(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_20261024_190239
[CAMERA] 写り方 dy=+0.3 dx=+1.4 response=0.574 → 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 56893ms  10ステップ先  Δ=-19.9 +18.6  +5.6  +0.7 -25.9  -1.7
       [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 > 
[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) [  -4.68,   +5.89,   +2.70,   +0.47,   -6.73,  -30.20]  speed=20 wait=1.0s  (pre max|Δ|=6.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.6  +4.7  +1.2  +0.2  -6.5  -0.5  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [ -10.97,  +11.70,   +4.53,   +0.72,  -14.73,  -30.69]  speed=20 wait=1.0s  (pre max|Δ|=9.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.4  +5.0  +0.8  +0.5  -9.0  -0.8  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -17.42,  +17.76,   +6.51,   +0.89,  -23.20,  -31.24]  speed=20 wait=1.0s  (pre max|Δ|=9.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.3  +5.0  +1.2  +0.5  -9.5  -0.8  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -19.96,  +19.80,   +7.08,   +0.95,  -26.17,  -31.43]  speed=20 wait=1.0s  (pre max|Δ|=3.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.8  +1.1  -0.1  +0.1  -3.5  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.03°（関節 j1）
[001] 推論 815ms  10ステップ先  Δ=-21.2 +19.5  +6.5  +0.7 -28.3  -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) [ -25.92,  +25.54,   +9.14,   +1.55,  -34.46,  -31.58]  speed=20 wait=1.0s  (pre max|Δ|=8.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.7  +4.7  +1.2  +0.9  -8.3  -0.5  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -33.23,  +31.85,  +11.69,   +1.57,  -43.34,  -31.62]  speed=20 wait=1.0s  (pre max|Δ|=9.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.9  +5.3  +1.8  -0.4  -9.3  -0.3  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -39.97,  +38.25,  +13.94,   +1.36,  -51.99,  -31.69]  speed=20 wait=1.0s  (pre max|Δ|=9.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.9  +5.5  +1.6  -0.5  -9.0  -0.4  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -41.44,  +40.36,  +14.40,   +1.40,  -54.51,  -31.67]  speed=20 wait=1.0s  (pre max|Δ|=2.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.8  +1.1  -0.2  -0.4  -2.9  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.03°（関節 j1）
[002] 推論 2178ms  10ステップ先  Δ=-15.8 +12.8  +5.9  +0.1 -19.1  -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) [ -48.80,  +46.55,  +16.45,   +1.82,  -63.56,  -31.71]  speed=20 wait=1.0s  (pre max|Δ|=8.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.1  +5.2  +1.5  -0.0  -8.5  -0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -54.69,  +52.15,  +18.65,   +1.99,  -71.34,  -31.74]  speed=20 wait=1.0s  (pre max|Δ|=8.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.4  +4.6  +1.7  -0.0  -8.6  -0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -57.48,  +54.60,  +20.59,   +1.97,  -74.34,  -31.79]  speed=20 wait=1.0s  (pre max|Δ|=3.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.0  +1.4  +1.5  -0.1  -3.5  -0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -57.51,  +54.15,  +20.83,   +1.96,  -74.19,  -31.81]  speed=20 wait=1.0s  (pre max|Δ|=1.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -1.5  -0.1  -0.1  +0.9  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.48°（関節 j1）
[003] 推論 1036ms  10ステップ先  Δ= -1.5  +2.5  -2.6  -0.4  +8.1  -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_chunk003_via02: send_angles (single) [ -58.41,  +55.08,  +21.92,   +2.04,  -74.61,  -31.87]  speed=20 wait=1.0s  (pre max|Δ|=1.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.9  -0.5  +1.0  -0.1  +0.5  -0.4  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -58.60,  +55.60,  +21.33,   +2.01,  -72.41,  -31.90]  speed=20 wait=1.0s  (pre max|Δ|=2.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.0  -0.4  -0.7  -0.2  +2.7  -0.4  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -58.97,  +57.56,  +19.07,   +1.78,  -68.14,  -31.92]  speed=20 wait=1.0s  (pre max|Δ|=5.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  +1.1  -3.0  -0.4  +5.2  -0.4  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -59.02,  +58.18,  +18.28,   +1.74,  -67.06,  -31.93]  speed=20 wait=1.0s  (pre max|Δ|=1.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -0.2  -1.8  -0.4  +1.7  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.23°（関節 j2）
