Last login: Thu Oct 29 11:39:05 on ttys007
(base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % cd ~/r2r2r-scripts
ssh -i ~/.ssh/id_rsa_pi ubuntu@192.168.2.1 'pgrep -f mecharm_daemon.py >/dev/null && echo デーモン動いてる || (setsid nohup python3 /home/ubuntu/mecharm_daemon.py </dev/null >>/home/ubuntu/daemon.log 2>&1 &); sleep 8; tail -3 ~/daemon.log; ss -ltn | grep 5555'
python3 dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py
デーモン動いてる
[DAEMON 14:37:47] cmd received: get_angles
[DAEMON 14:37:47] cmd received: set_fresh_mode
[DAEMON 14:37:47] 切断: ('192.168.2.2', 60628)
LISTEN   0         1                   0.0.0.0:5555             0.0.0.0:*       
[INIT] daemon 接続中...
  [WARN] fresh_mode切替不可: daemon error: set_fresh_mode is not available in this pymycobot environment
[INIT] fresh_mode=1
[PRE]  現在姿勢: [0.08, 1.23, 0.61, -0.17, -0.26, -29.79]
[SEND] HOME へ移動指令
[WAIT] t=2.0s  max_err=1.23°
[DONE] HOME 到達 max_err=1.23°
[POST] 最終姿勢: [0.08, 1.23, 0.61, -0.17, -0.26, -29.79]
  [WARN] fresh_mode切替不可: daemon error: set_fresh_mode is not available in this pymycobot environment
[EXIT] fresh_mode=0, socket close
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % RAW=/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes
python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_192343 --scale 5 --alpha 0.7
  [Pi] GRIPPER: OPEN result= -1
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_192343/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_192343 (つかんだ瞬間の j0 = -27.7°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  +3.2  dx= +19.6  response=0.439  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +4.2  dx= +22.7  response=0.399  → ずれ (|dx|=22.7 > 20)
[ALIGN ] dy=  +7.3  dx= +19.6  response=0.390  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +9.3  dx= +18.6  response=0.428  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +6.3  dx= +17.5  response=0.424  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +5.2  dx= +16.2  response=0.520  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +7.2  dx= +11.7  response=0.462  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +9.2  dx=  +9.5  response=0.468  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +10.2  dx=  +7.4  response=0.441  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +12.3  dx=  +5.2  response=0.352  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +14.1  dx=  +4.1  response=0.344  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +15.3  dx=  +8.7  response=0.407  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +18.1  dx=  +5.6  response=0.388  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +23.3  dx=  +4.5  response=0.301  → ずれ (|dy|=23.3 > 20)
[ALIGN ] dy= +28.3  dx=  +5.8  response=0.292  → ずれ (|dy|=28.3 > 20)
[ALIGN ] dy= +30.3  dx=  +6.6  response=0.325  → ずれ (|dy|=30.3 > 20)
[ALIGN ] dy= +28.3  dx=  +3.4  response=0.262  → ずれ (|dy|=28.3 > 20)
[ALIGN ] dy= +23.2  dx=  +3.8  response=0.272  → ずれ (|dy|=23.2 > 20)
[ALIGN ] dy= +15.3  dx=  +7.9  response=0.409  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +9.2  dx=  +8.1  response=0.550  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +3.5  dx=  +2.4  response=0.443  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -1.9  dx=  -2.1  response=0.278  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -6.7  dx=  -3.8  response=0.240  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -10.6  dx=  -0.7  response=0.232  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -12.3  dx=  +6.1  response=0.292  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -10.5  dx=  +4.2  response=0.290  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -7.6  dx=  +0.2  response=0.267  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -4.8  dx=  -1.7  response=0.252  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -3.6  dx=  -1.2  response=0.282  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -2.6  dx=  -1.0  response=0.335  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -3.7  dx=  -2.1  response=0.282  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -2.3  dx=  +4.9  response=0.432  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
(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_20261029_115543
[CAMERA] 写り方 dy=-19.0 dx=+12.0 response=0.035 → 測れない (相関が弱く dx/dy が当てにならない (response=0.035 < 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
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_115543
[ABORT ] 上カメラの写り方が『測れない』. アームには何も送らずに終了しました.
         相関が弱く dx/dy が当てにならない (response=0.035 < 0.20)
         pi05/camera_align.py で合わせ直す (iPhone を付け直す / 連係カメラを開き直す).
