(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_183027
[CAMERA] 写り方 dy=-5.1 dx=+0.3 response=0.502 → 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 750ms  10ステップ先  Δ=-10.6 +21.7  +5.6  -2.5 -25.1  +2.2
       [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 > 
[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) [  -3.03,   +6.71,   +2.52,   -0.45,   -6.12,  -29.69]  speed=20 wait=1.0s  (pre max|Δ|=6.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.9  +5.4  +0.9  -0.5  -6.3  +0.5  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -6.17,  +13.65,   +4.37,   -1.23,  -13.97,  -28.97]  speed=20 wait=1.0s  (pre max|Δ|=9.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.0  +6.0  +0.9  -1.2  -9.1  +0.9  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -9.54,  +20.44,   +6.55,   -2.18,  -22.05,  -28.21]  speed=20 wait=1.0s  (pre max|Δ|=9.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.2  +5.7  +1.2  -1.3  -9.1  +1.0  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -10.84,  +22.97,   +7.17,   -2.43,  -24.95,  -28.01]  speed=20 wait=1.0s  (pre max|Δ|=3.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.1  +1.5  -0.3  -0.5  -3.4  +0.4  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 1490ms  10ステップ先  Δ=-12.1 +21.9  +5.4  -0.3 -28.5  +0.6
       [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) [ -14.93,  +29.78,   +9.28,   -3.15,  -33.04,  -27.74]  speed=20 wait=1.0s  (pre max|Δ|=8.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.8  +5.9  +1.4  -0.9  -8.2  +0.5  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -18.68,  +36.59,  +11.32,   -2.94,  -41.96,  -27.69]  speed=20 wait=1.0s  (pre max|Δ|=9.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.7  +5.8  +1.1  +0.2  -9.1  +0.2  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -22.21,  +43.46,  +12.95,   -2.69,  -50.75,  -27.64]  speed=20 wait=1.0s  (pre max|Δ|=9.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.8  +5.8  +0.9  +0.7  -9.2  +0.2  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -23.29,  +45.75,  +13.31,   -2.59,  -53.40,  -27.61]  speed=20 wait=1.0s  (pre max|Δ|=2.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.4  +1.3  -0.2  +0.3  -3.0  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.09°（関節 j1）
[002] 推論 565ms  10ステップ先  Δ= -6.2 +13.3  +3.9  +0.7 -17.1  +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) [ -26.67,  +52.59,  +15.16,   -2.82,  -62.09,  -27.55]  speed=20 wait=1.0s  (pre max|Δ|=8.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.9  +5.7  +1.4  +0.1  -8.7  +0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -29.26,  +58.25,  +16.98,   -2.63,  -68.33,  -27.53]  speed=20 wait=1.0s  (pre max|Δ|=6.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.9  +4.6  +1.3  -0.2  -6.9  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -29.96,  +60.18,  +17.74,   -2.22,  -70.52,  -27.51]  speed=20 wait=1.0s  (pre max|Δ|=2.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.1  +0.9  +0.4  -0.1  -2.7  +0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -29.97,  +60.18,  +17.66,   -2.20,  -70.43,  -27.49]  speed=20 wait=1.0s  (pre max|Δ|=0.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -1.0  +0.4  -0.3  +0.8  +0.2  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 565ms  10ステップ先  Δ= +0.8  +3.8  -4.4  -4.2  +8.9  +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_chunk003_via02: send_angles (single) [ -29.67,  +61.77,  +16.02,   -3.54,  -68.27,  -27.46]  speed=20 wait=1.0s  (pre max|Δ|=2.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.20° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +0.6  -1.3  -1.6  +2.9  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -29.40,  +63.39,  +14.33,   -4.89,  -65.00,  -27.46]  speed=20 wait=1.0s  (pre max|Δ|=4.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  +0.6  -2.9  -1.8  +4.4  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -29.50,  +64.74,  +13.12,   -5.97,  -62.56,  -27.44]  speed=20 wait=1.0s  (pre max|Δ|=3.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.33° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.0  +0.5  -2.3  -1.5  +3.2  +0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -29.58,  +64.95,  +12.91,   -6.15,  -62.29,  -27.44]  speed=20 wait=1.0s  (pre max|Δ|=1.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.5  -0.9  -0.6  +1.6  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.16°（関節 j4）
