(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts
RAW=/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes
python3 pi05/run_policy_client.py --raw-dir $RAW --steps-per-chunk 10 --via-stride 3 --settle-retries 0 --state-from-target --execute
[SAFE  ] 安全範囲 (学習 19 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-46,+41]  j3[-18,+27]  j4[-90,+10]  j5[-51,-14]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_181602
[CAMERA] 写り方 dy=-5.5 dx=+0.3 response=0.533 → 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={}
[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 1769ms  10ステップ先  Δ=-10.3 +21.0  +2.5  +2.8 -27.1  -0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / 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= -1
[SEND] pi05_chunk000_via02: send_angles (single) [  -2.41,   +5.85,   +2.67,   +0.61,   -6.26,  -29.48]  speed=20 wait=1.0s  (pre max|Δ|=6.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.69° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.2  +4.4  +0.7  +0.5  -6.0  +0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -6.03,  +13.28,   +3.53,   +1.57,  -16.04,  -29.52]  speed=20 wait=1.0s  (pre max|Δ|=11.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.7  +6.6  -0.2  +1.5 -11.5  +0.1  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -9.54,  +20.31,   +4.35,   +2.58,  -24.91,  -29.63]  speed=20 wait=1.0s  (pre max|Δ|=9.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.6  +6.2  -0.0  +1.7  -9.7  -0.0  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -10.60,  +22.50,   +4.54,   +2.85,  -27.39,  -29.74]  speed=20 wait=1.0s  (pre max|Δ|=3.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +1.2  -0.5  +0.2  -3.1  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.96°（関節 j1）
[001] 推論 1140ms  10ステップ先  Δ=-14.5 +21.0  +3.6  +1.7 -30.2  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -15.08,  +28.73,   +6.00,   +3.35,  -35.71,  -29.69]  speed=20 wait=1.0s  (pre max|Δ|=8.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.4  +5.3  +1.0  +0.5  -8.4  +0.0  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -19.61,  +35.39,   +7.29,   +4.01,  -45.04,  -29.62]  speed=20 wait=1.0s  (pre max|Δ|=9.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.9  +5.7  +0.6  +0.3 -10.0  +0.1  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -23.73,  +42.28,   +8.27,   +4.44,  -54.59,  -29.53]  speed=20 wait=1.0s  (pre max|Δ|=9.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.7  +5.9  +0.4  -0.0  -9.8  +0.2  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -25.11,  +44.51,   +8.64,   +4.55,  -57.54,  -29.49]  speed=20 wait=1.0s  (pre max|Δ|=3.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.7  +1.3  -0.2  -0.5  -3.1  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j1）
[002] 推論 744ms  10ステップ先  Δ=-12.1 +17.2  +3.7  -0.1 -23.1  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -29.58,  +51.26,   +9.99,   +4.21,  -67.18,  -29.51]  speed=20 wait=1.0s  (pre max|Δ|=9.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.4  +5.7  +1.1  -0.8  -9.5  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -34.01,  +57.74,  +11.30,   +4.37,  -75.53,  -29.56]  speed=20 wait=1.0s  (pre max|Δ|=8.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.7  +5.5  +0.8  -0.1  -8.7  +0.1  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -36.86,  +62.18,  +12.44,   +4.82,  -80.71,  -29.58]  speed=20 wait=1.0s  (pre max|Δ|=5.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  8  Δ= -2.8  +3.6  +0.7  +0.2  -5.3  +0.1  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -37.36,  +62.73,  +12.54,   +4.99,  -80.79,  -29.57]  speed=20 wait=1.0s  (pre max|Δ|=0.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.6  -0.5  -0.0  +0.2  -0.5  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.99°（関節 j1）