         この写り方のまま続けるなら --ignore-framing
(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_20261029_115631
[CAMERA] 写り方 dy=-7.0 dx=+4.2 response=0.317 → 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)
^C
[STOP  ] Ctrl-C
^CTraceback (most recent call last):
  File "/Users/shimazueiichi/r2r2r-scripts/pi05/run_policy_client.py", line 757, in <module>
    sys.exit(main())
             ^^^^^^
  File "/Users/shimazueiichi/r2r2r-scripts/pi05/run_policy_client.py", line 743, in main
    policy.close()
  File "/Users/shimazueiichi/r2r2r-scripts/pi05/policy_ws.py", line 65, in close
    self.ws.close()
  File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/sync/connection.py", line 593, in close
    with self.send_context():
         ^^^^^^^^^^^^^^^^^^^
  File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/contextlib.py", line 144, in __exit__
    next(self.gen)
  File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/sync/connection.py", line 1002, in send_context
    self.recv_events_thread.join(timeout)
  File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/threading.py", line 1153, in join
    self._wait_for_tstate_lock(timeout=max(timeout, 0))
  File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/threading.py", line 1169, in _wait_for_tstate_lock
    if lock.acquire(block, timeout):
       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
KeyboardInterrupt

(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_20261029_115718
[CAMERA] 写り方 dy=-8.1 dx=+4.9 response=0.199 → 測れない (相関が弱く dx/dy が当てにならない (response=0.199 < 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
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_115718
[ABORT ] 上カメラの写り方が『測れない』. アームには何も送らずに終了しました.
         相関が弱く dx/dy が当てにならない (response=0.199 < 0.20)
         pi05/camera_align.py で合わせ直す (iPhone を付け直す / 連係カメラを開き直す).
         この写り方のまま続けるなら --ignore-framing
(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_20261029_115733
[CAMERA] 写り方 dy=-8.0 dx=+5.0 response=0.194 → 測れない (相関が弱く dx/dy が当てにならない (response=0.194 < 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
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_115733
[ABORT ] 上カメラの写り方が『測れない』. アームには何も送らずに終了しました.
         相関が弱く dx/dy が当てにならない (response=0.194 < 0.20)
         pi05/camera_align.py で合わせ直す (iPhone を付け直す / 連係カメラを開き直す).
         この写り方のまま続けるなら --ignore-framing
(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_20261029_115823
[CAMERA] 写り方 dy=-8.1 dx=+4.9 response=0.212 → 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 617ms  10ステップ先  Δ= -9.2 +19.7  +4.3  -2.0 -23.2  +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) [  -1.80,   +4.85,   +0.65,   -0.24,   -4.01,  -29.72]  speed=20 wait=1.0s  (pre max|Δ|=3.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.9  +3.6  +0.0  -0.1  -3.8  +0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -4.76,  +11.66,   +2.20,   -1.00,  -12.18,  -29.25]  speed=20 wait=1.0s  (pre max|Δ|=9.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.8  +5.9  +0.7  -1.0  -9.5  +0.5  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -8.07,  +18.54,   +4.27,   -1.97,  -20.68,  -28.68]  speed=20 wait=1.0s  (pre max|Δ|=9.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.4  +5.9  +1.4  -1.9  -9.4  +1.0  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  -9.15,  +20.96,   +4.88,   -2.16,  -23.42,  -28.48]  speed=20 wait=1.0s  (pre max|Δ|=3.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +1.4  -0.3  -0.8  -3.1  +0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j1）
[001] 推論 1730ms  10ステップ先  Δ=-11.4 +21.6  +5.7  -0.4 -26.6  +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) [ -12.66,  +27.70,   +6.55,   -2.70,  -30.51,  -28.21]  speed=20 wait=1.0s  (pre max|Δ|=7.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.5  +5.7  +1.0  -0.6  -7.2  +0.4  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -16.17,  +34.66,   +8.60,   -2.70,  -39.11,  -28.13]  speed=20 wait=1.0s  (pre max|Δ|=8.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.8  +5.9  +1.4  -0.3  -8.9  +0.3  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -19.70,  +41.80,  +10.79,   -2.50,  -47.58,  -28.10]  speed=20 wait=1.0s  (pre max|Δ|=8.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.4  +6.0  +1.5  -0.0  -8.8  +0.2  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -20.53,  +43.60,  +11.24,   -2.45,  -49.93,  -28.07]  speed=20 wait=1.0s  (pre max|Δ|=2.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.9  +0.7  -0.2  +0.0  -2.7  +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）
[002] 推論 565ms  10ステップ先  Δ= -6.8 +13.8  +5.0  +0.1 -18.4  +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) [ -23.90,  +50.58,  +13.19,   -2.86,  -59.34,  -27.99]  speed=20 wait=1.0s  (pre max|Δ|=9.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.1  +6.0  +1.8  -0.5  -9.3  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -26.57,  +56.40,  +15.26,   -2.79,  -66.18,  -27.98]  speed=20 wait=1.0s  (pre max|Δ|=7.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.9  +4.8  +1.6  -0.3  -7.3  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -27.55,  +58.26,  +16.43,   -2.36,  -68.18,  -27.92]  speed=20 wait=1.0s  (pre max|Δ|=2.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.4  +0.8  +0.8  +0.0  -2.3  +0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -27.67,  +58.41,  +16.44,   -2.29,  -68.40,  -27.90]  speed=20 wait=1.0s  (pre max|Δ|=0.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -0.8  -0.1  -0.1  +0.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.91°（関節 j1）