[004] 推論 809ms  8ステップ先  Δ= -1.0  +2.7  -4.5  -0.5  +5.7  -0.3  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) [ -59.35,  +60.97,  +15.92,   +1.65,  -63.52,  -31.92]  speed=20 wait=1.0s  (pre max|Δ|=3.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.7  +1.9  -3.6  -0.4  +3.8  -0.3  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -59.55,  +62.08,  +14.85,   +1.60,  -61.81,  -31.93]  speed=20 wait=1.0s  (pre max|Δ|=2.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.0  +0.2  -2.1  +0.0  +2.0  -0.3  着いた
[SEND] pi05_chunk004_via07: send_angles (single) [ -59.59,  +61.79,  +15.01,   +1.60,  -61.58,  -31.92]  speed=20 wait=1.0s  (pre max|Δ|=1.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.22° (tol 3.0°)
       [VIA   ] step  7  Δ= -0.0  -1.2  -0.7  +0.1  +0.8  -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 1.70°（関節 j4）
[005] 推論 2388ms  10ステップ先  Δ= -0.5  -4.6  +4.3  +1.4  -8.6  -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_chunk005_via02: send_angles (single) [ -59.43,  +61.05,  +16.01,   +1.67,  -63.41,  -31.96]  speed=20 wait=1.0s  (pre max|Δ|=1.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.52° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.5  -2.0  +0.5  +0.4  -0.2  -0.4  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -59.13,  +60.06,  +17.74,   +1.87,  -67.13,  -32.03]  speed=20 wait=1.0s  (pre max|Δ|=4.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  -2.5  +2.1  +0.4  -4.4  -0.4  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -59.39,  +58.59,  +19.59,   +2.03,  -71.04,  -32.10]  speed=20 wait=1.0s  (pre max|Δ|=6.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.4  -3.5  +2.2  -0.3  -6.4  +0.2  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -59.52,  +58.36,  +19.86,   +2.02,  -71.88,  -32.13]  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  9  Δ= -0.5  -2.5  +0.3  -0.7  -2.3  +0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.46°（関節 j1）
[006] 推論 815ms  10ステップ先  Δ= +1.3  -4.5  +2.3  +0.2  -6.4  -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_chunk006_via02: send_angles (single) [ -59.57,  +57.44,  +21.34,   +2.19,  -74.13,  -32.24]  speed=20 wait=1.0s  (pre max|Δ|=3.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.5  -3.4  +1.7  -0.4  -2.6  +0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -59.61,  +56.74,  +22.16,   +2.31,  -75.84,  -32.32]  speed=20 wait=1.0s  (pre max|Δ|=2.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.49° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.5  -2.8  +0.8  -0.3  -0.9  +0.4  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -59.15,  +56.61,  +22.21,   +2.69,  -76.87,  -32.57]  speed=20 wait=1.0s  (pre max|Δ|=2.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.62° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -2.6  -0.2  +0.1  -1.6  +0.0  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -57.72,  +56.36,  +21.99,   +2.89,  -76.90,  -32.75]  speed=20 wait=1.0s  (pre max|Δ|=2.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.52° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.3  -2.9  -0.4  +0.3  -0.4  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.52°（関節 j1）
[007] 推論 873ms  10ステップ先  Δ=+27.9  -5.7  -4.4  +4.0  +2.3  -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) [ -49.71,  +55.57,  +20.79,   +4.02,  -75.95,  -33.46]  speed=20 wait=1.0s  (pre max|Δ|=8.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.0  -3.3  -1.6  +1.1  +0.5  -0.9  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ -41.08,  +54.50,  +19.64,   +5.37,  -75.23,  -34.28]  speed=20 wait=1.0s  (pre max|Δ|=9.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.0  -3.2  -2.6  +1.5  +1.2  -1.6  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ -32.61,  +53.45,  +18.49,   +6.59,  -74.67,  -34.89]  speed=20 wait=1.0s  (pre max|Δ|=8.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.09° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.7  -3.4  -2.4  +1.3  +1.8  -1.1  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ -29.81,  +53.18,  +18.01,   +6.88,  -74.15,  -34.97]  speed=20 wait=1.0s  (pre max|Δ|=3.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.1  -2.4  -1.8  +0.4  +1.8  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.36°（関節 j1）
[008] 推論 2133ms  10ステップ先  Δ=+29.0  -6.3  -6.5  +1.2  +6.3  -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) [ -20.60,  +51.73,  +16.75,   +7.53,  -72.69,  -35.08]  speed=20 wait=1.0s  (pre max|Δ|=9.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.41° (tol 3.0°)