[003] 推論 583ms  10ステップ先  Δ= -1.7  +5.3  +1.1  -0.5  -6.8  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ -38.23,  +65.18,  +13.70,   +4.96,  -84.08,  -29.55]  speed=20 wait=1.0s  (pre max|Δ|=3.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.8  +1.5  +1.1  +0.1  -3.7  +0.1  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -38.79,  +66.66,  +14.22,   +4.82,  -85.95,  -29.54]  speed=20 wait=1.0s  (pre max|Δ|=1.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.4  +0.6  +0.2  -0.0  -1.4  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -39.10,  +68.49,  +13.73,   +4.43,  -86.91,  -29.57]  speed=20 wait=1.0s  (pre max|Δ|=1.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.7  +0.8  -0.2  -0.4  -1.0  +0.1  着いた
       [VIA   ] step  9  Δ= -0.0  -0.4  -0.3  -0.4  +0.1  +0.1  送らず (0.5° 以下)
[STATE ] 目標を渡す  目標と実測の最大差 0.42°（関節 j1）
[004] 推論 650ms  10ステップ先  Δ= -0.5  +9.5  -5.7  -1.2  -2.0  -0.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ -39.30,  +72.85,  +11.94,   +4.10,  -88.42,  -29.58]  speed=20 wait=1.0s  (pre max|Δ|=3.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  +3.4  -2.0  -0.6  -1.2  +0.1  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -39.51,  +76.02,  +10.17,   +3.86,  -88.91,  -29.64]  speed=20 wait=1.0s  (pre max|Δ|=2.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.3  +2.2  -2.9  -0.5  -0.9  +0.1  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -39.54,  +78.58,   +8.60,   +3.61,  -89.19,  -29.69]  speed=20 wait=1.0s  (pre max|Δ|=2.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  +1.6  -2.6  -0.5  -0.5  +0.0  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -39.58,  +78.96,   +8.32,   +3.52,  -89.27,  -29.70]  speed=20 wait=1.0s  (pre max|Δ|=1.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.26° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -0.6  -1.3  -0.3  -0.2  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.26°（関節 j2）
[005] 推論 607ms  4ステップ先  Δ= -0.4  +0.7  -2.1  -0.4  -0.5  -0.1  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 3
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ -39.63,  +80.64,   +7.46,   +3.41,  -89.50,  -29.76]  speed=20 wait=1.0s  (pre max|Δ|=2.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.4  +0.7  -2.1  -0.4  -0.5  -0.1  着いた
[SEND] pi05_chunk005_via03: send_angles (single) [ -39.63,  +80.64,   +7.46,   +3.41,  -89.50,  -29.76]  speed=20 wait=1.0s  (pre max|Δ|=1.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  3  Δ= -0.4  -1.0  -1.0  -0.3  -0.2  -0.1  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= -1
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j1）
[006] 推論 559ms  10ステップ先  Δ= +0.3 -13.6  +7.9  -0.1  +1.3  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ -39.68,  +77.07,   +9.90,   +3.46,  -89.55,  -29.87]  speed=20 wait=1.0s  (pre max|Δ|=4.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.5  -4.6  +1.5  -0.2  +0.2  -0.2  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -39.86,  +73.10,  +12.69,   +3.43,  -89.30,  -29.87]  speed=20 wait=1.0s  (pre max|Δ|=6.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.7  -6.2  +2.2  -0.3  +0.6  -0.2  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -39.67,  +69.26,  +15.59,   +3.53,  -88.84,  -29.88]  speed=20 wait=1.0s  (pre max|Δ|=5.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.10° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -6.0  +2.4  -0.1  +1.1  -0.2  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -38.89,  +68.03,  +16.34,   +3.63,  -88.42,  -29.89]  speed=20 wait=1.0s  (pre max|Δ|=3.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.2  -3.3  +0.2  +0.0  +1.5  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.54°（関節 j1）
[007] 推論 648ms  10ステップ先  Δ=+22.7 -14.3  +1.3  +2.9 +11.6  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ -33.94,  +64.77,  +17.17,   +4.28,  -86.42,  -29.93]  speed=20 wait=1.0s  (pre max|Δ|=5.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  2  Δ= +4.5  -5.8  +1.0  +0.9  +3.0  -0.2  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ -26.46,  +61.14,  +17.40,   +5.13,  -82.85,  -29.90]  speed=20 wait=1.0s  (pre max|Δ|=7.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.58° (tol 3.0°)