[003] 推論 761ms  10ステップ先  Δ= +0.1  +3.7  -2.8  -2.7  +3.0  +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_chunk003_via02: send_angles (single) [ -27.85,  +60.49,  +17.14,   -2.15,  -70.09,  -27.85]  speed=20 wait=1.0s  (pre max|Δ|=1.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  +1.2  +0.6  +0.0  -1.5  +0.3  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -27.64,  +61.07,  +16.59,   -2.70,  -69.50,  -27.78]  speed=20 wait=1.0s  (pre max|Δ|=0.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -0.4  -0.8  -0.6  +0.9  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -27.81,  +62.57,  +14.29,   -4.56,  -66.40,  -27.70]  speed=20 wait=1.0s  (pre max|Δ|=4.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.18° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +0.7  -3.1  -2.3  +4.0  +0.3  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -27.78,  +62.99,  +13.68,   -4.94,  -65.65,  -27.71]  speed=20 wait=1.0s  (pre max|Δ|=1.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.52° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.5  -1.6  -0.8  +1.9  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.52°（関節 j2）
[004] 推論 1531ms  7ステップ先  Δ= +0.1  +1.4  -3.8  -2.1  +4.0  +0.3  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) [ -27.63,  +64.91,  +11.79,   -6.27,  -63.18,  -27.69]  speed=20 wait=1.0s  (pre max|Δ|=3.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.77° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  +0.9  -3.4  -1.6  +2.9  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -27.67,  +65.38,  +11.37,   -6.80,  -62.36,  -27.69]  speed=20 wait=1.0s  (pre max|Δ|=1.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.19° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -0.3  -1.2  -0.8  +1.3  +0.3  着いた
[SEND] pi05_chunk004_via06: send_angles (single) [ -27.67,  +65.38,  +11.37,   -6.80,  -62.36,  -27.69]  speed=20 wait=1.0s  (pre max|Δ|=1.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.19° (tol 3.0°)
       [VIA   ] step  6  Δ= +0.3  -0.6  -1.2  -0.4  +1.0  +0.3  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 0.92°（関節 j4）
[005] 推論 590ms  10ステップ先  Δ= +0.6  -4.7  +4.7  +2.3  -3.7  +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_chunk005_via02: send_angles (single) [ -27.75,  +64.39,  +12.75,   -5.98,  -63.74,  -27.58]  speed=20 wait=1.0s  (pre max|Δ|=1.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  -1.6  +0.9  +0.8  -0.5  +0.2  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -27.74,  +63.09,  +14.52,   -5.20,  -65.28,  -27.47]  speed=20 wait=1.0s  (pre max|Δ|=2.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -2.7  +2.5  +1.5  -2.0  +0.3  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -27.49,  +61.69,  +16.25,   -4.59,  -66.74,  -27.43]  speed=20 wait=1.0s  (pre max|Δ|=2.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  -2.9  +2.2  +1.3  -2.6  +0.2  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -27.36,  +61.31,  +16.52,   -4.48,  -66.98,  -27.45]  speed=20 wait=1.0s  (pre max|Δ|=2.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -2.3  +0.6  +0.5  -1.7  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.23°（関節 j1）
[006] 推論 601ms  10ステップ先  Δ= +9.9  -5.8  -0.0  +2.9  -1.6  -1.6
       [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_chunk006_via02: send_angles (single) [ -27.45,  +60.74,  +17.64,   -3.91,  -68.17,  -27.44]  speed=20 wait=1.0s  (pre max|Δ|=2.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  -2.8  +1.3  +0.7  -1.9  -0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -26.93,  +60.19,  +18.08,   -3.49,  -69.01,  -27.54]  speed=20 wait=1.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.12° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -2.9  +0.5  +0.1  -1.7  -0.6  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -19.72,  +58.32,  +16.49,   -2.26,  -68.03,  -28.46]  speed=20 wait=1.0s  (pre max|Δ|=7.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.41° (tol 3.0°)
       [VIA   ] step  8  Δ= +7.8  -4.0  -1.4  +0.6  -0.0  -1.4  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -17.44,  +57.77,  +15.97,   -1.87,  -67.38,  -28.72]  speed=20 wait=1.0s  (pre max|Δ|=2.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.4  -3.0  -1.8  -0.1  +0.6  -1.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.43°（関節 j1）
[007] 推論 607ms  10ステップ先  Δ=+27.0  -9.3  -7.3  +3.8  +6.4  -2.5
