(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 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_182650
[CAMERA] 写り方 dy=-5.4 dx=-0.2 response=0.599 → 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 747ms  10ステップ先  Δ= -9.7 +20.3  +5.8  -2.7 -25.8  +1.1
       [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) [  -2.73,   +6.30,   +2.91,   -0.88,   -6.09,  -29.55]  speed=20 wait=1.0s  (pre max|Δ|=5.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.26° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.3  +4.9  +1.1  -0.6  -5.8  +0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -5.57,  +12.42,   +4.87,   -1.79,  -14.31,  -29.18]  speed=20 wait=1.0s  (pre max|Δ|=9.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.8  +5.2  +1.0  -1.5  -9.5  +0.5  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -9.08,  +19.44,   +7.03,   -2.76,  -23.28,  -28.70]  speed=20 wait=1.0s  (pre max|Δ|=9.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.5  +6.1  +1.2  -1.7  -9.8  +1.0  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -10.14,  +21.65,   +7.68,   -2.99,  -26.02,  -28.57]  speed=20 wait=1.0s  (pre max|Δ|=3.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.3  +1.2  -0.1  -0.7  -3.3  +0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.93°（関節 j1）
[001] 推論 614ms  10ステップ先  Δ=-12.6 +23.0  +6.3  +0.3 -30.6  +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_chunk001_via02: send_angles (single) [ -14.78,  +28.78,   +9.82,   -3.17,  -35.28,  -28.43]  speed=20 wait=1.0s  (pre max|Δ|=9.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.8  +6.2  +1.4  -0.4  -9.2  +0.5  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -18.40,  +35.78,  +11.98,   -2.74,  -44.60,  -28.37]  speed=20 wait=1.0s  (pre max|Δ|=9.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.2  +6.1  +1.4  +0.2 -10.0  +0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -21.47,  +42.96,  +14.01,   -2.60,  -53.56,  -28.34]  speed=20 wait=1.0s  (pre max|Δ|=9.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.5  +6.1  +1.4  +0.4  -9.1  +0.2  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -22.59,  +45.60,  +14.68,   -2.54,  -56.68,  -28.32]  speed=20 wait=1.0s  (pre max|Δ|=3.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.8  +1.6  +0.1  +0.1  -3.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.98°（関節 j1）
[002] 推論 625ms  10ステップ先  Δ= -5.8 +11.1  +4.2  +0.4 -13.1  +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_chunk002_via02: send_angles (single) [ -26.26,  +52.49,  +16.69,   -2.73,  -65.51,  -28.32]  speed=20 wait=1.0s  (pre max|Δ|=8.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.3  +5.9  +1.5  -0.2  -8.9  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -28.28,  +56.82,  +18.65,   -2.37,  -69.60,  -28.23]  speed=20 wait=1.0s  (pre max|Δ|=4.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.2  +3.2  +1.5  -0.1  -4.6  +0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -28.84,  +57.91,  +19.62,   -2.10,  -70.08,  -28.14]  speed=20 wait=1.0s  (pre max|Δ|=0.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.7  -0.0  +0.6  -0.1  -0.2  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -28.69,  +57.72,  +19.42,   -2.10,  -69.73,  -28.12]  speed=20 wait=1.0s  (pre max|Δ|=1.16°, post-send timeout 8.0s)

[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -1.2  -0.1  -0.2  +0.5  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.16°（関節 j1）
[003] 推論 558ms  10ステップ先  Δ= +0.4  +2.9  -3.6  -3.1  +5.1  +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 >        [VIA   ] step  2  Δ= +0.5  -0.2  +0.1  -0.4  +0.0  +0.2  送らず (0.5° 以下)
[SEND] pi05_chunk003_via05: send_angles (single) [ -28.59,  +59.72,  +18.49,   -3.27,  -68.75,  -27.96]  speed=20 wait=1.0s  (pre max|Δ|=1.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +0.8  -1.0  -1.3  +1.5  +0.3  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -28.76,  +61.29,  +16.54,   -4.70,  -66.06,  -27.89]  speed=20 wait=1.0s  (pre max|Δ|=4.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.93° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  +0.9  -3.0  -1.9  +4.7  -0.6  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -28.76,  +61.77,  +15.87,   -5.03,  -65.15,  -27.87]  speed=20 wait=1.0s  (pre max|Δ|=3.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -0.0  -1.2  -0.6  +3.8  -1.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.43°（関節 j4）
