フィジカルAI研究室を作る Log#21 | ゲームパッドで mechArm 270 を直す形が固まった

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1.23, 1.84, 0.52, 1.31, -29.35]}

(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % git add tools/jog_probe.sh tools/pi/jog_probe_pi.py
git commit -m "jog_probe: 止め方を比べる stop の組を足す (jog の向きは実機に合わせる)"
tools/jog_probe.sh stop
[main dcdf3f1] jog_probe: 止め方を比べる stop の組を足す (jog の向きは実機に合わせる)
 2 files changed, 96 insertions(+), 5 deletions(-)
jog_probe 20261105_153952 (結果: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_153952_stop)
--- デーモンの状態 (止める前)
mode=systemd

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(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % git add tools/jog_probe.sh tools/pi/jog_probe_pi.py
git commit -m "jog_probe: 遠い目標を途中で止める hold の組を足す"
tools/jog_probe.sh hold
[main b577a13] jog_probe: 遠い目標を途中で止める hold の組を足す
 2 files changed, 22 insertions(+), 5 deletions(-)
jog_probe 20261105_154332 (結果: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_154332_hold)
--- デーモンの状態 (止める前)
mode=systemd

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## 結論

必須は 1 件です。L2+R2 では、HOME の途中の動きを止められません。それ以外の流れは筋が通っています。長押しを離したとき・ほかのボタン・進まない・端・停止のどの終わり方でも、halt は送った動きの後に送られます。長押しの目標を送っている最中に離した場合も、`released_while_sending` で後から止めています。gate・busy・halt_pending まわりに競合は見つかりませんでした。

（行番号は review_gamepad_teleop.py のものです）

## 必須

== teleop_20261105_160038  行 376
-- 1 回押し: 送った量と, 動かした関節が動いた量
   0.00s j0 -1° → 動いた -1.32° ほかの関節の最大の変化 0.8° 届いた 待ち 0.02秒 送り直し 0回
   5.11s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.01秒 送り直し 0回
   6.72s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回
  20.20s j1 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回
  22.69s j0 -1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.06秒 送り直し 0回
  27.21s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.03秒 送り直し 0回

(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % git add tools/pi/mecharm_daemon.py
git commit -m "daemon に stop を足した版を tools/pi に置く"
python3 tools/gamepad_teleop.py --execute
[main e0bf052] daemon に stop を足した版を tools/pi に置く
 1 file changed, 339 insertions(+)
 create mode 100644 tools/pi/mecharm_daemon.py
[記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261105_160038
[実機] daemon に送ります。起動したときの姿勢: -0.61 +4.83 +5.00 -0.08 +0.96 -29.61

(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts
git add tools/gamepad_teleop.py tools/test_gamepad_teleop.py
git commit -m "gamepad_teleop: 止めたあと他の関節を指令へ戻す・出発点を関節ごと に・1刻みの届いた判定を0.5°に"
python3 tools/gamepad_teleop.py --execute
[main f0d7e73] gamepad_teleop: 止めたあと他の関節を指令へ戻す・出発点を関節ごとに・1刻みの届いた判定を0.5°に
 2 files changed, 137 insertions(+), 30 deletions(-)
[記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261105_161347
[実機] daemon に送ります。起動したときの姿勢: +1.93 +40.07 -19.95 +3.95 -27.86 -30.76

(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts
git add tools/gamepad_teleop.py tools/test_gamepad_teleop.py
git commit -m "gamepad_teleop: 止めたあと送り直さない・1刻みは動かした関節だけで判定・長押しが止まったら送り直す"
python3 tools/gamepad_teleop.py --execute
[main 31a336c] gamepad_teleop: 止めたあと送り直さない・1刻みは動かした関節だけで判定・長押しが止まったら送り直す
 2 files changed, 70 insertions(+), 23 deletions(-)
[記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261105_162224
[実機] daemon に送ります。起動したときの姿勢: -0.17 +1.58 +0.96 +0.26 -0.17 -30.23

