6 +0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk004_via02: send_angles (single) [ +11.49, +51.11, +24.80, -2.60, -67.60, -26.62] speed=20 wait=0.0s (pre max|Δ|=4.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.53° (tol 3.0°) [VIA ] step 2 Δ= +0.1 +3.7 -4.5 +0.0 -0.0 +0.3 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ +11.27, +56.37, +20.56, -2.64, -67.03, -26.70] speed=20 wait=0.0s (pre max|Δ|=5.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.06° (tol 3.0°) [VIA ] step 5 Δ= -0.2 +4.3 -5.3 -0.0 +0.7 +0.1 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ +11.14, +59.86, +18.07, -2.64, -66.86, -26.77] speed=20 wait=0.0s (pre max|Δ|=3.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 8 Δ= -0.3 +2.6 -3.5 -0.0 +0.9 +0.0 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ +11.06, +60.25, +18.08, -2.62, -67.03, -26.78] speed=20 wait=0.0s (pre max|Δ|=0.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 9 Δ= -0.4 -0.6 -1.0 +0.0 +0.7 +0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.92°（関節 j1） [005] 推論 782ms 3ステップ先 Δ= -0.2 -0.7 -0.9 +0.1 +1.0 +0.0 グリッパー→閉 [VIA ] 中継点 1 点: step 2 [SEND] pi05_chunk005_via02: send_angles (single) [ +11.20, +60.50, +18.05, -2.52, -66.80, -26.79] speed=20 wait=0.0s (pre max|Δ|=0.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 2 Δ= -0.2 -0.7 -0.9 +0.1 +1.0 +0.0 着いた [Pi] GRIPPER: VALUE=25 speed=100 result= None [STATE ] 目標を渡す 目標と実測の最大差 0.96°（関節 j4） [006] 推論 1720ms 10ステップ先 Δ= +0.4 -5.5 +0.9 -0.8 +2.4 +0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk006_via02: send_angles (single) [ +11.40, +60.35, +18.07, -2.55, -66.88, -26.95] speed=20 wait=0.0s (pre max|Δ|=0.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 2 Δ= -0.0 -1.0 -0.9 +0.2 +1.0 -0.1 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +11.58, +59.29, +18.61, -3.30, -66.35, -26.82] speed=20 wait=0.0s (pre max|Δ|=2.05°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.96° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -2.0 -0.4 -0.6 +1.5 -0.0 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +11.82, +56.33, +19.56, -3.55, -65.29, -26.73] speed=20 wait=0.0s (pre max|Δ|=4.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.94° (tol 3.0°) [VIA ] step 8 Δ= +0.4 -4.9 +0.6 -0.7 +2.6 +0.1 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +11.79, +55.85, +19.86, -3.47, -65.34, -26.73] speed=20 wait=0.0s (pre max|Δ|=2.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.42° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -2.4 +0.4 -0.4 +0.8 -0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.42°（関節 j1） [007] 推論 824ms 10ステップ先 Δ= +1.2 -3.4 -4.4 -1.0 +1.7 +0.4 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk007_via02: send_angles (single) [ +11.85, +54.00, +21.84, -3.46, -65.80, -26.71] speed=20 wait=0.0s (pre max|Δ|=4.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.63° (tol 3.0°) [VIA ] step 2 Δ= +0.4 -4.3 +2.2 -0.4 +0.4 -0.0 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +11.90, +53.20, +22.61, -3.45, -66.16, -26.71] speed=20 wait=0.0s (pre max|Δ|=2.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 5 Δ= +0.6 -2.4 +0.1 -0.4 -0.1 +0.0 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +12.16, +54.09, +17.47, -3.93, -65.08, -26.44] speed=20 wait=0.0s (pre max|Δ|=5.