[004] 推論 562ms  8ステップ先  Δ= +0.8  +2.4  -2.8  -2.2  +5.8  -0.7  グリッパー→閉
       [VIA   ] 中継点 3 点: step 2, 5, 7
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ -28.35,  +63.41,  +14.21,   -6.32,  -62.97,  -27.84]  speed=20 wait=1.0s  (pre max|Δ|=1.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.81° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +0.7  -2.0  -0.4  -1.1  +1.3  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -28.37,  +64.50,  +13.14,   -7.13,  -61.55,  -27.81]  speed=20 wait=1.0s  (pre max|Δ|=1.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +0.4  -1.7  -1.2  +0.7  +0.8  着いた
[SEND] pi05_chunk004_via07: send_angles (single) [ -28.32,  +64.40,  +13.23,   -7.15,  -61.77,  -27.78]  speed=20 wait=1.0s  (pre max|Δ|=0.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.80° (tol 3.0°)
       [VIA   ] step  7  Δ= +0.4  -0.6  -0.6  -0.7  +0.8  +0.6  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 0.89°（関節 j4）
[005] 推論 1531ms  10ステップ先  Δ= +0.6  -3.9  +5.1  +2.1  -4.8  +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_chunk005_via02: send_angles (single) [ -28.41,  +63.39,  +14.65,   -6.29,  -63.46,  -27.66]  speed=20 wait=1.0s  (pre max|Δ|=1.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.30° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -1.6  +1.6  +0.6  -0.8  -0.1  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -28.42,  +62.44,  +16.36,   -5.48,  -65.33,  -27.54]  speed=20 wait=1.0s  (pre max|Δ|=3.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -2.2  +3.0  +1.2  -2.7  +0.0  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -28.32,  +61.40,  +17.96,   -4.81,  -67.00,  -27.45]  speed=20 wait=1.0s  (pre max|Δ|=2.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -2.5  +2.4  +1.6  -2.4  -0.3  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -28.19,  +61.10,  +18.20,   -4.67,  -67.51,  -27.46]  speed=20 wait=1.0s  (pre max|Δ|=2.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -2.0  +0.8  +0.7  -1.6  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.00°（関節 j1）
[006] 推論 560ms  10ステップ先  Δ=+16.5  -7.6  -1.5  +4.2  +0.5  -2.4
       [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_chunk006_via02: send_angles (single) [ -28.44,  +60.45,  +19.32,   -4.25,  -68.70,  -27.37]  speed=20 wait=1.0s  (pre max|Δ|=2.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.95° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.5  -2.7  +1.9  +0.8  -2.3  -0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -23.02,  +58.91,  +18.29,   -3.08,  -68.19,  -28.03]  speed=20 wait=1.0s  (pre max|Δ|=4.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  5  Δ= +4.9  -3.5  -0.8  +1.4  -0.7  -1.0  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -13.90,  +56.20,  +16.48,   -1.34,  -66.40,  -29.08]  speed=20 wait=1.0s  (pre max|Δ|=9.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.68° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.2  -5.0  -2.8  +0.8  +1.1  -1.9  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -11.44,  +55.54,  +15.90,   -0.88,  -65.74,  -29.32]  speed=20 wait=1.0s  (pre max|Δ|=3.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.37° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.7  -3.3  -1.9  +0.1  +1.6  -1.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.37°（関節 j1）
[007] 推論 560ms  10ステップ先  Δ=+29.2  -9.5  -8.6  +3.4  +7.7  -1.8