       [VIA   ] step  5  Δ= +7.6  -5.8  -0.3  +1.1  +4.2  -0.2  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ -18.62,  +57.65,  +17.49,   +6.08,  -79.39,  -30.01]  speed=20 wait=1.0s  (pre max|Δ|=8.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.55° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.1  -6.1  -0.2  +1.3  +4.0  -0.3  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ -15.67,  +56.27,  +17.49,   +6.32,  -78.11,  -30.09]  speed=20 wait=1.0s  (pre max|Δ|=3.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.2  -3.9  -0.2  +0.4  +1.7  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.44°（関節 j1）
[008] 推論 1547ms  10ステップ先  Δ=+28.8 -14.4  -0.4  +0.4 +10.3  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [  -7.18,  +52.94,  +17.30,   +6.53,  -74.96,  -30.12]  speed=20 wait=1.0s  (pre max|Δ|=8.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.51° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.5  -5.8  -0.4  +0.5  +3.2  -0.3  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [  +1.16,  +49.26,  +17.12,   +6.35,  -71.17,  -30.09]  speed=20 wait=1.0s  (pre max|Δ|=8.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.41° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.6  -6.2  -0.5  +0.3  +4.0  -0.3  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +10.55,  +45.15,  +17.30,   +6.35,  -68.18,  -30.14]  speed=20 wait=1.0s  (pre max|Δ|=9.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.39° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.8  -6.5  -0.4  +0.1  +3.2  -0.3  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +13.11,  +44.33,  +17.28,   +6.41,  -67.85,  -30.17]  speed=20 wait=1.0s  (pre max|Δ|=3.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.7  -3.2  -0.4  +0.2  +0.4  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.42°（関節 j1）
[009] 推論 634ms  10ステップ先  Δ=+27.0  -8.5  -2.2  +0.4  +7.4  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via02: send_angles (single) [ +21.90,  +40.81,  +17.46,   +6.67,  -65.00,  -30.26]  speed=20 wait=1.0s  (pre max|Δ|=8.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.7  -5.9  -0.2  +0.2  +2.9  -0.4  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +31.05,  +37.10,  +17.50,   +6.74,  -61.59,  -30.27]  speed=20 wait=1.0s  (pre max|Δ|=9.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.3  -6.0  -0.2  +0.2  +3.4  -0.4  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +39.43,  +37.15,  +16.11,   +6.93,  -60.01,  -30.37]  speed=20 wait=1.0s  (pre max|Δ|=8.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.5  -2.3  -1.6  +0.2  +1.6  -0.4  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +40.14,  +38.24,  +15.42,   +6.91,  -60.52,  -30.39]  speed=20 wait=1.0s  (pre max|Δ|=2.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.98° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.9  -1.2  -2.1  +0.1  -0.7  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.98°（関節 j2）
[010] 推論 641ms  10ステップ先  Δ= +3.2 +20.4 -11.5  +1.9 -12.4  -0.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +41.74,  +44.82,  +12.41,   +7.47,  -63.53,  -30.50]  speed=20 wait=1.0s  (pre max|Δ|=5.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  +5.4  -5.0  +0.5  -3.7  -0.5  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +42.97,  +52.31,   +8.95,   +8.28,  -67.42,  -30.59]  speed=20 wait=1.0s  (pre max|Δ|=6.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.42° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  +6.4  -5.0  +1.2  -5.5  -0.3  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +43.48,  +58.54,   +6.40,   +8.86,  -71.25,  -30.74]  speed=20 wait=1.0s  (pre max|Δ|=5.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.33° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +5.0  -4.0  +0.9  -4.5  -0.4  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +43.57,  +59.84,   +5.93,   +8.89,  -72.24,  -30.79]  speed=20 wait=1.0s  (pre max|Δ|=1.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.80° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  +0.3  -1.8  +0.5  -1.7  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.80°（関節 j2）