{"started_at": "2022-10-13 16:18:45", "pymycobot": "2.9.6", "params": {"speed": 20, "stream_interval": 0.1, "stream_ahead": 3.0, "jog_speeds": [10, 30], "guard_deg": 25.0, "set": "small", "jog_dir": {"+1": 0, "-1": 1}}, "tests": {"read": {"median_ms": 16.0, "max_ms": 18.5, "empty_ratio": 0.0}, "small": {"S1_1": {"how": "S1", "step": 1.0, "n_moved": 5, "n": 6, "trials": [{"i": 0, "sign": 1, "q0": -0.43, "want": 0.57, "moved_deg": 0.86, "moved": true, "moved_at_sec": 0.12, "others_gap_deg": 1.81}, {"i": 1, "sign": -1, "q0": 0.43, "want": -0.57, "moved_deg": 0.86, "moved": true, "moved_at_sec": 0.2, "others_gap_deg": 2.78}, {"i": 2, "sign": 1, "q0": -0.43, "want": 0.57, "moved_deg": 0.86, "moved": true, "moved_at_sec": 0.17, "others_gap_deg": 3.66}, {"i": 3, "sign": -1, "q0": 0.43, "want": -0.57, "moved_deg": 0.86, "moved": true, "moved_at_sec": 0.2, "others_gap_deg": 4.82}, {"i": 4, "sign": 1, "q0": -0.43, "want": 0.57, "moved_deg": 0.86, "moved": true, "moved_at_sec": 0.17, "others_gap_deg": 6.05}, {"i": 5, "sign": -1, "q0": 0.43, "want": -0.57, "moved_deg": -0.0, "moved": false, "moved_at_sec": null, "others_gap_deg": 7.28}]}, "S1_2": {"how": "S1", "step": 2.0, "n_moved": 6, "n": 6, "trials": [{"i": 0, "sign": 1, "q0": 0.43, "want": 2.43, "moved_deg": 2.2, "moved": true, "moved_at_sec": 0.25, "others_gap_deg": 7.28}, {"i": 1, "sign": -1, "q0": 2.63, "want": 0.63, "moved_deg": 2.37, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 8.51}, {"i": 2, "sign": 1, "q0": 0.26, "want": 2.26, "moved_deg": 1.93, "moved": true, "moved_at_sec": 0.12, "others_gap_deg": 9.65}, {"i": 3, "sign": -1, "q0": 2.19, "want": 0.19, "moved_deg": 2.27, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 10.88}, {"i": 4, "sign": 1, "q0": -0.08, "want": 1.92, "moved_deg": 2.18, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 12.03}, {"i": 5, "sign": -1, "q0": 2.1, "want": 0.1, "moved_deg": 2.36, "moved": true, "moved_at_sec": 0.14, "others_gap_deg": 13.26}]}, "S2_1": {"how": "S2", "step": 1.0, "n_moved": 5, "n": 6, "trials": [{"i": 0, "sign": 1, "q0": -0.26, "want": 0.74, "moved_deg": 1.05, "moved": true, "moved_at_sec": 0.35, "others_gap_deg": 14.4}, {"i": 1, "sign": -1, "q0": 0.79, "want": -0.21, "moved_deg": 0.96, "moved": true, "moved_at_sec": 0.17, "others_gap_deg": 2.09}, {"i": 2, "sign": 1, "q0": -0.17, "want": 0.83, "moved_deg": 0.0, "moved": false, "moved_at_sec": null, "others_gap_deg": 2.09}, {"i": 3, "sign": -1, "q0": -0.17, "want": -1.17, "moved_deg": 1.06, "moved": true, "moved_at_sec": 0.19, "others_gap_deg": 2.09}, {"i": 4, "sign": 1, "q0": -1.23, "want": -0.23, "moved_deg": 0.8, "moved": true, "moved_at_sec": 0.17, "others_gap_deg": 2.09}, {"i": 5, "sign": -1, "q0": -0.43, "want": -1.43, "moved_deg": 