[004] 推論 1555ms  4ステップ先  Δ= +0.5  -0.1  -1.5  -1.1  +2.0  +0.5  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_chunk004_via02: send_angles (single) [ -29.39,  +65.50,  +12.29,   -6.84,  -61.49,  -27.38]  speed=20 wait=1.0s  (pre max|Δ|=1.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -0.1  -1.5  -1.1  +1.8  +0.5  着いた
[SEND] pi05_chunk004_via03: send_angles (single) [ -29.39,  +65.50,  +12.29,   -6.84,  -61.49,  -27.38]  speed=20 wait=1.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  3  Δ= +0.6  -0.4  -0.4  -0.4  +1.0  +0.4  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 1.00°（関節 j4）
[005] 推論 652ms  10ステップ先  Δ= +0.9  -3.6  +5.5  +1.8  -3.8  +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_chunk005_via02: send_angles (single) [ -29.47,  +64.68,  +13.56,   -6.19,  -62.76,  -27.35]  speed=20 wait=1.0s  (pre max|Δ|=1.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -1.2  +1.6  +0.6  -0.3  +0.2  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -29.42,  +63.52,  +15.47,   -5.50,  -64.47,  -27.23]  speed=20 wait=1.0s  (pre max|Δ|=3.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -2.1  +3.3  +1.1  -2.0  +0.4  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -29.13,  +62.65,  +17.19,   -5.09,  -65.94,  -27.16]  speed=20 wait=1.0s  (pre max|Δ|=3.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.24° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  -1.7  +3.1  +1.3  -3.3  +0.3  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -29.07,  +62.34,  +17.48,   -5.01,  -66.32,  -27.17]  speed=20 wait=1.0s  (pre max|Δ|=1.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -1.6  +1.4  +0.6  -1.5  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.46°（関節 j1）
[006] 推論 560ms  10ステップ先  Δ= +1.2  -2.9  +2.8  +1.2  -3.6  -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_chunk006_via02: send_angles (single) [ -29.11,  +61.47,  +18.86,   -4.28,  -67.72,  -27.13]  speed=20 wait=1.0s  (pre max|Δ|=2.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.63° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  -2.3  +2.5  +1.0  -2.3  -0.3  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -29.37,  +61.19,  +19.53,   -4.13,  -68.63,  -27.06]  speed=20 wait=1.0s  (pre max|Δ|=1.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.6  -1.9  +1.2  +0.3  -1.7  -0.5  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -28.89,  +61.10,  +19.34,   -4.22,  -69.07,  -27.12]  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  8  Δ= -0.1  -2.0  +0.5  +0.1  -1.4  -0.6  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -28.11,  +60.88,  +19.11,   -4.14,  -68.95,  -27.24]  speed=20 wait=1.0s  (pre max|Δ|=2.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -2.2  +0.3  +0.1  -0.9  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.13°（関節 j1）
[007] 推論 580ms  10ステップ先  Δ=+16.6  -5.9  -3.0  +2.5  +1.4  -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_chunk007_via02: send_angles (single) [ -28.08,  +60.55,  +19.64,   -4.18,  -69.69,  -27.22]  speed=20 wait=1.0s  (pre max|Δ|=2.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.46° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  -2.5  +0.7  -0.7  -1.7  -0.5  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ -23.10,  +59.56,  +18.31,   -3.30,  -69.02,  -27.76]  speed=20 wait=1.0s  (pre max|Δ|=5.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.40° (tol 3.0°)
       [VIA   ] step  5  Δ= +5.2  -3.4  -1.4  +0.2  +0.1  -1.1  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ -14.01,  +57.49,  +16.38,   -1.48,  -67.23,  -28.82]  speed=20 wait=1.0s  (pre max|Δ|=9.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.53° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.5  -4.5  -3.1  +1.9  +1.9  -1.8  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ -11.72,  +57.11,  +15.88,   -0.97,  -66.65,  -29.07]  speed=20 wait=1.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.47° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.4  -2.9  -1.8  +0.6  +1.7  -0.9  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 1493ms  10ステップ先  Δ=+28.8  -9.1  -8.3  +3.8  +8.2  -1.9