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.45° (tol 3.0°) [VIA ] step 8 Δ= +0.8 -1.5 -5.0 -0.9 +1.0 +0.3 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +12.64, +54.87, +15.32, -4.12, -64.52, -26.35] speed=20 wait=0.0s (pre max|Δ|=3.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -0.7 -3.0 -0.5 +1.2 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.11°（関節 j1） [008] 推論 744ms 10ステップ先 Δ= +1.3 -1.9 -7.3 -0.7 +0.2 +0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk008_via02: send_angles (single) [ +12.66, +54.77, +13.98, -4.15, -64.63, -26.38] speed=20 wait=0.0s (pre max|Δ|=2.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.22° (tol 3.0°) [VIA ] step 2 Δ= +0.6 -1.2 -2.4 -0.5 +0.2 +0.2 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +12.90, +54.75, +11.97, -4.28, -64.62, -26.42] speed=20 wait=0.0s (pre max|Δ|=3.23°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.88° (tol 3.0°) [VIA ] step 5 Δ= +0.9 -1.2 -3.2 -0.4 +0.2 +0.1 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +13.20, +54.29, +9.85, -4.36, -64.74, -26.42] speed=20 wait=0.0s (pre max|Δ|=3.15°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.69° (tol 3.0°) [VIA ] step 8 Δ= +0.1 -1.7 -3.1 +0.0 +0.1 +0.1 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +13.34, +54.08, +9.05, -4.41, -64.69, -26.44] speed=20 wait=0.0s (pre max|Δ|=1.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.90° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -1.9 -1.9 -0.0 +0.2 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.90°（関節 j1） [009] 推論 556ms 10ステップ先 Δ= +0.2 -14.4 -2.5 -0.2 +2.1 -0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk009_via02: send_angles (single) [ +13.55, +50.74, +8.18, -4.47, -64.18, -26.59] speed=20 wait=0.0s (pre max|Δ|=5.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.17° (tol 3.0°) [VIA ] step 2 Δ= +0.6 -5.2 -2.3 -0.1 +0.7 -0.0 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +13.57, +43.93, +8.53, -4.44, -63.29, -26.65] speed=20 wait=0.0s (pre max|Δ|=8.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.94° (tol 3.0°) [VIA ] step 5 Δ= +0.6 -8.7 -0.9 +0.0 +1.4 -0.1 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +13.37, +41.40, +8.20, -4.51, -62.84, -26.66] speed=20 wait=0.0s (pre max|Δ|=4.47°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 3.0°) [VIA ] step 8 Δ= +0.4 -4.5 -1.2 -0.0 +0.8 -0.1 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +13.24, +41.63, +7.94, -4.56, -62.77, -26.67] speed=20 wait=0.0s (pre max|Δ|=1.70°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.70° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -1.7 -1.5 +0.0 +0.4 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.70°（関節 j1） [010] 推論 693ms 10ステップ先 Δ= +4.7 -8.9 -2.9 +0.4 +3.7 -0.7 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk010_via02: send_angles (single) [ +13.80, +40.25, +8.15, -4.38, -62.68, -26.74] speed=20 wait=0.0s (pre max|Δ|=3.08°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.11° (tol 3.0°) [VIA ] step 2 Δ= +0.8 -3.1 -1.2 +0.2 +0.5 -0.2 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +13.95, +37.35, +7.69, -4.36, -62.09, -26.80] speed=20 wait=0.0s (pre max|Δ|=5.