0.88, "moved": true, "moved_at_sec": 0.19, "others_gap_deg": 2.09}]}, "S2_2": {"how": "S2", "step": 2.0, "n_moved": 6, "n": 6, "trials": [{"i": 0, "sign": 1, "q0": -1.31, "want": 0.69, "moved_deg": 2.18, "moved": true, "moved_at_sec": 0.2, "others_gap_deg": 2.09}, {"i": 1, "sign": -1, "q0": 0.87, "want": -1.13, "moved_deg": 2.36, "moved": true, "moved_at_sec": 0.14, "others_gap_deg": 2.09}, {"i": 2, "sign": 1, "q0": -1.49, "want": 0.51, "moved_deg": 2.01, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 2.09}, {"i": 3, "sign": -1, "q0": 0.52, "want": -1.48, "moved_deg": 2.27, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 2.09}, {"i": 4, "sign": 1, "q0": -1.75, "want": 0.25, "moved_deg": 2.1, "moved": true, "moved_at_sec": 0.13, "others_gap_deg": 2.09}, {"i": 5, "sign": -1, "q0": 0.35, "want": -1.65, "moved_deg": 2.28, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 2.09}]}, "S3_1": {"how": "S3", "step": 1.0, "n_moved": 6, "n": 6, "trials": [{"i": 0, "sign": 1, "q0": -1.93, "want": -0.93, "moved_deg": 0.79, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 2.09}, {"i": 1, "sign": -1, "q0": -1.14, "want": -2.14, "moved_deg": 0.79, "moved": true, "moved_at_sec": 0.2, "others_gap_deg": 2.09}, {"i": 2, "sign": 1, "q0": -1.93, "want": -0.93, "moved_deg": 0.79, "moved": true, "moved_at_sec": 0.17, "others_gap_deg": 2.09}, {"i": 3, "sign": -1, "q0": -1.14, "want": -2.14, "moved_deg": 0.79, "moved": true, "moved_at_sec": 0.2, "others_gap_deg": 2.09}, {"i": 4, "sign": 1, "q0": -1.93, "want": -0.93, "moved_deg": 0.79, "moved": true, "moved_at_sec": 0.19, "others_gap_deg": 2.09}, {"i": 5, "sign": -1, "q0": -1.14, "want": -2.14, "moved_deg": 0.79, "moved": true, "moved_at_sec": 0.22, "others_gap_deg": 2.09}]}, "S3_2": {"how": "S3", "step": 2.0, "n_moved": 6, "n": 6, "trials": [{"i": 0, "sign": 1, "q0": -1.93, "want": 0.07, "moved_deg": 2.19, "moved": true, "moved_at_sec": 0.2, "others_gap_deg": 2.09}, {"i": 1, "sign": -1, "q0": 0.26, "want": -1.74, "moved_deg": 2.19, "moved": true, "moved_at_sec": 0.16, "others_gap_deg": 2.09}, {"i": 2, "sign": 1, "q0": -1.93, "want": 0.07, "moved_deg": 2.19, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 2.09}, {"i": 3, "sign": -1, "q0": 0.26, "want": -1.74, "moved_deg": 2.19, "moved": true, "moved_at_sec": 0.15, "others_gap_deg": 2.09}, {"i": 4, "sign": 1, "q0": -1.93, "want": 0.07, "moved_deg": 2.19, "moved": true, "moved_at_sec": 0.14, "others_gap_deg": 2.09}, {"i": 5, "sign": -1, "q0": 0.26, "want": -1.74, "moved_deg": 2.19, "moved": true, "moved_at_sec": 0.14, "others_gap_deg": 2.09}]}}}, "start": [-0.43, 1.66, 0.7, 0.26, -0.26, -30.14], "small_pose_measured": [-0.43, 41.13, -18.19, 0.26, -28.91, -30.14]}