       [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) [  -3.88,  +55.16,  +14.27,   +0.57,  -64.85,  -29.99]  speed=20 wait=1.0s  (pre max|Δ|=7.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.32° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.0  -4.3  -3.3  +1.7  +2.3  -1.2  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [  +4.94,  +53.10,  +12.16,   +1.88,  -63.12,  -30.55]  speed=20 wait=1.0s  (pre max|Δ|=8.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.0  -4.4  -3.5  +1.9  +2.1  -0.9  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +14.22,  +50.96,   +9.86,   +2.66,  -60.21,  -30.71]  speed=20 wait=1.0s  (pre max|Δ|=9.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.47° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.5  -4.4  -3.5  +0.7  +3.1  -0.5  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +16.90,  +50.51,   +9.28,   +2.74,  -59.25,  -30.67]  speed=20 wait=1.0s  (pre max|Δ|=2.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.48° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.8  -2.9  -1.9  -0.1  +1.2  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.48°（関節 j1）
[009] 推論 584ms  10ステップ先  Δ=+22.2  -4.6  -7.1  +0.5  +4.9  -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 > 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|=59.32°, post-send timeout 10.9s)
[SEND] arrival OK: max|Δ|=1.93° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_183027
(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_183241
[CAMERA] 写り方 dy=-5.9 dx=-0.5 response=0.369 → 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 561ms  10ステップ先  Δ=-10.1 +19.3  +3.6  +1.0 -22.1  +1.3
       [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 > 
[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) [  -1.77,   +4.35,   +2.61,   +0.46,   -3.99,  -30.10]  speed=20 wait=1.0s  (pre max|Δ|=3.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.6  +2.9  +0.7  +0.2  -3.7  +0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -5.14,  +11.07,   +3.91,   +0.64,  -11.97,  -29.59]  speed=20 wait=1.0s  (pre max|Δ|=9.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.0  +5.9  +0.4  +0.5  -9.4  +0.6  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -8.98,  +18.26,   +5.15,   +1.08,  -19.68,  -29.22]  speed=20 wait=1.0s  (pre max|Δ|=8.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.7  +6.3  +0.5  +0.8  -8.6  +0.6  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -10.31,  +20.75,   +5.49,   +1.28,  -22.40,  -29.12]  speed=20 wait=1.0s  (pre max|Δ|=3.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.3  +1.4  -0.5  +0.6  -3.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.13°（関節 j1）
[001] 推論 600ms  10ステップ先  Δ=-12.7 +22.6  +5.3  +0.3 -30.3  +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) [ -13.75,  +27.44,   +7.27,   +1.02,  -30.77,  -28.89]  speed=20 wait=1.0s  (pre max|Δ|=8.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.2  +5.6  +1.1  +0.2  -8.3  +0.5  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -17.68,  +34.52,   +9.19,   +1.06,  -40.13,  -28.79]  speed=20 wait=1.0s  (pre max|Δ|=9.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.8  +6.0  +1.2  -0.1  -9.7  +0.3  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -21.89,  +42.08,  +11.03,   +1.15,  -49.89,  -28.70]  speed=20 wait=1.0s  (pre max|Δ|=10.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.7  +6.7  +1.3  -0.3 -10.3  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -23.24,  +44.48,  +11.46,   +1.18,  -52.81,  -28.64]  speed=20 wait=1.0s  (pre max|Δ|=2.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.7  +1.4  -0.2  -0.3  -2.9  +0.3  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 568ms  10ステップ先  Δ= -9.7 +16.3  +4.3  -0.1 -21.5  +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_chunk002_via02: send_angles (single) [ -27.47,  +51.17,  +13.32,   +0.86,  -62.23,  -28.63]  speed=20 wait=1.0s  (pre max|Δ|=9.