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.76° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -5.0 -1.7 +0.9 +0.9 -0.3 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +15.65, +35.37, +6.72, -4.38, -60.38, -27.04] speed=20 wait=0.0s (pre max|Δ|=3.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.89° (tol 3.0°) [VIA ] step 8 Δ= +1.9 -3.7 -2.7 +0.9 +1.9 -0.5 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +17.67, +34.42, +6.46, -4.19, -59.50, -27.20] speed=20 wait=0.0s (pre max|Δ|=2.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.05° (tol 3.0°) [VIA ] step 9 Δ= +2.2 -2.8 -1.7 +0.6 +0.7 -0.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.05°（関節 j1） [011] 推論 1541ms 10ステップ先 Δ= +9.4 +1.4 -2.0 +1.9 +1.5 -1.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk011_via02: send_angles (single) [ +19.56, +34.38, +6.39, -3.82, -58.51, -27.37] speed=20 wait=0.0s (pre max|Δ|=2.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.09° (tol 3.0°) [VIA ] step 2 Δ= +2.1 -2.1 -1.7 +1.1 +1.2 -0.7 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +22.71, +34.34, +6.15, -3.32, -57.38, -27.57] speed=20 wait=0.0s (pre max|Δ|=3.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 5 Δ= +3.3 -2.1 -1.9 +0.8 +1.2 -0.9 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +26.40, +36.75, +6.10, -2.84, -57.81, -27.74] speed=20 wait=0.0s (pre max|Δ|=3.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.98° (tol 3.0°) [VIA ] step 8 Δ= +3.6 +0.3 -2.0 +0.8 -0.2 -1.1 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +26.88, +37.82, +6.13, -2.82, -58.18, -27.73] 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 9 Δ= +0.4 -0.1 -2.0 -0.1 -0.5 -0.9 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.95°（関節 j2） [012] 推論 556ms 10ステップ先 Δ= +9.0 +5.3 -4.7 +2.2 -1.3 -2.3 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk012_via02: send_angles (single) [ +30.45, +38.41, +4.47, -2.02, -57.21, -28.55] speed=20 wait=0.0s (pre max|Δ|=3.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.03° (tol 3.0°) [VIA ] step 2 Δ= +3.9 -0.7 -3.6 +1.2 +0.4 -1.7 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +33.91, +39.62, +3.27, -1.46, -56.67, -29.03] speed=20 wait=0.0s (pre max|Δ|=3.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 5 Δ= +3.5 +0.3 -2.6 +1.0 +1.0 -1.2 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +35.53, +43.08, +3.35, -1.19, -58.22, -29.18] speed=20 wait=0.0s (pre max|Δ|=2.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.48° (tol 3.0°) [VIA ] step 8 Δ= +1.7 +2.5 -1.6 +0.5 -1.3 -0.7 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +35.51, +44.38, +3.41, -1.07, -58.95, -29.19] speed=20 wait=0.0s (pre max|Δ|=2.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 9 Δ= -0.3 -0.0 -1.3 +0.2 -2.0 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.39°（関節 j4） [013] 推論 558ms 10ステップ先 Δ= +3.5 +11.2 -4.6 +2.2 -3.2 -1.8 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk013_via02: send_angles (single) [ +37.87, +45.51, +2.51, -0.54, -57.52, -29.72] speed=20 wait=0.0s (pre max|Δ|=2.23°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.70° (tol 3.0°) [VIA ] step 2 Δ= +2.1 -0.0 -2.2 +0.9 +0.0 -1.1 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +39.84, +49.18, +1.18, +0.10, -57.27, -30.27] speed=20 wait=0.0s (pre max|Δ|=3.