       [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) [  -3.36,  +53.63,  +14.16,   +0.57,  -64.07,  -30.18]  speed=20 wait=1.0s  (pre max|Δ|=8.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.2  -4.3  -3.6  +1.5  +2.0  -1.3  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [  +5.63,  +51.36,  +12.00,   +1.84,  -62.23,  -30.64]  speed=20 wait=1.0s  (pre max|Δ|=9.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.1  -4.7  -3.6  +1.3  +2.1  -0.8  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +14.74,  +49.02,   +9.69,   +2.40,  -59.56,  -30.64]  speed=20 wait=1.0s  (pre max|Δ|=9.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.57° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.3  -4.8  -3.8  +0.6  +2.9  -0.3  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +17.71,  +48.41,   +9.10,   +2.47,  -58.59,  -30.66]  speed=20 wait=1.0s  (pre max|Δ|=3.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.47° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.2  -3.2  -2.1  +0.1  +1.3  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.47°（関節 j1）
[008] 推論 652ms  10ステップ先  Δ=+23.0  -2.8  -7.6  +0.4  +4.3  -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) [ +26.07,  +46.36,   +6.91,   +2.70,  -55.58,  -30.75]  speed=20 wait=1.0s  (pre max|Δ|=8.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.41° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.4  -4.5  -4.1  +0.1  +3.2  -0.4  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +35.26,  +44.84,   +4.67,   +2.88,  -52.83,  -30.82]  speed=20 wait=1.0s  (pre max|Δ|=9.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.53° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.3  -3.9  -3.8  +0.2  +3.1  -0.4  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +40.73,  +46.67,   +3.33,   +3.01,  -53.48,  -30.86]  speed=20 wait=1.0s  (pre max|Δ|=5.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
       [VIA   ] step  8  Δ= +5.3  -0.7  -2.9  +0.1  -0.6  -0.4  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +40.69,  +48.08,   +3.36,   +3.05,  -54.51,  -30.84]  speed=20 wait=1.0s  (pre max|Δ|=1.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  +0.3  -1.5  -0.2  -1.6  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.47°（関節 j2）
[009] 推論 1568ms  10ステップ先  Δ= +0.2 +13.6  -2.0  +0.5 -14.8  -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_chunk009_via02: send_angles (single) [ +40.93,  +53.30,   +3.28,   +3.26,  -59.32,  -30.85]  speed=20 wait=1.0s  (pre max|Δ|=5.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  +4.0  -1.5  +0.1  -5.5  -0.3  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +41.38,  +58.49,   +3.15,   +3.45,  -63.95,  -30.81]  speed=20 wait=1.0s  (pre max|Δ|=4.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  +4.0  -1.7  +0.3  -5.0  -0.2  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +41.19,  +62.24,   +2.83,   +3.62,  -67.30,  -30.83]  speed=20 wait=1.0s  (pre max|Δ|=3.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +2.7  -2.0  +0.5  -3.8  -0.3  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +41.27,  +62.89,   +2.80,   +3.64,  -67.87,  -30.83]  speed=20 wait=1.0s  (pre max|Δ|=2.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -0.4  -2.0  +0.4  +0.4  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.94°（関節 j2）
[010] 推論 560ms  2ステップ先  Δ= +0.1  -0.9  -2.0  +0.5  +0.3  +0.7  グリッパー→開
       [VIA   ] 中継点 1 点: step 1
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via01: send_angles (single) [ +41.22,  +62.94,   +2.75,   +3.72,  -68.11,  -30.85]  speed=20 wait=1.0s  (pre max|Δ|=1.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  1  Δ= -0.0  -0.9  -2.0  +0.4  +0.3  +0.5  着いた
  [Pi] GRIPPER: OPEN result= -1
[STATE ] 目標を渡す  目標と実測の最大差 1.99°（関節 j2）
[011] 推論 641ms  10ステップ先  Δ= -0.2 -18.7  -2.0  -0.5 +17.8  -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_chunk011_via02: send_angles (single) [ +41.21,  +57.80,   +2.65,   +3.69,  -63.13,  -31.08]  speed=20 wait=1.0s  (pre max|Δ|=6.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.0  -6.1  -2.1  -0.5  +5.2  -0.1  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +41.70,  +52.66,   +2.59,   +3.69,  -57.71,  -31.38]  speed=20 wait=1.0s  (pre max|Δ|=7.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.15° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -7.4  -2.2  -0.5  +6.8  -0.6  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +41.55,  +47.10,   +2.77,   +3.75,  -52.37,  -31.68]  speed=20 wait=1.0s  (pre max|Δ|=7.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  -7.7  -2.0  -0.5  +6.2  -0.9  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +41.05,  +45.19,   +2.76,   +3.68,  -50.54,  -31.76]  speed=20 wait=1.0s  (pre max|Δ|=4.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  -4.1  -2.0  -0.5  +2.4  -0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.44°（関節 j1）