       [VIA   ] step  2  Δ= +9.6  -3.8  -2.9  +0.9  +1.9  -0.5  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ -12.11,  +50.38,  +15.35,   +7.64,  -71.00,  -35.04]  speed=20 wait=1.0s  (pre max|Δ|=8.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.26° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.7  -3.8  -2.8  +0.4  +2.0  -0.2  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [  -3.30,  +49.24,  +13.71,   +7.78,  -69.14,  -35.07]  speed=20 wait=1.0s  (pre max|Δ|=9.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.0  -3.4  -2.8  +0.5  +2.1  -0.3  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [  -1.22,  +49.26,  +13.15,   +7.84,  -68.63,  -35.09]  speed=20 wait=1.0s  (pre max|Δ|=2.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.41° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.3  -2.4  -1.8  +0.3  +0.8  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.41°（関節 j1）
[009] 推論 810ms  10ステップ先  Δ=+29.9  -5.1  -7.0  -0.1  +5.7  -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) [  +7.54,  +47.99,  +11.65,   +8.13,  -66.99,  -35.16]  speed=20 wait=1.0s  (pre max|Δ|=8.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.8  -3.7  -3.3  +0.1  +1.7  -0.4  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +16.89,  +46.96,  +10.12,   +8.11,  -65.16,  -35.19]  speed=20 wait=1.0s  (pre max|Δ|=9.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.78° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.6  -3.6  -3.0  +0.1  +2.2  -0.3  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +26.69,  +46.45,   +8.38,   +7.94,  -63.26,  -35.26]  speed=20 wait=1.0s  (pre max|Δ|=10.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.32° (tol 3.0°)
       [VIA   ] step  8  Δ=+10.0  -3.3  -3.2  -0.2  +1.8  -0.4  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +28.64,  +46.56,   +7.97,   +7.87,  -62.89,  -35.28]  speed=20 wait=1.0s  (pre max|Δ|=2.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.3  -2.2  -2.0  -0.3  +0.4  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.21°（関節 j1）
[010] 推論 940ms  10ステップ先  Δ=+13.9  +3.8  -8.2  -0.8  +3.4  -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_chunk010_via02: send_angles (single) [ +37.08,  +46.15,   +6.68,   +7.68,  -61.15,  -35.32]  speed=20 wait=1.0s  (pre max|Δ|=8.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.62° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.5  -2.6  -3.2  -0.5  +2.0  -0.3  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +42.04,  +46.60,   +5.36,   +7.15,  -59.76,  -35.36]  speed=20 wait=1.0s  (pre max|Δ|=5.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  5  Δ= +5.0  -2.2  -2.9  -0.7  +1.0  -0.4  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +42.65,  +51.02,   +2.62,   +7.20,  -59.71,  -35.53]  speed=20 wait=1.0s  (pre max|Δ|=4.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +2.3  -4.2  +0.0  +0.3  -0.5  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +42.44,  +52.59,   +1.74,   +7.33,  -59.87,  -35.58]  speed=20 wait=1.0s  (pre max|Δ|=2.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  +0.4  -2.4  +0.0  +0.2  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.51°（関節 j2）
[011] 推論 812ms  10ステップ先  Δ= +0.6  +9.2  -6.8  +0.4  -2.5  -0.6  グリッパー→開
       [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) [ +42.65,  +57.78,   -0.96,   +7.56,  -60.80,  -35.73]  speed=20 wait=1.0s  (pre max|Δ|=4.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  +4.0  -4.2  +0.2  -0.8  -0.5  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +42.62,  +61.92,   -3.24,   +7.68,  -61.44,  -35.83]  speed=20 wait=1.0s  (pre max|Δ|=3.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.42° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  +3.0  -3.7  +0.3  -1.4  -0.4  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +43.08,  +62.99,   -3.57,   +7.77,  -62.54,  -35.88]  speed=20 wait=1.0s  (pre max|Δ|=2.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  -0.1  -1.7  +0.4  -2.5  -0.4  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +43.08,  +62.99,   -3.57,   +7.77,  -62.54,  -35.88]  speed=20 wait=1.0s  (pre max|Δ|=1.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -1.1  -1.6  +0.4  -0.6  -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 1.55°（関節 j2）