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.63° (tol 3.0°) [VIA ] step 5 Δ= +2.0 +2.3 -3.0 +0.5 +0.3 -0.8 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +39.39, +55.12, +0.35, +0.64, -59.68, -30.50] speed=20 wait=0.0s (pre max|Δ|=4.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.03° (tol 3.0°) [VIA ] step 8 Δ= -0.3 +4.8 -2.4 +0.4 -2.1 -0.6 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +39.28, +56.68, +0.11, +0.78, -60.73, -30.50] speed=20 wait=0.0s (pre max|Δ|=2.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.91° (tol 3.0°) [VIA ] step 9 Δ= -0.5 +0.3 -1.9 +0.4 -2.9 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.91°（関節 j2） [014] 推論 758ms 7ステップ先 Δ= -0.5 +4.4 -2.4 +1.2 -5.1 -0.6 グリッパー→開 [VIA ] 中継点 3 点: step 2, 5, 6 [SEND] pi05_chunk014_via02: send_angles (single) [ +39.25, +61.16, -0.30, +1.33, -63.39, -30.59] speed=20 wait=0.0s (pre max|Δ|=3.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.44° (tol 3.0°) [VIA ] step 2 Δ= -0.6 +3.3 -2.3 +0.9 -3.7 -0.5 着いた [SEND] pi05_chunk014_via05: send_angles (single) [ +39.27, +62.21, -0.40, +1.64, -64.75, -30.63] speed=20 wait=0.0s (pre max|Δ|=2.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.54° (tol 3.0°) [VIA ] step 5 Δ= -0.5 -0.1 -1.5 +0.6 -2.4 -0.5 着いた [SEND] pi05_chunk014_via06: send_angles (single) [ +39.27, +62.21, -0.40, +1.64, -64.75, -30.63] 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 6 Δ= -0.5 -1.1 -1.5 +0.2 -0.8 -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 1.54°（関節 j2） [015] 推論 1557ms 10ステップ先 Δ= -1.2 -16.1 -1.2 +0.4 +15.2 -0.5 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk015_via02: send_angles (single) [ +39.48, +58.42, -0.36, +1.71, -61.27, -30.69] speed=20 wait=0.0s (pre max|Δ|=4.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.71° (tol 3.0°) [VIA ] step 2 Δ= -0.3 -4.9 -1.5 +0.3 +2.7 -0.4 着いた [SEND] pi05_chunk015_via05: send_angles (single) [ +39.46, +53.68, -0.21, +1.79, -56.36, -30.75] speed=20 wait=0.0s (pre max|Δ|=7.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.43° (tol 3.0°) [VIA ] step 5 Δ= -0.3 -6.6 -1.3 +0.3 +7.6 -0.4 着いた [SEND] pi05_chunk015_via08: send_angles (single) [ +39.07, +48.75, -0.09, +1.80, -50.62, -30.79] speed=20 wait=0.0s (pre max|Δ|=8.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.81° (tol 3.0°) [VIA ] step 8 Δ= -0.7 -6.9 -1.1 +0.2 +8.2 -0.4 着いた [SEND] pi05_chunk015_via09: send_angles (single) [ +38.58, +47.13, -0.05, +1.79, -48.79, -30.79] speed=20 wait=0.0s (pre max|Δ|=3.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.17° (tol 3.0°) [VIA ] step 9 Δ= -0.5 -3.7 -1.1 -0.2 +3.8 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.17°（関節 j1） [016] 推論 560ms 10ステップ先 Δ=-19.0 -25.3 -1.1 -1.7 +26.1 -0.4 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk016_via02: send_angles (single) [ +35.16, +41.38, -0.12, +1.59, -42.55, -30.87] speed=20 wait=0.0s (pre max|Δ|=7.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.12° (tol 3.0°) [VIA ] step 2 Δ= -3.9 -7.9 -1.2 -0.2 +7.9 -0.4 着いた [SEND] pi05_chunk016_via05: send_angles (single) [ +29.36, +34.25, -0.14, +0.98, -35.03, -30.88] speed=20 wait=0.0s (pre max|Δ|=9.