[011] 推論 609ms  4ステップ先  Δ= +0.4  +1.2  -2.3  +0.4  -1.3  -0.3  グリッパー→開
       [VIA   ] 中継点 2 点: step 2, 3
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +43.52,  +62.11,   +5.46,   +9.04,  -73.43,  -30.81]  speed=20 wait=1.0s  (pre max|Δ|=2.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +1.2  -2.3  +0.4  -1.3  -0.3  着いた
[SEND] pi05_chunk011_via03: send_angles (single) [ +43.52,  +62.11,   +5.46,   +9.04,  -73.43,  -30.81]  speed=20 wait=1.0s  (pre max|Δ|=1.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  3  Δ= +0.5  -1.2  -1.4  +0.3  -0.2  -0.3  着いた
  [Pi] GRIPPER: OPEN result= -1
[STATE ] 目標を渡す  目標と実測の最大差 1.39°（関節 j2）
[012] 推論 1560ms  10ステップ先  Δ= -0.9 -21.1  +2.9  -1.5 +15.5  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk012_via02: send_angles (single) [ +43.41,  +56.73,   +7.00,   +8.65,  -69.99,  -30.78]  speed=20 wait=1.0s  (pre max|Δ|=6.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.24° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -6.5  +0.2  -0.1  +3.2  -0.3  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +43.54,  +50.64,   +8.81,   +8.20,  -65.91,  -30.77]  speed=20 wait=1.0s  (pre max|Δ|=8.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -8.3  +1.3  -0.6  +5.7  -0.3  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +42.91,  +43.98,   +9.89,   +7.61,  -60.08,  -30.85]  speed=20 wait=1.0s  (pre max|Δ|=8.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.98° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -8.7  +0.5  -1.3  +6.8  -0.3  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +42.12,  +42.14,   +9.75,   +7.31,  -57.73,  -30.94]  speed=20 wait=1.0s  (pre max|Δ|=3.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.8  -3.8  -0.7  -1.0  +3.0  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.33°（関節 j1）
[013] 推論 634ms  10ステップ先  Δ=-17.2 -22.6  -1.7  -4.5 +26.3  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk013_via02: send_angles (single) [ +38.69,  +35.80,  +10.59,   +6.30,  -51.57,  -30.88]  speed=20 wait=1.0s  (pre max|Δ|=8.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.4  -8.7  +0.1  -1.4  +6.6  -0.1  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +33.34,  +29.76,  +10.04,   +4.99,  -43.45,  -30.74]  speed=20 wait=1.0s  (pre max|Δ|=8.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.6  -8.1  -1.0  -1.5  +8.3  +0.0  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +26.95,  +23.51,   +8.96,   +3.61,  -34.09,  -30.65]  speed=20 wait=1.0s  (pre max|Δ|=9.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.6  -8.3  -2.1  -1.7  +9.7  +0.2  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +24.92,  +21.83,   +8.71,   +3.30,  -31.89,  -30.64]  speed=20 wait=1.0s  (pre max|Δ|=3.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.5  -3.7  -2.3  -0.5  +2.4  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.27°（関節 j2）
[014] 推論 639ms  10ステップ先  Δ=-20.2 -19.0  -8.1  -2.0 +28.3  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk014_via02: send_angles (single) [ +19.31,  +16.58,   +6.97,   +2.22,  -23.67,  -30.64]  speed=20 wait=1.0s  (pre max|Δ|=8.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.6  -7.2  -4.0  -0.4  +8.4  +0.2  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [ +12.52,  +10.42,   +5.03,   +1.33,  -13.55,  -30.70]  speed=20 wait=1.0s  (pre max|Δ|=10.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.4  -8.0  -3.8  -1.5 +10.4  +0.2  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [  +6.18,   +5.48,   +3.37,   +0.68,   -4.93,  -30.70]  speed=20 wait=1.0s  (pre max|Δ|=8.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.7  -6.6  -3.6  -1.1  +8.9  +0.2  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [  +4.67,   +4.77,   +2.88,   +0.60,   -3.78,  -30.75]  speed=20 wait=1.0s  (pre max|Δ|=2.39°, post-send timeout 8.0s)

[SEND] arrival OK: max|Δ|=2.39° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.6  -2.3  -2.4  -0.4  +1.4  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.39°（関節 j2）