(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts
git add tools/gamepad_teleop.py tools/test_gamepad_teleop.py
git commit -m "gamepad_teleop: 十字キーは動かす関節だけを send_angle で送る"
python3 tools/gamepad_teleop.py --execute
[main b71ffb5] gamepad_teleop: 十字キーは動かす関節だけを send_angle で送る
 2 files changed, 31 insertions(+), 16 deletions(-)
[記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261105_163144
[実機] daemon に送ります。起動したときの姿勢: +0.70 +1.49 +1.75 -0.08 +0.26 -30.23

== teleop_20261105_163620  行 386
-- 1 回押し: 送った量と, 動かした関節が動いた量
   0.00s j0 -1° → 動いた -0.79° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回
   5.22s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 届いた 待ち 0.02秒 送り直し 0回
  17.49s j2 -1° → 動いた 0.0° ほかの関節の最大の変化 1.49° 動かなかった 待ち 1.01秒 送り直し 2回
  21.82s j2 +1° → 動いた 1.49° ほかの関節の最大の変化 0.0° 届いた 待ち 0.03秒 送り直し 0回
  28.88s j0 +1° → 動いた 1.49° ほかの関節の最大の変化 0.08° 届いた 待ち 0.17秒 送り直し 0回
  30.49s j4 -1° → 動いた -0.08° ほかの関節の最大の変化 2.28° 動かなかった 待ち 1.02秒 送り直し 2回

(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts
git add tools/gamepad_teleop.py tools/test_gamepad_teleop.py
git commit -m "gamepad_teleop: 受付なしを減らす（止める待ち0.1秒・1刻みは止まっ たら戻る・読む間隔0.05秒）"
python3 tools/gamepad_teleop.py --execute
[main 72d9d96] gamepad_teleop: 受付なしを減らす（止める待ち0.1秒・1刻みは止まったら戻る・読む間隔0.05秒）
 2 files changed, 47 insertions(+), 9 deletions(-)
[記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261105_163620
[実機] daemon に送ります。起動したときの姿勢: -0.26 +1.14 +1.75 +0.26 -0.26 -29.79

(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts
git add tools/gamepad_teleop.py tools/daemon_fast_read.sh
git commit -m "daemon の読み直しを速くするスクリプト・止めるときの読み取りは1回 だけ"
tools/daemon_fast_read.sh
git add tools/pi/mecharm_daemon.py
git commit -m "daemon の読み直しを0.02秒にした版を tools/pi に置く"
python3 tools/gamepad_teleop.py --execute
[main 617c3bd] daemon の読み直しを速くするスクリプト・止めるときの読み取りは1回だけ

== teleop_20261105_170313  行 549
-- 1 回押し: 送った量と, 動かした関節が動いた量
   0.00s j0 -1° → 動いた -1.05° ほかの関節の最大の変化 0.0° 届いた 待ち 0.1秒 送り直し 0回
   6.46s j2 -1° → 動いた 0.0° ほかの関節の最大の変化 3.34° 動かなかった 待ち 1.04秒 送り直し 2回
  10.85s j2 +1° → 動いた 0.44° ほかの関節の最大の変化 0.79° 届いた 待ち 0.18秒 送り直し 0回
  15.45s j0 +1° → 動いた 3.95° ほかの関節の最大の変化 1.93° 届いた 待ち 0.22秒 送り直し 0回
  15.85s j0 +1° → 動いた -0.35° ほかの関節の最大の変化 0.0° 動かなかった 待ち 1.04秒 送り直し 2回
  17.75s j0 +1° → 動いた 0.0° ほかの関節の最大の変化 0.0° 動かなかった 待ち 1.06秒 送り直し 2回

#!/usr/bin/env python3
"""gamepad_teleop.py — ゲームパッドで mechArm 270 を手で動かす (依頼 68. 2026-11-02)

PICK で爪の位置がずれたときに, エイイチがゲームパッドで左右・上げ下げ・爪の開閉を直す.
押した分だけそのまま動く. 自動で動く要素は入れない (自動の握り直し・失敗時の自動 HOME などはない).
押した操作と, 送った角度・届いた角度をすべて log.jsonl に残す (あとで「人が直した記録」として使う).

