(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_191603
[CAMERA] 写り方 dy=-4.7 dx=+6.9 response=0.585 → 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 877ms  10ステップ先  Δ= +3.4 +15.2 +10.5  -1.6 -23.8  +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 > 
[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) [  +0.68,   +4.36,   +3.54,   -0.26,   -4.67,  -29.52]  speed=20 wait=1.0s  (pre max|Δ|=4.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.9  +3.1  +1.9  +0.0  -4.8  +0.2  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.59,   +9.84,   +7.15,   -0.99,  -13.42,  -28.82]  speed=20 wait=1.0s  (pre max|Δ|=8.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.2  +4.6  +2.6  -0.8  -8.2  +0.9  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.72,  +15.10,  +11.04,   -1.73,  -21.75,  -27.96]  speed=20 wait=1.0s  (pre max|Δ|=8.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.4  +4.3  +3.0  -1.6  -8.7  +1.6  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.18,  +16.40,  +12.14,   -1.90,  -23.76,  -27.78]  speed=20 wait=1.0s  (pre max|Δ|=2.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.77° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  +0.4  +0.2  -0.5  -2.4  +0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.77°（関節 j2）
[001] 推論 2554ms  10ステップ先  Δ= +6.0 +18.8 +11.5  -1.3 -29.0  +1.2
       [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) [  +4.84,  +21.92,  +15.81,   -2.40,  -32.09,  -27.24]  speed=20 wait=1.0s  (pre max|Δ|=8.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.8  +4.8  +2.9  -0.9  -8.0  +0.7  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +6.74,  +28.12,  +19.71,   -2.55,  -41.47,  -27.05]  speed=20 wait=1.0s  (pre max|Δ|=9.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.3  +5.3  +3.1  -0.3  -9.7  +0.3  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +8.51,  +34.21,  +23.60,   -2.72,  -50.80,  -26.99]  speed=20 wait=1.0s  (pre max|Δ|=9.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.4  +5.2  +3.2  -0.4  -9.9  +0.2  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +9.09,  +35.94,  +24.43,   -2.77,  -53.06,  -26.95]  speed=20 wait=1.0s  (pre max|Δ|=2.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  +0.8  +0.3  -0.5  -2.7  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.97°（関節 j1）
[002] 推論 1140ms  10ステップ先  Δ= +2.3  +8.5  +6.4  -0.5 -10.9  +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_chunk002_via02: send_angles (single) [ +10.41,  +41.86,  +28.46,   -3.07,  -61.32,  -26.91]  speed=20 wait=1.0s  (pre max|Δ|=7.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  +4.9  +4.4  -0.6  -7.7  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +11.10,  +45.01,  +30.69,   -3.01,  -64.39,  -26.86]  speed=20 wait=1.0s  (pre max|Δ|=3.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +2.2  +2.2  -0.3  -3.8  +0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +11.36,  +45.29,  +30.80,   -2.91,  -64.61,  -26.84]  speed=20 wait=1.0s  (pre max|Δ|=0.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.85° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -0.8  -0.4  -0.3  +0.6  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +11.38,  +45.36,  +30.52,   -2.91,  -64.53,  -26.83]  speed=20 wait=1.0s  (pre max|Δ|=0.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.8  -0.7  -0.3  +0.7  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.87°（関節 j1）
[003] 推論 2680ms  10ステップ先  Δ= +0.5  +8.5  -7.7  -0.2  +1.6  +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) [ +11.56,  +46.62,  +29.94,   -2.81,  -64.80,  -26.79]  speed=20 wait=1.0s  (pre max|Δ|=1.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  +0.4  -1.3  -0.2  +0.4  +0.3  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +11.75,  +49.77,  +27.82,   -2.78,  -64.52,  -26.80]  speed=20 wait=1.0s  (pre max|Δ|=3.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +2.1  -3.3  -0.2  +0.7  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +11.67,  +53.64,  +24.57,   -2.83,  -63.76,  -26.83]  speed=20 wait=1.0s  (pre max|Δ|=4.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  +3.0  -4.2  -0.2  +1.5  -0.5  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +11.71,  +54.74,  +23.51,   -2.82,  -63.59,  -26.85]  speed=20 wait=1.0s  (pre max|Δ|=1.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.88° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  +0.6  -1.5  -0.1  +1.7  -1.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.88°（関節 j4）
[004] 推論 1110ms  7ステップ先  Δ= +0.8  +5.2  -5.1  -0.2  +3.4  -0.8  グリッパー→閉
       [VIA   ] 中継点 3 点: step 2, 5, 6
       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) [ +11.90,  +58.89,  +19.99,   -2.88,  -62.36,  -26.86]  speed=20 wait=1.0s  (pre max|Δ|=4.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.85° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +3.7  -4.0  +0.0  +3.0  -0.6  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +12.12,  +60.35,  +18.87,   -2.96,  -62.10,  -26.82]  speed=20 wait=1.0s  (pre max|Δ|=3.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +1.8  -1.1  +0.0  +3.1  -0.6  着いた