[015] 推論 813ms  10ステップ先  Δ= -3.0  -3.1  -2.7  -0.4  +1.3  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk015_via02: send_angles (single) [  +1.57,   +3.38,   +2.51,   +0.52,   -2.21,  -30.70]  speed=20 wait=1.0s  (pre max|Δ|=3.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.76° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.9  -3.1  -2.8  -0.4  +1.6  +0.2  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [  +1.39,   +3.44,   +2.55,   +0.50,   -2.48,  -30.70]  speed=20 wait=1.0s  (pre max|Δ|=2.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.72° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  -1.4  -2.7  -0.2  -0.0  +0.2  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [  +1.37,   +3.37,   +2.53,   +0.46,   -2.43,  -30.67]  speed=20 wait=1.0s  (pre max|Δ|=2.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.74° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -1.5  -2.7  -0.2  +0.0  +0.3  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [  +1.43,   +3.40,   +2.54,   +0.47,   -2.54,  -30.66]  speed=20 wait=1.0s  (pre max|Δ|=2.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.73° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -1.4  -2.7  -0.2  -0.1  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.73°（関節 j2）
[016] 推論 1562ms  10ステップ先  Δ= -1.0  -1.9  -2.8  -0.3  -0.1  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk016_via02: send_angles (single) [  +0.65,   +3.20,   +2.41,   +0.48,   -2.49,  -30.69]  speed=20 wait=1.0s  (pre max|Δ|=2.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.86° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.8  -1.6  -2.9  -0.2  -0.0  +0.2  着いた
[SEND] pi05_chunk016_via05: send_angles (single) [  +0.48,   +3.13,   +2.43,   +0.46,   -2.53,  -30.71]  speed=20 wait=1.0s  (pre max|Δ|=2.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.84° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  -1.7  -2.8  -0.2  -0.1  +0.1  着いた
[SEND] pi05_chunk016_via08: send_angles (single) [  +0.39,   +3.03,   +2.45,   +0.44,   -2.54,  -30.72]  speed=20 wait=1.0s  (pre max|Δ|=2.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.82° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.0  -1.8  -2.8  -0.3  -0.1  +0.1  着いた
[SEND] pi05_chunk016_via09: send_angles (single) [  +0.48,   +2.97,   +2.45,   +0.45,   -2.51,  -30.71]  speed=20 wait=1.0s  (pre max|Δ|=2.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.82° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -1.6  -2.8  -0.3  -0.1  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.82°（関節 j2）
[017] 推論 631ms  10ステップ先  Δ= -0.7  -1.6  -2.8  -0.2  -0.5  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk017_via02: send_angles (single) [  -0.10,   +3.02,   +2.44,   +0.46,   -2.67,  -30.74]  speed=20 wait=1.0s  (pre max|Δ|=2.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.83° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.5  -1.5  -2.8  -0.2  -0.2  +0.1  着いた
[SEND] pi05_chunk017_via05: send_angles (single) [  -0.20,   +2.94,   +2.43,   +0.45,   -2.80,  -30.76]  speed=20 wait=1.0s  (pre max|Δ|=2.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.84° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.6  -1.6  -2.8  -0.2  -0.3  +0.1  着いた
[SEND] pi05_chunk017_via08: send_angles (single) [  -0.27,   +2.98,   +2.45,   +0.47,   -2.90,  -30.75]  speed=20 wait=1.0s  (pre max|Δ|=2.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.82° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.6  -1.6  -2.8  -0.2  -0.4  +0.1  着いた
[SEND] pi05_chunk017_via09: send_angles (single) [  -0.25,   +2.97,   +2.45,   +0.47,   -2.92,  -30.75]  speed=20 wait=1.0s  (pre max|Δ|=2.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.82° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.6  -1.6  -2.8  -0.2  -0.5  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.82°（関節 j2）
[018] 推論 616ms  10ステップ先  Δ= -1.0  -1.8  -2.8  -0.2  -0.7  +0.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / 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=1.0s  (pre max|Δ|=5.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_181602