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.1  +5.7  +1.4  -0.5  -9.3  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -31.04,  +57.71,  +15.00,   +0.88,  -70.24,  -28.63]  speed=20 wait=1.0s  (pre max|Δ|=8.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.1  +5.6  +1.1  -0.5  -8.6  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -33.00,  +61.34,  +16.14,   +1.22,  -74.09,  -28.60]  speed=20 wait=1.0s  (pre max|Δ|=4.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= -2.2  +2.6  +0.8  -0.1  -4.2  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -33.06,  +61.74,  +16.27,   +1.30,  -74.43,  -28.59]  speed=20 wait=1.0s  (pre max|Δ|=0.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.6  -0.1  -0.2  -0.3  +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）
[003] 推論 1551ms  10ステップ先  Δ= -0.6  +2.7  -0.2  -1.1  -0.9  +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_chunk003_via02: send_angles (single) [ -33.55,  +63.68,  +17.21,   +1.33,  -76.20,  -28.58]  speed=20 wait=1.0s  (pre max|Δ|=2.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.4  +0.9  +0.9  -0.2  -2.0  +0.2  着いた
       [VIA   ] step  5  Δ= -0.5  -0.5  +0.2  -0.2  +0.4  -0.1  送らず (0.5° 以下)
[SEND] pi05_chunk003_via08: send_angles (single) [ -33.66,  +65.04,  +16.60,   +0.72,  -75.70,  -28.57]  speed=20 wait=1.0s  (pre max|Δ|=1.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.5  +0.4  -0.7  -0.8  +1.1  -0.1  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -33.70,  +65.50,  +16.11,   +0.42,  -75.03,  -28.57]  speed=20 wait=1.0s  (pre max|Δ|=2.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  -0.5  -1.2  -0.7  +2.4  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.11°（関節 j2）
[004] 推論 706ms  9ステップ先  Δ= -0.3  +1.3  -2.9  -1.2  +3.0  -0.6  グリッパー→閉
       [VIA   ] 中継点 3 点: step 2, 5, 8
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ -33.57,  +66.08,  +15.98,   +0.26,  -74.66,  -28.58]  speed=20 wait=1.0s  (pre max|Δ|=1.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.24° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  -0.4  -1.2  -0.4  +1.0  -0.5  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -33.69,  +66.99,  +15.05,   -0.31,  -73.65,  -28.60]  speed=20 wait=1.0s  (pre max|Δ|=2.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.4  +0.0  -2.2  -0.9  +1.6  -0.6  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -33.60,  +67.72,  +14.35,   -0.54,  -73.03,  -28.59]  speed=20 wait=1.0s  (pre max|Δ|=1.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.2  -0.3  -1.8  -0.5  +0.5  -0.5  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 1.20°（関節 j2）
[005] 推論 564ms  10ステップ先  Δ=+20.9  -7.3  -3.2  +3.4  +4.0  -2.6
       [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) [ -29.43,  +66.53,  +14.00,   +0.19,  -72.25,  -29.25]  speed=20 wait=1.0s  (pre max|Δ|=3.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  2  Δ= +4.0  -2.1  -1.5  +0.5  +1.1  -0.7  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -22.51,  +64.49,  +13.44,   +1.52,  -70.89,  -30.19]  speed=20 wait=1.0s  (pre max|Δ|=6.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.39° (tol 3.0°)
       [VIA   ] step  5  Δ= +6.6  -4.1  -1.6  +1.9  +1.8  -1.2  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -14.96,  +62.26,  +12.73,   +2.82,  -69.80,  -30.98]  speed=20 wait=1.0s  (pre max|Δ|=7.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  8  Δ= +7.1  -4.6  -2.2  +1.9  +0.7  -1.2  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -12.51,  +61.30,  +12.34,   +3.09,  -69.42,  -31.13]  speed=20 wait=1.0s  (pre max|Δ|=3.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.8  -3.3  -1.5  +0.5  +0.0  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.42°（関節 j1）
[006] 推論 564ms  10ステップ先  Δ=+25.5  -9.4  -6.3  +2.4  +6.6  -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 > 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|=69.25°, post-send timeout 12.4s)
[SEND] arrival OK: max|Δ|=1.93° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_183241