[012] 推論 2284ms  10ステップ先  Δ= -0.5 -17.6  +5.9  +0.3  +5.8  -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_chunk012_via02: send_angles (single) [ +42.95,  +58.61,   -1.54,   +7.78,  -61.51,  -35.89]  speed=20 wait=1.0s  (pre max|Δ|=5.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -5.5  +0.5  +0.2  +1.9  -0.3  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +42.89,  +53.74,   +0.69,   +7.81,  -60.25,  -35.92]  speed=20 wait=1.0s  (pre max|Δ|=7.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -7.1  +1.6  +0.2  +2.2  -0.3  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +42.35,  +48.35,   +3.25,   +7.91,  -58.72,  -35.90]  speed=20 wait=1.0s  (pre max|Δ|=7.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.2  -7.5  +1.9  +0.3  +2.0  -0.3  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +42.00,  +46.45,   +3.87,   +7.87,  -57.62,  -35.86]  speed=20 wait=1.0s  (pre max|Δ|=4.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.24° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  -4.2  +0.0  +0.1  +1.4  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.24°（関節 j1）
[013] 推論 834ms  10ステップ先  Δ=-19.0 -24.3  -2.0  -3.8 +26.7  +3.0
       [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_chunk013_via02: send_angles (single) [ +38.21,  +40.75,   +4.16,   +7.09,  -51.77,  -35.25]  speed=20 wait=1.0s  (pre max|Δ|=7.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.14° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.2  -7.9  -0.2  -0.8  +5.9  +0.4  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +32.11,  +33.98,   +3.30,   +5.80,  -42.98,  -34.13]  speed=20 wait=1.0s  (pre max|Δ|=9.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.14° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.5  -8.9  -1.1  -2.1  +9.1  +1.6  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +25.73,  +26.52,   +2.48,   +4.45,  -33.46,  -32.98]  speed=20 wait=1.0s  (pre max|Δ|=9.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.95° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.6  -9.6  -1.9  -1.9  +9.9  +1.9  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +23.45,  +24.38,   +2.38,   +4.07,  -30.96,  -32.67]  speed=20 wait=1.0s  (pre max|Δ|=4.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.8  -4.1  -1.9  -0.8  +2.8  +0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.92°（関節 j2）
[014] 推論 834ms  10ステップ先  Δ=-21.7 -24.2  -2.2  -3.0 +27.7  +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_chunk014_via02: send_angles (single) [ +17.43,  +17.52,   +2.02,   +2.94,  -22.68,  -31.77]  speed=20 wait=1.0s  (pre max|Δ|=8.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.28° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.9  -8.8  -2.3  -0.8  +8.5  +1.1  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [ +10.18,   +9.80,   +2.05,   +1.71,  -13.02,  -31.17]  speed=20 wait=1.0s  (pre max|Δ|=9.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.7  -9.4  -2.3  -1.6  +9.9  +0.8  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [  +3.13,   +3.43,   +2.09,   +0.94,   -5.23,  -31.09]  speed=20 wait=1.0s  (pre max|Δ|=8.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.3  -7.9  -2.2  -1.1  +8.1  +0.3  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [  +1.57,   +2.04,   +2.07,   +0.76,   -3.49,  -31.06]  speed=20 wait=1.0s  (pre max|Δ|=2.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.3  -2.8  -2.2  -0.5  +2.0  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.23°（関節 j2）
[015] 推論 986ms  10ステップ先  Δ= -0.6  -1.8  -2.4  -0.4  +0.3  +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_chunk015_via02: send_angles (single) [  +0.65,   +1.99,   +2.03,   +0.70,   -3.55,  -30.88]  speed=20 wait=1.0s  (pre max|Δ|=2.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.8  -1.5  -2.3  -0.3  +0.1  +0.4  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [  +0.65,   +1.90,   +1.99,   +0.69,   -3.41,  -30.89]  speed=20 wait=1.0s  (pre max|Δ|=2.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -1.6  -2.3  -0.3  +0.3  +0.2  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [  +0.78,   +1.73,   +1.94,   +0.67,   -3.38,  -30.88]  speed=20 wait=1.0s  (pre max|Δ|=2.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  -1.8  -2.4  -0.3  +0.3  +0.2  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [  +0.84,   +1.71,   +1.92,   +0.65,   -3.34,  -30.87]  speed=20 wait=1.0s  (pre max|Δ|=2.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.38° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -1.5  -2.4  -0.3  +0.3  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.38°（関節 j2）
[016] 推論 2502ms  10ステップ先  Δ= -8.6 +19.6  +2.4  +0.2 -22.3  +1.4
       [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 > 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|=4.30°, 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_20261024_190239
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 