[SEND] pi05_chunk004_via06: send_angles (single) [ +12.12,  +60.35,  +18.87,   -2.96,  -62.10,  -26.82]  speed=20 wait=1.0s  (pre max|Δ|=2.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  6  Δ= -0.3  -0.6  +0.2  +0.8  -2.4  +1.6  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 1.03°（関節 j3）
[005] 推論 869ms  10ステップ先  Δ= +0.2  -9.4  +8.7  -0.9  -1.9  +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) [ +12.01,  +59.31,  +19.54,   -2.64,  -62.42,  -27.15]  speed=20 wait=1.0s  (pre max|Δ|=1.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  -1.7  +0.9  -0.4  -0.1  +0.2  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +12.05,  +56.05,  +22.75,   -2.79,  -63.26,  -27.00]  speed=20 wait=1.0s  (pre max|Δ|=4.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.60° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -4.8  +4.0  -0.7  -0.9  +0.2  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +12.02,  +52.45,  +26.45,   -2.87,  -63.96,  -26.93]  speed=20 wait=1.0s  (pre max|Δ|=5.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -5.2  +4.2  +0.2  -2.1  -0.7  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +12.06,  +51.55,  +27.34,   -2.86,  -64.23,  -26.93]  speed=20 wait=1.0s  (pre max|Δ|=2.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -2.9  +1.2  +0.4  -2.1  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.06°（関節 j1）
[006] 推論 1010ms  10ステップ先  Δ=+13.2  -4.1 -10.5  +3.4  +4.0  -3.5
       [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_chunk006_via02: send_angles (single) [ +11.78,  +48.34,  +30.46,   -2.99,  -64.88,  -26.72]  speed=20 wait=1.0s  (pre max|Δ|=5.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  -5.3  +3.0  +0.1  -1.5  -0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +16.70,  +48.67,  +26.25,   -1.81,  -63.09,  -27.82]  speed=20 wait=1.0s  (pre max|Δ|=4.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.60° (tol 3.0°)
       [VIA   ] step  5  Δ= +4.7  -1.6  -4.3  +1.3  +2.7  -1.5  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +23.32,  +49.26,  +18.80,   -0.22,  -59.85,  -29.39]  speed=20 wait=1.0s  (pre max|Δ|=8.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  8  Δ= +6.7  -1.0  -8.4  +1.9  +4.6  -2.3  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +25.01,  +49.49,  +16.97,   +0.27,  -59.06,  -29.89]  speed=20 wait=1.0s  (pre max|Δ|=2.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.22° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.7  -0.8  -3.0  +1.1  +1.6  -1.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.22°（関節 j2）
[007] 推論 2381ms  10ステップ先  Δ=+17.6  +5.9 -20.0  +4.4  +7.1  -4.0
       [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_chunk007_via02: send_angles (single) [ +31.48,  +50.65,  +10.08,   +1.76,  -56.48,  -31.25]  speed=20 wait=1.0s  (pre max|Δ|=8.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.4  +0.1  -8.1  +1.7  +2.8  -1.6  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +38.40,  +52.58,   +2.18,   +3.43,  -52.62,  -32.82]  speed=20 wait=1.0s  (pre max|Δ|=9.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.24° (tol 3.0°)
       [VIA   ] step  5  Δ= +6.8  +0.9  -9.1  +1.9  +4.4  -1.9  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +42.44,  +55.03,   -1.83,   +4.40,  -51.42,  -33.61]  speed=20 wait=1.0s  (pre max|Δ|=5.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 3.0°)
       [VIA   ] step  8  Δ= +4.1  +1.4  -5.2  +1.0  +1.5  -1.2  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +42.69,  +56.39,   -1.77,   +4.51,  -52.26,  -33.57]  speed=20 wait=1.0s  (pre max|Δ|=1.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  +0.2  -1.3  -0.1  -0.8  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.17°（関節 j1）
[008] 推論 1100ms  10ステップ先  Δ= +0.5  +8.2  -2.3  +1.2  -8.1  -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_chunk008_via02: send_angles (single) [ +42.82,  +60.91,   -2.20,   +5.03,  -55.46,  -33.67]  speed=20 wait=1.0s  (pre max|Δ|=3.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.24° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  +3.4  -1.6  +0.4  -4.0  -0.4  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +42.89,  +64.55,   -2.65,   +5.48,  -57.92,  -33.79]  speed=20 wait=1.0s  (pre max|Δ|=2.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  +2.8  -1.7  +1.2  -1.8  +0.5  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +42.89,  +65.76,   -2.86,   +5.83,  -59.59,  -33.94]  speed=20 wait=1.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  +0.6  -0.8  +1.0  +0.2  +0.7  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +42.89,  +65.76,   -2.86,   +5.83,  -59.59,  -33.94]  speed=20 wait=1.0s  (pre max|Δ|=1.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.6  -0.6  +0.5  +1.3  +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 0.70°（関節 j4）