操作 (エイイチが決めた. 変えない):

#!/usr/bin/env python3
"""test_gamepad_teleop.py — gamepad_teleop.py の確かめ (アームなし・コントローラーなし. 依頼 68).

  python3 tools/test_gamepad_teleop.py -v

中身:
  - ボタン番号と操作の対応 (依頼 68 の表) / 十字キー上下の向き / △ で j1 → j5 → j1
  - 守り: j1 は 90.87 を超えない / 物理可動域まで (基準の姿勢からの枠はない. 2026-11-03) / J4_SAFE

#!/bin/bash
# jog_probe.sh — Mac から, Pi の mechArm で根元 j0 を 4 つの動かし方で動かし, なめらかさと限界を測る (2026-11-03)
#
#   tools/jog_probe.sh     A 1 回の send_angles / B 送り直し (今の長押し) / C 送り直し + fresh_mode / D jog (speed 10・30)
#                          テストごとに Enter で進む。q と Enter で止める
#
# 流れ (tools/servo_check.sh と同じ):
#   0. KIOXIA のマウントを確かめ, diag/jog_probe_{日時}/ を作る

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""jog_probe_pi.py — 根元 j0 で 4 つの動かし方を測り, mechArm がどこまでなめらかに動くかを見る (2026-11-03)

Mac の tools/jog_probe.sh から呼ぶ (デーモンを止めてから, シリアルに直接つなぐ)。
Pi の python3 は 3.6, pymycobot 2.9.6 (PYTHONPATH=/usr/local/lib/python2.7/dist-packages)。

測るもの (どれも j0 だけを動かす. 始める前に HOME 近くにいること. 各テストのあと始めの角度へ戻す):

#!/bin/bash
# daemon_add_stop.sh — Pi の mecharm_daemon.py に「stop」の命令を 1 つ書き足して起動し直す (2026-11-05)
#
#   tools/daemon_add_stop.sh
#
# なぜ: ゲームパッドの長押しを「15° 先へ 1 回送り, 離したら止める」形にするため (jog_probe 3 回の結果).
#       今の daemon には動いている途中で止める命令がない.
# 足す命令: {"cmd": "stop"} → mc.jog_stop() と mc.stop() を順に呼ぶ (どちらかが効かなかった試しがあるので両方).

#!/bin/bash
# daemon_fast_read.sh — Pi の mecharm_daemon.py の角度の読み直しを速くして起動し直す (2026-11-05)
#
#   tools/daemon_fast_read.sh
#
# なぜ: 動いている間は get_angles が空で返ることが多く, daemon は 0.2 秒待って 12 回まで読み直す (1 回最長約 2.6 秒).
#       送る命令のたびに記録用にも読むので, 送る命令の返事も遅れ, ゲームパッドが最長 15 秒受け付けなかった.
# 変えること: 読み直しの待ち 0.2 → 0.02 秒. 送ったあとの記録用の読み取りは 1 回だけ (読めなくても待たない).

#!/usr/bin/env python3
"""
mecharm_daemon.py
Pi 側で常駐する MyCobot 制御デーモン。
TCP socket で Mac からの JSON コマンドを受け取り、永続化された MyCobot 経由で実機に転送する。
"""