       [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_chunk007_via02: send_angles (single) [  -9.78,  +55.85,  +14.67,   -0.40,  -65.92,  -29.65]  speed=20 wait=1.0s  (pre max|Δ|=7.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.24° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.8  -4.4  -2.5  +1.3  +2.1  -1.4  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [  -1.60,  +53.84,  +12.83,   +1.01,  -64.39,  -30.29]  speed=20 wait=1.0s  (pre max|Δ|=8.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.49° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.2  -4.3  -3.0  +1.4  +2.7  -1.0  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [  +6.89,  +51.47,  +10.58,   +1.98,  -62.26,  -30.60]  speed=20 wait=1.0s  (pre max|Δ|=8.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.49° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.6  -4.9  -3.5  +0.8  +2.9  -0.6  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [  +9.47,  +50.94,   +9.94,   +2.13,  -61.59,  -30.61]  speed=20 wait=1.0s  (pre max|Δ|=3.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.67° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.7  -3.0  -1.9  +0.0  +1.2  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.67°（関節 j1）
[008] 推論 603ms  10ステップ先  Δ=+26.4  -7.9  -8.5  +0.4  +6.7  -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_chunk008_via02: send_angles (single) [ +16.83,  +48.87,   +7.93,   +2.39,  -59.50,  -30.71]  speed=20 wait=1.0s  (pre max|Δ|=7.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.45° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.5  -4.7  -3.8  -0.1  +2.4  -0.4  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +25.60,  +46.78,   +5.62,   +2.62,  -56.92,  -30.80]  speed=20 wait=1.0s  (pre max|Δ|=8.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.52° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.0  -4.5  -3.6  +0.1  +2.9  -0.4  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +34.33,  +45.53,   +3.59,   +2.88,  -55.19,  -30.89]  speed=20 wait=1.0s  (pre max|Δ|=8.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.37° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.9  -3.8  -3.3  +0.1  +2.0  -0.4  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +35.71,  +45.71,   +3.26,   +2.96,  -55.17,  -30.93]  speed=20 wait=1.0s  (pre max|Δ|=2.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.3  -2.2  -1.8  -0.1  +0.2  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.19°（関節 j1）
[009] 推論 1526ms  10ステップ先  Δ= +3.9 +10.9  -3.7  +0.6  -9.3  -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_chunk009_via02: send_angles (single) [ +40.48,  +47.46,   +1.95,   +3.04,  -54.53,  -31.04]  speed=20 wait=1.0s  (pre max|Δ|=4.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  2  Δ= +4.4  -0.4  -3.1  -0.0  +0.8  -0.5  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +40.37,  +52.80,   +1.89,   +3.26,  -59.16,  -31.00]  speed=20 wait=1.0s  (pre max|Δ|=4.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.60° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.3  +4.3  -1.5  -0.1  -4.3  -0.2  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +40.11,  +57.64,   +1.58,   +3.56,  -63.52,  -30.99]  speed=20 wait=1.0s  (pre max|Δ|=5.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.6  +3.6  -1.8  +0.2  -6.0  -0.2  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +39.93,  +58.82,   +1.43,   +3.68,  -64.65,  -31.00]  speed=20 wait=1.0s  (pre max|Δ|=2.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.8  +0.0  -2.0  +0.4  -2.3  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.90°（関節 j2）
[010] 推論 552ms  6ステップ先  Δ= -0.0  +2.5  -2.0  +0.4  -3.3  -0.2  グリッパー→開
       [VIA   ] 中継点 2 点: step 2, 5
       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) [ +40.05,  +62.42,   +1.41,   +3.90,  -67.39,  -31.00]  speed=20 wait=1.0s  (pre max|Δ|=2.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  +2.5  -1.9  +0.3  -2.9  -0.2  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +39.87,  +62.39,   +1.38,   +4.00,  -67.80,  -31.00]  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= -0.0  -1.2  -2.0  +0.5  -0.7  +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 1.95°（関節 j2）
[011] 推論 611ms  10ステップ先  Δ= -0.1 -18.2  -1.8  +0.1 +17.1  -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_chunk011_via02: send_angles (single) [ +39.88,  +58.00,   +1.41,   +3.96,  -63.94,  -31.19]  speed=20 wait=1.0s  (pre max|Δ|=5.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  -5.6  -1.9  +0.2  +5.1  +0.1  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +40.29,  +52.92,   +1.35,   +3.93,  -59.18,  -31.44]  speed=20 wait=1.0s  (pre max|Δ|=7.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -7.3  -2.0  +0.2  +5.6  -0.2  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +40.30,  +47.34,   +1.49,   +3.95,  -53.90,  -31.73]  speed=20 wait=1.0s  (pre max|Δ|=7.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -7.6  -1.8  +0.2  +5.9  -0.4  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +39.85,  +45.38,   +1.49,   +3.89,  -51.95,  -31.80]  speed=20 wait=1.0s  (pre max|Δ|=4.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -4.2  -1.8  +0.1  +2.4  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.25°（関節 j1）