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.04° (tol 3.0°) [VIA ] step 5 Δ= -6.4 -9.3 -1.2 -1.0 +8.9 -0.3 着いた [SEND] pi05_chunk016_via08: send_angles (single) [ +22.24, +26.29, -0.02, +0.27, -26.98, -30.87] speed=20 wait=0.0s (pre max|Δ|=9.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.83° (tol 3.0°) [VIA ] step 8 Δ= -7.2 -9.9 -1.1 -1.5 +9.1 -0.3 着いた [SEND] pi05_chunk016_via09: send_angles (single) [ +20.12, +23.99, -0.06, +0.07, -24.39, -30.88] speed=20 wait=0.0s (pre max|Δ|=4.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.67° (tol 3.0°) [VIA ] step 9 Δ= -2.5 -4.1 -1.2 -1.2 +3.5 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.67°（関節 j1） [017] 推論 559ms 10ステップ先 Δ=-11.4 -14.6 -0.8 -0.7 +14.8 -0.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk017_via02: send_angles (single) [ +16.86, +19.08, +0.06, -0.13, -18.68, -30.84] speed=20 wait=0.0s (pre max|Δ|=6.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.80° (tol 3.0°) [VIA ] step 2 Δ= -3.0 -6.6 -1.1 -0.6 +6.6 -0.2 着いた [SEND] pi05_chunk017_via05: send_angles (single) [ +10.89, +12.35, +0.22, -0.28, -11.85, -30.85] speed=20 wait=0.0s (pre max|Δ|=8.39°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.53° (tol 3.0°) [VIA ] step 5 Δ= -6.2 -8.4 -0.9 -0.7 +7.5 -0.1 着いた [SEND] pi05_chunk017_via08: send_angles (single) [ +8.40, +10.75, +0.31, -0.26, -10.26, -30.86] speed=20 wait=0.0s (pre max|Δ|=3.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 8 Δ= -2.6 -3.1 -0.8 -0.7 +2.3 -0.1 着いた [SEND] pi05_chunk017_via09: send_angles (single) [ +8.84, +11.07, +0.35, -0.30, -10.51, -30.86] speed=20 wait=0.0s (pre max|Δ|=1.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.14° (tol 3.0°) [VIA ] step 9 Δ= +0.7 -1.1 -0.8 -0.2 +0.3 -0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.14°（関節 j1） [018] 推論 816ms 10ステップ先 Δ= -7.0 -8.3 -0.5 -0.3 +7.4 +0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk018_via02: send_angles (single) [ +2.14, +4.20, +0.50, -0.40, -3.72, -30.80] speed=20 wait=0.0s (pre max|Δ|=8.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.33° (tol 3.0°) [VIA ] step 2 Δ= -6.1 -8.0 -0.6 -0.3 +7.1 +0.0 着いた [SEND] pi05_chunk018_via05: send_angles (single) [ +1.30, +3.82, +0.53, -0.42, -3.58, -30.77] speed=20 wait=0.0s (pre max|Δ|=1.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.71° (tol 3.0°) [VIA ] step 5 Δ= -1.0 -1.7 -0.6 -0.3 +0.7 +0.1 着いた [SEND] pi05_chunk018_via08: send_angles (single) [ +1.33, +4.00, +0.57, -0.37, -3.46, -30.75] speed=20 wait=0.0s (pre max|Δ|=1.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.53° (tol 3.0°) [VIA ] step 8 Δ= +0.1 -1.5 -0.6 -0.3 +0.7 +0.1 着いた [SEND] pi05_chunk018_via09: send_angles (single) [ +1.27, +3.91, +0.61, -0.37, -3.42, -30.74] speed=20 wait=0.0s (pre max|Δ|=1.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.53° (tol 3.0°) [VIA ] step 9 Δ= +0.0 -1.5 -0.5 -0.3 +0.6 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.53°（関節 j1） [019] 推論 1529ms 10ステップ先 Δ= -1.2 -2.0 -0.6 -0.2 +0.7 +0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk019_via02: send_angles (single) [ -0.40, +3.46, +0.56, -0.35, -2.99, -30.75] speed=20 wait=0.0s (pre max|Δ|=1.