import json

{"seq": 1, "t": "2026-11-05T16:00:52.689", "t_unix": 1793862052.69, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 0, "accepted": true, "measured_before": [-0.61, 4.83, 5.0, -0.08, 0.96, -29.61], "start_source": "command", "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-1.61, 4.83, 5.0, -0.08, 0.96, -29.61], "sent": true, "timeout_sec": 8.0, "t_send": 1793862052.760244, "measured_before_send": [-0.61, 4.83, 5.0, -0.08, 0.96, -29.61], "resends": [], "reached": true, "reached_angles": [-1.93, 5.53, 5.8, -0.08, 0.17, -29.61], "reach_err": 0.8, "elapsed_sec": 0.02, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 2, "t": "2026-11-05T16:00:53.167", "t_unix": 1793862053.168, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 1, "held_sec": 0.479, "accepted": true, "measured_before": [-1.58, 5.53, 5.8, -0.08, 0.17, -29.61], "start_source": "hold", "cmd_gap_deg": 0.8, "hold_lead_deg": 0.03, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-16.58, 4.83, 5.0, -0.08, 0.96, -29.61], "sent": true, "reached": null, "no_check": true, "t_send": 1793862053.194277, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 3, "t": "2026-11-05T16:00:53.285", "t_unix": 1793862053.286, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 2, "held_sec": 0.597, "accepted": true, "measured_before": [-1.4, 5.53, 5.8, -0.08, 0.17, -29.61], "start_source": "hold", "cmd_gap_deg": 0.8, "hold_lead_deg": 15.18, "sent": false, "why": "lead_ok", "hold_remaining_deg": 15.18, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 4, "t": "2026-11-05T16:00:53.389", "t_unix": 1793862053.39, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 3, "held_sec": 0.7, "accepted": true, "measured_before": [-3.33, 5.53, 5.8, -0.08, 0.17, -29.61], "start_source": "hold", "cmd_gap_deg": 0.8, "hold_lead_deg": 13.25, "sent": false, "why": "lead_ok", "hold_remaining_deg": 13.25, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 5, "t": "2026-11-05T16:00:53.489", "t_unix": 1793862053.49, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 4, "held_sec": 0.801, "accepted": true, "measured_before": [-6.85, 5.53, 5.8, -0.08, 0.17, -29.61], "start_source": "hold", "cmd_gap_deg": 0.8, "hold_lead_deg": 9.73, "sent": false, "why": "lead_ok", "hold_remaining_deg": 9.73, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 6, "t": "2026-11-05T16:00:53.605", "t_unix": 1793862053.606, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 5, "held_sec": 0.917, "accepted": true, "released_during_job": true, "measured_before": [-12.21, 5.53, 5.8, -0.08, 0.17, -29.61], "start_source": "hold", "cmd_gap_deg": 0.8, "hold_lead_deg": 4.37, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-27.21, 4.83, 5.0, -0.08, 0.96, -29.61], "sent": true, "reached": null, "no_check": true, "t_send": 1793862053.6382499, "grip_state": "unknown", "stopped": false, "stop_reason": null}
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{"seq": 8, "t": "2026-11-05T16:31:57.595", "t_unix": 1793863917.595, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 6, "held_sec": 1.314, "accepted": true, "measured_before": [-20.74, 1.49, 1.75, -0.17, 0.87, -30.23], "start_source": "hold", "cmd_gap_deg": 1.75, "hold_lead_deg": 9.81, "sent": false, "why": "lead_ok", "hold_remaining_deg": 9.81, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}

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{"seq": 2, "t": "2026-11-05T16:36:30.486", "t_unix": 1793864190.487, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 1, "held_sec": 0.436, "accepted": true, "measured_before": [-0.96, 1.14, 1.75, 0.26, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 0.3, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-15.96, 1.14, 1.75, 0.26, -0.26, -29.79], "sent": true, "reached": null, "no_check": true, "t_send": 1793864190.509464, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 3, "t": "2026-11-05T16:36:30.587", "t_unix": 1793864190.588, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 2, "held_sec": 0.537, "accepted": true, "measured_before": [-1.05, 1.14, 1.75, 0.26, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 14.91, "sent": false, "why": "lead_ok", "hold_remaining_deg": 14.91, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 4, "t": "2026-11-05T16:36:30.689", "t_unix": 1793864190.689, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 3, "held_sec": 0.638, "accepted": true, "measured_before": [-15.11, 1.14, 1.75, 0.26, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 0.85, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-30.11, 1.14, 1.75, 0.26, -0.26, -29.79], "sent": true, "reached": null, "no_check": true, "t_send": 1793864191.09264, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 5, "t": "2026-11-05T16:36:31.499", "t_unix": 1793864191.5, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 4, "held_sec": 1.449, "accepted": true, "measured_before": [-26.1, 1.14, 1.75, 0.26, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 4.01, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-41.1, 1.14, 1.75, 0.26, -0.26, -29.79], "sent": true, "reached": null, "no_check": true, "t_send": 1793864191.519255, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 6, "t": "2026-11-05T16:36:31.884", "t_unix": 1793864191.884, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 5, "held_sec": 1.831, "accepted": true, "measured_before": [-36.03, 1.14, 1.75, 0.26, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 5.07, "sent": false, "why": "lead_ok", "hold_remaining_deg": 5.07, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 7, "t": "2026-11-05T16:36:31.998", "t_unix": 1793864191.998, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 6, "held_sec": 1.947, "accepted": true, "measured_before": [-40.34, 1.14, 1.75, 0.26, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 0.76, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-55.34, 1.14, 1.75, 0.26, -0.26, -29.79], "sent": true, "reached": null, "no_check": true, "t_send": 1793864192.040844, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 8, "t": "2026-11-05T16:36:32.100", "t_unix": 1793864192.101, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 7, "held_sec": 2.05, "accepted": true, "measured_before": [-41.66, 1.14, 1.75, 0.17, -0.26, -29.79], "start_source": "hold", "cmd_gap_deg": 0.09, "hold_lead_deg": 13.68, "sent": false, "why": "lead_ok", "hold_remaining_deg": 13.68, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}