[012] 推論 1727ms  10ステップ先  Δ=-20.9 -26.6  -2.4  -3.0 +28.5  -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_chunk012_via02: send_angles (single) [ +35.17,  +38.74,   +1.31,   +3.12,  -44.05,  -31.71]  speed=20 wait=1.0s  (pre max|Δ|=8.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.12° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.2  -8.9  -2.0  -0.7  +8.0  -0.3  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +28.72,  +31.29,   +1.09,   +2.09,  -35.31,  -31.52]  speed=20 wait=1.0s  (pre max|Δ|=9.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.7  -9.6  -2.2  -1.9  +9.1  -0.2  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +21.70,  +23.14,   +0.92,   +1.08,  -25.74,  -31.34]  speed=20 wait=1.0s  (pre max|Δ|=10.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.1 -10.2  -1.8  -1.6  +9.9  +0.0  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +19.40,  +21.00,   +0.89,   +0.86,  -23.55,  -31.31]  speed=20 wait=1.0s  (pre max|Δ|=4.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.7  -4.0  -1.8  -0.6  +2.4  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.85°（関節 j1）
[013] 推論 554ms  10ステップ先  Δ=-16.5 -19.7  -1.4  -0.1 +19.8  +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_chunk013_via02: send_angles (single) [ +13.01,  +13.11,   +1.06,   +0.50,  -14.79,  -31.14]  speed=20 wait=1.0s  (pre max|Δ|=9.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.2  -9.7  -1.7  -0.0  +8.9  +0.2  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [  +6.02,   +5.66,   +1.22,   +0.46,   -6.37,  -31.07]  speed=20 wait=1.0s  (pre max|Δ|=9.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.3  -9.1  -1.5  -0.4  +8.7  +0.3  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [  +2.77,   +3.27,   +1.22,   +0.47,   -4.07,  -31.07]  speed=20 wait=1.0s  (pre max|Δ|=3.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.6  -3.8  -1.5  +0.1  +2.5  +0.2  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [  +2.69,   +3.20,   +1.30,   +0.46,   -3.92,  -31.06]  speed=20 wait=1.0s  (pre max|Δ|=1.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.42° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -1.4  -1.4  +0.1  +0.5  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.42°（関節 j2）
[014] 推論 554ms  10ステップ先  Δ= -1.0  -1.9  -1.5  +0.0  +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 > 
[SEND] pi05_chunk014_via02: send_angles (single) [  +1.49,   +2.93,   +1.29,   +0.44,   -3.76,  -31.00]  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  2  Δ= -1.2  -1.6  -1.4  +0.1  +0.5  +0.3  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [  +1.48,   +2.82,   +1.27,   +0.44,   -3.66,  -30.99]  speed=20 wait=1.0s  (pre max|Δ|=1.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.57° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -1.8  -1.5  +0.1  +0.2  +0.3  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [  +1.59,   +2.63,   +1.22,   +0.41,   -3.64,  -30.98]  speed=20 wait=1.0s  (pre max|Δ|=1.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -1.8  -1.5  +0.1  +0.2  +0.3  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [  +1.70,   +2.63,   +1.20,   +0.39,   -3.58,  -30.98]  speed=20 wait=1.0s  (pre max|Δ|=1.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.52° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -1.5  -1.5  +0.0  +0.3  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.52°（関節 j2）
[015] 推論 632ms  10ステップ先  Δ= +0.5  -1.2  -1.4  +0.1  -0.2  +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|=4.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_115823
(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_20261029_120216
[CAMERA] 写り方 dy=-8.2 dx=+3.3 response=0.176 → 測れない (相関が弱く dx/dy が当てにならない (response=0.176 < 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
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_120216
[ABORT ] 上カメラの写り方が『測れない』. アームには何も送らずに終了しました.
         相関が弱く dx/dy が当てにならない (response=0.176 < 0.20)
         pi05/camera_align.py で合わせ直す (iPhone を付け直す / 連係カメラを開き直す).
         この写り方のまま続けるなら --ignore-framing
(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_20261029_120221
[CAMERA] 写り方 dy=-19.9 dx=+10.4 response=0.094 → 測れない (相関が弱く dx/dy が当てにならない (response=0.094 < 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
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_120221
[ABORT ] 上カメラの写り方が『測れない』. アームには何も送らずに終了しました.
         相関が弱く dx/dy が当てにならない (response=0.094 < 0.20)
         pi05/camera_align.py で合わせ直す (iPhone を付け直す / 連係カメラを開き直す).
         この写り方のまま続けるなら --ignore-framing
(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_20261029_120236
[CAMERA] 写り方 dy=-8.3 dx=+3.4 response=0.178 → 測れない (相関が弱く dx/dy が当てにならない (response=0.178 < 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
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_120236
[ABORT ] 上カメラの写り方が『測れない』. アームには何も送らずに終了しました.
         相関が弱く dx/dy が当てにならない (response=0.178 < 0.20)
         pi05/camera_align.py で合わせ直す (iPhone を付け直す / 連係カメラを開き直す).
         この写り方のまま続けるなら --ignore-framing
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 
(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_20261029_120242
[CAMERA] 写り方 dy=-8.4 dx=+3.4 response=0.173 → 測れない (相関が弱く dx/dy が当てにならない (response=0.173 < 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
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_120242
[ABORT ] 上カメラの写り方が『測れない』. アームには何も送らずに終了しました.
         相関が弱く dx/dy が当てにならない (response=0.173 < 0.20)
         pi05/camera_align.py で合わせ直す (iPhone を付け直す / 連係カメラを開き直す).