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 2 Δ= -1.6 -2.0 -0.6 -0.3 +0.9 +0.1 着いた [SEND] pi05_chunk019_via05: send_angles (single) [ -0.22, +3.45, +0.57, -0.37, -3.21, -30.75] speed=20 wait=0.0s (pre max|Δ|=1.47°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 5 Δ= +0.5 -1.5 -0.6 -0.3 -0.1 +0.1 着いた [SEND] pi05_chunk019_via08: send_angles (single) [ -0.08, +3.43, +0.55, -0.30, -3.23, -30.75] speed=20 wait=0.0s (pre max|Δ|=1.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.49° (tol 3.0°) [VIA ] step 8 Δ= +0.6 -1.5 -0.6 -0.2 -0.1 +0.1 着いた [SEND] pi05_chunk019_via09: send_angles (single) [ -0.01, +3.43, +0.52, -0.32, -3.20, -30.74] speed=20 wait=0.0s (pre max|Δ|=1.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.49° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -1.5 -0.6 -0.2 -0.0 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.49°（関節 j1） [020] 推論 786ms 10ステップ先 Δ= -0.1 -1.5 -0.6 -0.3 +0.2 +0.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk020_via02: send_angles (single) [ -0.42, +3.41, +0.57, -0.27, -3.02, -30.71] speed=20 wait=0.0s (pre max|Δ|=1.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.51° (tol 3.0°) [VIA ] step 2 Δ= -0.2 -1.5 -0.6 -0.2 +0.1 +0.1 着いた [SEND] pi05_chunk020_via05: send_angles (single) [ -0.44, +3.36, +0.49, -0.31, -2.90, -30.71] speed=20 wait=0.0s (pre max|Δ|=1.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.56° (tol 3.0°) [VIA ] step 5 Δ= -0.2 -1.6 -0.6 -0.2 +0.3 +0.1 着いた [SEND] pi05_chunk020_via08: send_angles (single) [ -0.39, +3.31, +0.50, -0.35, -2.93, -30.69] speed=20 wait=0.0s (pre max|Δ|=1.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.52° (tol 3.0°) [VIA ] step 8 Δ= -0.1 -1.6 -0.6 -0.3 +0.2 +0.1 着いた [SEND] pi05_chunk020_via09: send_angles (single) [ -0.41, +3.39, +0.52, -0.36, -2.96, -30.70] speed=20 wait=0.0s (pre max|Δ|=1.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.44° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -1.4 -0.6 -0.3 +0.2 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.44°（関節 j1） [021] 推論 1540ms 10ステップ先 Δ= -0.8 -1.5 -0.6 -0.3 +0.1 +0.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk021_via02: send_angles (single) [ -0.93, +3.37, +0.51, -0.37, -2.81, -30.68] speed=20 wait=0.0s (pre max|Δ|=1.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 2 Δ= -0.7 -1.5 -0.6 -0.3 +0.3 +0.2 着いた [SEND] pi05_chunk021_via05: send_angles (single) [ -1.01, +3.36, +0.52, -0.38, -2.89, -30.69] speed=20 wait=0.0s (pre max|Δ|=1.47°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 5 Δ= -0.8 -1.5 -0.6 -0.3 +0.3 +0.2 着いた [SEND] pi05_chunk021_via08: send_angles (single) [ -1.08, +3.33, +0.55, -0.40, -3.04, -30.68] speed=20 wait=0.0s (pre max|Δ|=1.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.50° (tol 3.0°) [VIA ] step 8 Δ= -0.4 -1.5 -0.6 -0.3 +0.1 +0.2 着いた [SEND] pi05_chunk021_via09: send_angles (single) [ -1.07, +3.34, +0.54, -0.40, -3.02, -30.68] speed=20 wait=0.0s (pre max|Δ|=1.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.49° (tol 3.0°) [VIA ] step 9 Δ= -0.3 -1.5 -0.6 -0.3 +0.1 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.49°（関節 j1） [022] 推論 558ms 10ステップ先 Δ= -1.1 -1.6 -0.5 -0.3 +0.8 +0.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk022_via02: send_angles (single) [ -2.09, +3.17, +0.57, -0.41, -2.61, -30.67] speed=20 wait=0.0s (pre max|Δ|=1.66°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.40° (tol 3.0°) [VIA ] step 2 Δ= -1.3 -1.7 -0.6 -0.3 +0.5 +0.2 着いた [SEND] pi05_chunk022_via05: send_angles (single) [ -2.02, +3.21, +0.58, -0.39, -2.55, -30.67] speed=20 wait=0.0s (pre max|Δ|=1.