{"seq": 1, "t": "2026-11-05T17:03:51.788", "t_unix": 1793865831.789, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -1.0, "hold_id": 1, "hold_n": 0, "accepted": true, "measured_before": [5.09, 1.31, 2.81, -0.96, -13.62, -26.98], "start_source": "command", "others_from_measured": [], "cmd_gap_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [4.09, 1.31, 2.81, -0.96, -13.62, -26.98], "sent": true, "timeout_sec": 8.0, "t_send": 1793865831.837409, "measured_before_send": [5.09, 1.31, 2.81, -0.96, -13.62, -26.98], "resends": [], "reached": true, "reached_angles": [4.04, 1.31, 2.81, -0.96, -13.62, -26.98], "reach_err": 0.05, "elapsed_sec": 0.1, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 2, "t": "2026-11-05T17:03:52.192", "t_unix": 1793865832.192, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 1, "held_sec": 0.404, "accepted": true, "measured_before": [4.3, 1.31, 2.81, -0.96, -13.62, -26.98], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 0.21, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-10.7, 1.31, 2.81, -0.96, -13.62, -26.98], "sent": true, "reached": null, "no_check": true, "t_send": 1793865832.215175, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 3, "t": "2026-11-05T17:03:52.292", "t_unix": 1793865832.292, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 2, "held_sec": 0.504, "accepted": true, "measured_before": [4.3, 1.31, 2.81, -0.96, -13.62, -26.98], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 15.0, "sent": false, "why": "lead_ok", "hold_remaining_deg": 15.0, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 4, "t": "2026-11-05T17:03:52.394", "t_unix": 1793865832.394, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 3, "held_sec": 0.607, "accepted": true, "measured_before": [3.77, 1.31, 2.81, -0.96, -13.62, -26.98], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 14.47, "sent": false, "why": "lead_ok", "hold_remaining_deg": 14.47, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 5, "t": "2026-11-05T17:03:52.495", "t_unix": 1793865832.495, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 4, "held_sec": 0.707, "accepted": true, "measured_before": [-0.87, 1.31, 2.81, -0.96, -13.62, -26.98], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 9.83, "sent": false, "why": "lead_ok", "hold_remaining_deg": 9.83, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 6, "t": "2026-11-05T17:03:52.612", "t_unix": 1793865832.613, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 5, "held_sec": 0.825, "accepted": true, "measured_before": [-10.54, 1.31, 2.81, -0.87, -13.62, -26.98], "start_source": "hold", "cmd_gap_deg": 0.09, "hold_lead_deg": 0.16, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-25.54, 1.31, 2.81, -0.96, -13.62, -26.98], "sent": true, "reached": null, "no_check": true, "t_send": 1793865832.758465, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 7, "t": "2026-11-05T17:03:52.812", "t_unix": 1793865832.812, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 6, "held_sec": 1.024, "accepted": true, "measured_before": [-10.81, 1.31, 2.81, -0.26, -13.62, -26.98], "start_source": "hold", "cmd_gap_deg": 0.7, "hold_lead_deg": 14.73, "sent": false, "why": "lead_ok", "hold_remaining_deg": 14.73, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 8, "t": "2026-11-05T17:03:52.913", "t_unix": 1793865832.914, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 7, "held_sec": 1.126, "accepted": true, "measured_before": [-15.38, 1.31, 2.81, -0.43, -13.62, -26.98], "start_source": "hold", "cmd_gap_deg": 0.53, "hold_lead_deg": 10.16, "sent": false, "why": "lead_ok", "hold_remaining_deg": 10.16, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}