         この写り方のまま続けるなら --ignore-framing
(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_20261029_120254
[CAMERA] 写り方 dy=-8.4 dx=+3.4 response=0.175 → 測れない (相関が弱く dx/dy が当てにならない (response=0.175 < 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
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_120254
[ABORT ] 上カメラの写り方が『測れない』. アームには何も送らずに終了しました.
         相関が弱く dx/dy が当てにならない (response=0.175 < 0.20)
         pi05/camera_align.py で合わせ直す (iPhone を付け直す / 連係カメラを開き直す).
         この写り方のまま続けるなら --ignore-framing
(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_20261029_120304
[CAMERA] 写り方 dy=-8.3 dx=+3.5 response=0.177 → 測れない (相関が弱く dx/dy が当てにならない (response=0.177 < 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
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_120304
[ABORT ] 上カメラの写り方が『測れない』. アームには何も送らずに終了しました.
         相関が弱く dx/dy が当てにならない (response=0.177 < 0.20)
         pi05/camera_align.py で合わせ直す (iPhone を付け直す / 連係カメラを開き直す).
         この写り方のまま続けるなら --ignore-framing
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_192343 --scale 5 --alpha 0.7
python3 pi05/run_policy_client.py --raw-dir $RAW --steps-per-chunk 10 --via-stride 3 --settle-retries 0 --state-from-target --execute
  [Pi] GRIPPER: OPEN result= -1
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_192343/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_192343 (つかんだ瞬間の j0 = -27.7°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  -2.6  dx=  +0.8  response=0.396  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)

q

^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
[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_20261029_120455
[CAMERA] 写り方 dy=-8.6 dx=+3.0 response=0.177 → 測れない (相関が弱く dx/dy が当てにならない (response=0.177 < 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
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_120455
[ABORT ] 上カメラの写り方が『測れない』. アームには何も送らずに終了しました.
         相関が弱く dx/dy が当てにならない (response=0.177 < 0.20)
         pi05/camera_align.py で合わせ直す (iPhone を付け直す / 連係カメラを開き直す).
         この写り方のまま続けるなら --ignore-framing
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_192343 --scale 5 --alpha 0.7
python3 pi05/run_policy_client.py --raw-dir $RAW --steps-per-chunk 10 --via-stride 3 --settle-retries 0 --state-from-target --execute
  [Pi] GRIPPER: OPEN result= -1
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_192343/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_192343 (つかんだ瞬間の j0 = -27.7°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  -1.8  dx=  +2.3  response=0.462  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
[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_20261029_120557
[CAMERA] 写り方 dy=-85.4 dx=+60.5 response=0.003 → 測れない (相関が弱く dx/dy が当てにならない (response=0.003 < 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
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_120557
[ABORT ] 上カメラの写り方が『測れない』. アームには何も送らずに終了しました.
         相関が弱く dx/dy が当てにならない (response=0.003 < 0.20)
         pi05/camera_align.py で合わせ直す (iPhone を付け直す / 連係カメラを開き直す).
         この写り方のまま続けるなら --ignore-framing
(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_20261029_120615
[CAMERA] 写り方 dy=-8.3 dx=+3.3 response=0.184 → 測れない (相関が弱く dx/dy が当てにならない (response=0.184 < 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
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_120615
[ABORT ] 上カメラの写り方が『測れない』. アームには何も送らずに終了しました.
         相関が弱く dx/dy が当てにならない (response=0.184 < 0.20)
         pi05/camera_align.py で合わせ直す (iPhone を付け直す / 連係カメラを開き直す).