[009] 推論 2242ms  10ステップ先  Δ= -0.2 -13.2  +0.1  -0.9 +11.3  -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_chunk009_via02: send_angles (single) [ +43.04,  +63.14,   -2.78,   +6.02,  -57.74,  -34.31]  speed=20 wait=1.0s  (pre max|Δ|=3.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  -3.2  -0.5  -0.5  +2.5  -0.1  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +43.21,  +59.72,   -2.79,   +6.01,  -54.85,  -34.46]  speed=20 wait=1.0s  (pre max|Δ|=4.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  -4.9  -0.4  -0.8  +1.9  -0.3  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +42.86,  +54.89,   -2.44,   +5.81,  -50.59,  -34.51]  speed=20 wait=1.0s  (pre max|Δ|=6.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -6.8  -0.1  -0.8  +2.0  -0.5  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +42.18,  +53.10,   -2.23,   +5.61,  -48.99,  -34.43]  speed=20 wait=1.0s  (pre max|Δ|=4.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.35° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.8  -4.0  -0.3  +0.1  +0.0  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.35°（関節 j1）
[010] 推論 1247ms  10ステップ先  Δ=-18.3 -28.0  +2.6  -4.0 +23.6  +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 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +38.03,  +46.00,   -1.33,   +4.58,  -42.58,  -33.87]  speed=20 wait=1.0s  (pre max|Δ|=9.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.2  -9.4  +0.4  -0.8  +5.8  +0.1  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +31.83,  +37.94,   -0.20,   +3.17,  -34.96,  -33.07]  speed=20 wait=1.0s  (pre max|Δ|=10.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.6 -10.3  +0.7  -1.1  +8.2  +0.8  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +25.67,  +29.57,   +0.71,   +1.71,  -26.92,  -32.38]  speed=20 wait=1.0s  (pre max|Δ|=10.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.3 -10.5  +0.5  -1.2  +8.4  +1.1  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +24.00,  +27.42,   +0.85,   +1.32,  -24.73,  -32.23]  speed=20 wait=1.0s  (pre max|Δ|=4.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.2  -4.0  -0.3  -0.6  +2.4  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.02°（関節 j1）
[011] 推論 895ms  10ステップ先  Δ=-21.8 -27.0  +0.4  -1.0 +24.3  +1.2
       [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_chunk011_via02: send_angles (single) [ +16.86,  +19.22,   +1.35,   +0.19,  -16.22,  -31.41]  speed=20 wait=1.0s  (pre max|Δ|=10.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.61° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.2 -10.2  -0.1  -0.8  +8.7  +0.8  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [  +9.41,   +9.95,   +1.77,   -0.15,   -7.32,  -31.09]  speed=20 wait=1.0s  (pre max|Δ|=10.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.8 -10.9  -0.3  -0.8  +8.9  +0.5  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [  +3.25,   +3.25,   +1.88,   -0.08,   -1.31,  -31.03]  speed=20 wait=1.0s  (pre max|Δ|=8.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.4  -8.2  -0.7  -0.3  +6.1  +0.3  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [  +2.27,   +2.41,   +1.88,   -0.07,   -0.63,  -31.00]  speed=20 wait=1.0s  (pre max|Δ|=2.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.2  -2.1  -0.7  -0.2  +0.8  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.54°（関節 j1）
[012] 推論 814ms  10ステップ先  Δ= -1.3  -2.1  -0.6  -0.2  +0.2  +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_chunk012_via02: send_angles (single) [  +0.79,   +2.07,   +1.90,   -0.08,   -0.62,  -30.97]  speed=20 wait=1.0s  (pre max|Δ|=1.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.53° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.2  -1.9  -0.6  -0.2  +0.2  +0.2  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [  +0.65,   +1.96,   +1.95,   -0.09,   -0.61,  -30.97]  speed=20 wait=1.0s  (pre max|Δ|=1.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -1.6  -0.6  -0.2  +0.2  +0.2  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [  +0.73,   +1.94,   +1.96,   -0.14,   -0.62,  -30.96]  speed=20 wait=1.0s  (pre max|Δ|=1.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  -1.7  -0.6  -0.2  +0.2  +0.2  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [  +0.77,   +1.83,   +1.95,   -0.15,   -0.62,  -30.96]  speed=20 wait=1.0s  (pre max|Δ|=1.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.77° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -1.8  -0.6  -0.2  +0.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.77°（関節 j1）
[013] 推論 999ms  10ステップ先  Δ= -0.6  -2.1  -0.5  -0.2  +0.3  +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 > q
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261024_191603
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 