[012] 推論 1488ms  10ステップ先  Δ=-21.4 -26.5  -2.7  -3.7 +30.7  +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_chunk012_via02: send_angles (single) [ +35.76,  +38.39,   +2.55,   +2.82,  -42.22,  -31.64]  speed=20 wait=1.0s  (pre max|Δ|=9.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.5  -9.2  -2.2  -1.2  +8.5  -0.4  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +29.05,  +31.04,   +2.29,   +1.68,  -32.65,  -31.39]  speed=20 wait=1.0s  (pre max|Δ|=9.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.2  -9.6  -2.4  -1.1 +10.0  -0.1  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +22.25,  +23.59,   +2.07,   +0.63,  -23.14,  -31.18]  speed=20 wait=1.0s  (pre max|Δ|=9.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.98° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.8  -9.6  -2.0  -1.4  +9.9  +0.1  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +19.83,  +21.15,   +1.99,   +0.34,  -20.03,  -31.11]  speed=20 wait=1.0s  (pre max|Δ|=4.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.4  -4.4  -2.0  -0.6  +3.3  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.05°（関節 j2）
[013] 推論 568ms  10ステップ先  Δ=-16.6 -19.4  -1.8  +0.3 +16.3  +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_chunk013_via02: send_angles (single) [ +12.95,  +12.64,   +2.19,   +0.15,  -11.38,  -31.00]  speed=20 wait=1.0s  (pre max|Δ|=10.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.6 -10.5  -1.8  +0.2  +8.8  +0.3  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [  +6.10,   +5.31,   +2.24,   +0.18,   -4.14,  -30.92]  speed=20 wait=1.0s  (pre max|Δ|=8.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.80° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.2  -8.9  -1.8  -0.2  +7.5  +0.4  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [  +2.84,   +3.23,   +2.24,   +0.22,   -3.26,  -30.90]  speed=20 wait=1.0s  (pre max|Δ|=3.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.80° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.6  -3.5  -1.8  +0.1  +1.2  +0.4  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [  +3.02,   +3.67,   +2.21,   +0.27,   -3.93,  -30.90]  speed=20 wait=1.0s  (pre max|Δ|=1.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -0.9  -1.8  +0.2  -0.4  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.83°（関節 j2）

[014] 推論 1648ms  10ステップ先  Δ= -1.4  -1.7  -2.0  +0.2  +0.5  +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_chunk014_via02: send_angles (single) [  +1.32,   +2.98,   +2.12,   +0.26,   -3.26,  -30.90]  speed=20 wait=1.0s  (pre max|Δ|=1.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.2  -1.6  -1.9  +0.2  +0.3  +0.4  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [  +1.16,   +2.91,   +2.09,   +0.24,   -3.17,  -30.90]  speed=20 wait=1.0s  (pre max|Δ|=1.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.95° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -1.7  -2.0  +0.2  +0.3  +0.4  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [  +1.12,   +2.85,   +2.08,   +0.25,   -2.98,  -30.90]  speed=20 wait=1.0s  (pre max|Δ|=1.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.96° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  -1.7  -2.0  +0.2  +0.5  +0.3  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [  +1.16,   +2.84,   +2.07,   +0.26,   -3.03,  -30.90]  speed=20 wait=1.0s  (pre max|Δ|=1.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.97° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -1.7  -2.0  +0.2  +0.4  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.97°（関節 j2）
[015] 推論 810ms  10ステップ先  Δ= -0.3  -1.8  -2.0  +0.1  +0.6  +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 > 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|=4.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_182650