         この写り方のまま続けるなら --ignore-framing
(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 --ignore-framing
[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_20261029_120644
[CAMERA] 写り方 dy=-8.5 dx=+3.2 response=0.183 → 測れない (相関が弱く dx/dy が当てにならない (response=0.183 < 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
[WARN  ] 写り方が『測れない』だが --ignore-framing が指定されたので続けます
[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 1104ms  10ステップ先  Δ= -9.4 +20.0  +5.5  -2.9 -24.0  +2.5
       [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 > 
[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) [  -2.39,   +5.85,   +2.81,   -0.37,   -5.35,  -29.63]  speed=20 wait=1.0s  (pre max|Δ|=5.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.1  +4.4  +1.1  -0.6  -5.3  +0.6  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -5.47,  +12.72,   +4.82,   -1.43,  -13.59,  -28.80]  speed=20 wait=1.0s  (pre max|Δ|=9.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.8  +6.1  +1.1  -1.4  -9.3  +0.7  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -8.63,  +19.32,   +6.70,   -2.42,  -21.54,  -27.93]  speed=20 wait=1.0s  (pre max|Δ|=9.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.0  +5.6  +1.2  -1.3  -9.1  +1.0  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  -9.67,  +21.48,   +7.25,   -2.68,  -24.07,  -27.69]  speed=20 wait=1.0s  (pre max|Δ|=2.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.1  +1.1  -0.2  -0.1  -2.9  +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 637ms  10ステップ先  Δ=-12.5 +22.7  +6.1  +0.2 -30.0  +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) [ -13.84,  +28.39,   +9.24,   -3.36,  -32.28,  -27.42]  speed=20 wait=1.0s  (pre max|Δ|=8.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.3  +6.0  +1.2  -0.5  -8.3  +0.5  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -17.49,  +35.49,  +11.51,   -3.16,  -41.68,  -27.33]  speed=20 wait=1.0s  (pre max|Δ|=9.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.4  +6.0  +1.4  +0.3  -9.7  +0.3  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -21.09,  +43.05,  +13.65,   -2.83,  -51.42,  -27.25]  speed=20 wait=1.0s  (pre max|Δ|=10.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.0  +6.6  +1.5  +0.9 -10.1  +0.2  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -22.05,  +45.09,  +14.17,   -2.73,  -54.03,  -27.22]  speed=20 wait=1.0s  (pre max|Δ|=2.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +1.0  -0.1  +0.5  -2.9  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.96°（関節 j1）
[002] 推論 549ms  10ステップ先  Δ= -6.3 +12.4  +3.9  +0.5 -14.9  +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) [ -25.16,  +52.24,  +16.11,   -3.19,  -63.09,  -27.20]  speed=20 wait=1.0s  (pre max|Δ|=8.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.3  +6.2  +1.4  -0.3  -8.9  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -27.42,  +56.74,  +17.75,   -2.95,  -68.14,  -27.19]  speed=20 wait=1.0s  (pre max|Δ|=5.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.7  +3.5  +1.1  -0.3  -5.5  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -28.40,  +58.49,  +18.65,   -2.46,  -69.32,  -27.15]  speed=20 wait=1.0s  (pre max|Δ|=1.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.2  +0.8  +0.5  +0.1  -1.3  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -28.20,  +58.49,  +18.52,   -2.40,  -69.13,  -27.16]  speed=20 wait=1.0s  (pre max|Δ|=0.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -0.9  -0.1  +0.1  +0.0  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.92°（関節 j1）
[003] 推論 555ms  10ステップ先  Δ= -0.2  +2.6  -3.1  -2.6  +3.3  +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_chunk003_via02: send_angles (single) [ -28.16,  +59.50,  +18.72,   -2.47,  -69.83,  -27.15]  speed=20 wait=1.0s  (pre max|Δ|=0.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  +0.1  +0.1  -0.1  -0.7  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -27.88,  +60.33,  +17.87,   -3.31,  -69.11,  -27.10]  speed=20 wait=1.0s  (pre max|Δ|=0.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -0.1  -0.8  -0.9  +0.4  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -28.03,  +61.47,  +16.13,   -4.62,  -66.58,  -27.12]  speed=20 wait=1.0s  (pre max|Δ|=3.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.0  +0.1  -2.5  -1.7  +3.0  +0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -28.12,  +62.00,  +15.48,   -4.96,  -65.82,  -27.13]  speed=20 wait=1.0s  (pre max|Δ|=2.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.4  -1.8  -0.8  +2.1  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.39°（関節 j2）
[004] 推論 1559ms  7ステップ先  Δ= +0.3  +0.9  -3.6  -2.2  +4.0  +0.2  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) [ -27.94,  +63.50,  +13.84,   -6.24,  -63.47,  -27.10]  speed=20 wait=1.0s  (pre max|Δ|=3.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +0.5  -3.0  -1.6  +2.9  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -27.83,  +63.87,  +13.23,   -6.83,  -62.57,  -27.14]  speed=20 wait=1.0s  (pre max|Δ|=1.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.27° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -0.6  -1.4  -0.8  +1.4  +0.2  着いた
[SEND] pi05_chunk004_via06: send_angles (single) [ -27.83,  +63.87,  +13.23,   -6.83,  -62.57,  -27.14]  speed=20 wait=1.0s  (pre max|Δ|=1.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.27° (tol 3.0°)
       [VIA   ] step  6  Δ= +0.4  -0.7  -1.3  -0.4  +0.8  +0.3  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 1.06°（関節 j4）