{"seq": 1, "t": "2026-11-05T17:11:34.044", "t_unix": 1793866294.044, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 1, "held_sec": 0.407, "accepted": true, "measured_before": [-0.26, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 0.0, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-15.26, 1.49, 1.84, -0.26, -0.26, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793866294.0647411, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 2, "t": "2026-11-05T17:11:34.146", "t_unix": 1793866294.146, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 2, "held_sec": 0.509, "accepted": true, "measured_before": [-0.26, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 15.0, "sent": false, "why": "lead_ok", "hold_remaining_deg": 15.0, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 3, "t": "2026-11-05T17:11:34.263", "t_unix": 1793866294.263, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 3, "held_sec": 0.626, "accepted": true, "measured_before": [-8.08, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 7.18, "sent": false, "why": "lead_ok", "hold_remaining_deg": 7.18, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 4, "t": "2026-11-05T17:11:34.446", "t_unix": 1793866294.446, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 4, "held_sec": 0.809, "accepted": true, "measured_before": [-9.4, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 5.86, "sent": false, "why": "lead_ok", "hold_remaining_deg": 5.86, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 5, "t": "2026-11-05T17:11:34.546", "t_unix": 1793866294.547, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 5, "held_sec": 0.909, "accepted": true, "measured_before": [-14.67, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 0.59, "clip": [], "refused": [], "limit_ja": "", "limit_ascii": "", "command": [-29.67, 1.49, 1.84, -0.26, -0.26, -29.7], "sent": true, "reached": null, "no_check": true, "t_send": 1793866294.577536, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 6, "t": "2026-11-05T17:11:34.731", "t_unix": 1793866294.732, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 6, "held_sec": 1.094, "accepted": true, "measured_before": [-15.64, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 14.03, "sent": false, "why": "lead_ok", "hold_remaining_deg": 14.03, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 7, "t": "2026-11-05T17:11:34.833", "t_unix": 1793866294.833, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 7, "held_sec": 1.196, "accepted": true, "measured_before": [-19.77, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 9.9, "sent": false, "why": "lead_ok", "hold_remaining_deg": 9.9, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}
{"seq": 8, "t": "2026-11-05T17:11:34.936", "t_unix": 1793866294.937, "button": 13, "button_name": "dpad_left", "kind": "move", "selected_joint": 1, "step_deg": 1.0, "execute": true, "joint": 0, "delta": -15.0, "hold_id": 1, "hold_n": 8, "held_sec": 1.299, "accepted": true, "measured_before": [-23.29, 1.49, 1.84, -0.26, -0.26, -29.7], "start_source": "hold", "cmd_gap_deg": 0.0, "hold_lead_deg": 6.38, "sent": false, "why": "lead_ok", "hold_remaining_deg": 6.38, "reached": null, "grip_state": "unknown", "stopped": false, "stop_reason": null}

jog_probe 20261105_153952 (結果: /Volumes/KIOXIA/r2r2r-data/diag/jog_probe_20261105_153952_stop)
--- デーモンの状態 (止める前)
mode=systemd
pid=19339
listen=yes
daemon_pythonpath=/usr/local/lib/python2.7/dist-packages
serial_users=19339
checker=no