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.36° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -1.4 -0.6 -0.3 +0.3 +0.2 着いた [SEND] pi05_chunk022_via08: send_angles (single) [ -2.01, +3.21, +0.59, -0.43, -2.43, -30.66] speed=20 wait=0.0s (pre max|Δ|=1.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.36° (tol 3.0°) [VIA ] step 8 Δ= +0.2 -1.4 -0.6 -0.3 +0.5 +0.2 着いた [SEND] pi05_chunk022_via09: send_angles (single) [ -1.93, +3.19, +0.63, -0.42, -2.39, -30.66] speed=20 wait=0.0s (pre max|Δ|=1.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.38° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -1.4 -0.5 -0.3 +0.4 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.38°（関節 j1） [023] 推論 691ms 10ステップ先 Δ= -0.5 -1.6 -0.5 -0.3 +0.5 +0.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [SEND] pi05_chunk023_via02: send_angles (single) [ -2.53, +3.19, +0.65, -0.44, -2.27, -30.64] speed=20 wait=0.0s (pre max|Δ|=1.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.38° (tol 3.0°) [VIA ] step 2 Δ= -0.3 -1.4 -0.5 -0.4 +0.5 +0.2 着いた [SEND] pi05_chunk023_via05: send_angles (single) [ -2.53, +3.06, +0.62, -0.41, -2.17, -30.64] speed=20 wait=0.0s (pre max|Δ|=1.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.51° (tol 3.0°) [VIA ] step 5 Δ= -0.3 -1.5 -0.5 -0.3 +0.4 +0.2 着いた [SEND] pi05_chunk023_via08: send_angles (single) [ -2.77, +2.92, +0.60, -0.40, -2.26, -30.62] speed=20 wait=0.0s (pre max|Δ|=1.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 8 Δ= -0.6 -1.7 -0.5 -0.3 +0.3 +0.2 着いた [PAUSE ] 止める予約 (Enter). 推論 23 を送り終えてから, 次の推論のあと (送る前) で止めます [SEND] pi05_chunk023_via09: send_angles (single) [ -2.68, +2.98, +0.62, -0.39, -2.36, -30.63] speed=20 wait=0.0s (pre max|Δ|=1.59°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.59° (tol 3.0°) [VIA ] step 9 Δ= -0.5 -1.6 -0.5 -0.3 +0.2 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.59°（関節 j1） [024] 推論 1524ms 10ステップ先 Δ= -1.1 -1.8 -0.4 -0.3 +0.3 +0.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [PAUSE ] 止めました (推論 24 はまだ送っていません). Enter で実行すると, また止まらずに進みます 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|=4.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.23° (tol 2.5°) [RECORD] 記録終了 コマ 809 (8.867 fps) 実測角 747 回 (8.19 Hz) 電流 754 行 (read_servo) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261114_181300/recording 結果: y=成功 / n=失敗 / Enter=記録しない > y [GRIP ] 閉じて 1 秒後の爪の電流 (中央値): 1 回目 787 (10 行) (閉じる値 25) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261114_181300 [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)) (98 秒) もう1回やりますか? y=やる / 他=終わる > n === かかった時間 (Log35 の Pod (id 9wypmq2uhnx2et) 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 5 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 101 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 5b. 空打ち (1 回目の推論の待ちを先に済ませる) 3 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) 15 秒 8. 実機推論 (1 回目) 111 秒 7. HOME → 爪を開く → 位置合わせ (2 回目) 9 秒 8. 実機推論 (2 回目) 98 秒 [LAB ] Pod は残しています (id 9wypmq2uhnx2et). 片付けは ./lab_stop.sh --log Log35 [TUNNEL] 8000 番のトンネルを閉じました