[005] 推論 616ms  10ステップ先  Δ= +0.1  -3.8  +4.5  +1.9  -4.2  +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) [ -27.93,  +63.02,  +14.58,   -6.08,  -63.98,  -27.16]  speed=20 wait=1.0s  (pre max|Δ|=1.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.57° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -1.6  +0.7  +0.5  -0.4  +0.3  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -27.88,  +62.03,  +16.28,   -5.34,  -65.66,  -27.08]  speed=20 wait=1.0s  (pre max|Δ|=2.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.60° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -2.6  +2.3  +1.2  -2.0  +0.3  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -27.91,  +61.01,  +18.06,   -4.78,  -67.42,  -27.08]  speed=20 wait=1.0s  (pre max|Δ|=3.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -2.6  +2.4  +1.3  -3.1  -0.5  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -28.08,  +60.75,  +18.39,   -4.64,  -67.79,  -27.10]  speed=20 wait=1.0s  (pre max|Δ|=2.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  -2.1  +0.8  +0.6  -1.9  -0.6  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 621ms  10ステップ先  Δ= +2.7  -3.3  +0.9  +1.3  -3.3  -0.9
       [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_chunk006_via02: send_angles (single) [ -28.17,  +60.05,  +19.58,   -4.11,  -69.11,  -27.11]  speed=20 wait=1.0s  (pre max|Δ|=2.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.7  -2.7  +1.4  +0.7  -2.0  -0.5  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -28.55,  +59.93,  +19.93,   -4.10,  -69.81,  -27.04]  speed=20 wait=1.0s  (pre max|Δ|=2.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.7  -2.3  +0.4  +0.1  -1.8  -0.4  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -26.95,  +59.88,  +19.15,   -3.95,  -69.92,  -27.24]  speed=20 wait=1.0s  (pre max|Δ|=2.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  -2.3  -0.4  -0.4  -0.5  -0.6  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -24.80,  +59.48,  +18.53,   -3.65,  -69.65,  -27.50]  speed=20 wait=1.0s  (pre max|Δ|=2.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.57° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.1  -2.7  -1.1  -0.6  -0.2  -0.9  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.57°（関節 j1）
[007] 推論 626ms  10ステップ先  Δ=+28.9  -8.6  -7.2  +4.9  +5.9  -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_chunk007_via02: send_angles (single) [ -16.12,  +57.38,  +16.45,   -2.08,  -67.59,  -28.39]  speed=20 wait=1.0s  (pre max|Δ|=9.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.47° (tol 3.0°)
       [VIA   ] step  2  Δ= +9.1  -4.7  -3.0  +1.4  +1.8  -1.3  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [  -7.54,  +55.61,  +14.53,   -0.49,  -65.94,  -29.30]  speed=20 wait=1.0s  (pre max|Δ|=8.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.9  -4.2  -3.2  +1.5  +3.5  -1.3  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [  +0.96,  +53.87,  +12.82,   +0.99,  -64.30,  -30.16]  speed=20 wait=1.0s  (pre max|Δ|=8.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.64° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.6  -4.0  -3.0  +1.6  +2.7  -1.2  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [  +3.69,  +53.41,  +12.26,   +1.35,  -63.53,  -30.34]  speed=20 wait=1.0s  (pre max|Δ|=3.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.1  -3.1  -1.8  +0.5  +1.3  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.22°（関節 j1）
[008] 推論 1513ms  10ステップ先  Δ=+28.0  -9.6  -9.4  +1.2  +8.4  -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_chunk008_via02: send_angles (single) [ +11.94,  +51.02,  +10.08,   +2.01,  -61.25,  -30.43]  speed=20 wait=1.0s  (pre max|Δ|=8.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.59° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.3  -4.6  -4.0  +0.4  +2.6  -0.4  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +20.37,  +48.55,   +7.85,   +2.44,  -58.74,  -30.46]  speed=20 wait=1.0s  (pre max|Δ|=8.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.6  -5.1  -3.7  +0.3  +2.8  -0.3  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +29.36,  +46.43,   +5.33,   +2.74,  -56.04,  -30.52]  speed=20 wait=1.0s  (pre max|Δ|=9.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.1  -4.4  -3.9  +0.2  +3.1  -0.4  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +31.61,  +46.01,   +4.68,   +2.80,  -55.53,  -30.56]  speed=20 wait=1.0s  (pre max|Δ|=2.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.68° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.3  -2.8  -2.2  -0.1  +0.9  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.68°（関節 j1）
[009] 推論 557ms  10ステップ先  Δ= +8.2  +7.0  -5.8  +1.0  -3.9  -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_chunk009_via02: send_angles (single) [ +39.12,  +46.00,   +1.62,   +2.98,  -52.82,  -30.75]  speed=20 wait=1.0s  (pre max|Δ|=7.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.69° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.5  -2.7  -4.7  +0.2  +2.3  -0.5  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +40.43,  +49.44,   +0.87,   +3.19,  -53.72,  -30.89]  speed=20 wait=1.0s  (pre max|Δ|=2.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.2  +0.7  -2.2  +0.1  -0.6  -0.5  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +40.25,  +54.59,   +0.69,   +3.72,  -58.08,  -30.90]  speed=20 wait=1.0s  (pre max|Δ|=5.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.7  +3.9  -1.9  +0.7  -5.0  -0.3  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +39.86,  +55.67,   +0.54,   +3.84,  -59.03,  -30.93]  speed=20 wait=1.0s  (pre max|Δ|=2.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -0.2  -2.0  +0.5  -1.6  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.48°（関節 j2）
[010] 推論 556ms  8ステップ先  Δ= -0.4  +6.0  -1.4  +0.9  -7.3  -0.4  グリッパー→開
       [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_chunk010_via02: send_angles (single) [ +40.00,  +61.00,   +0.46,   +4.13,  -63.28,  -30.90]  speed=20 wait=1.0s  (pre max|Δ|=4.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  +4.3  -1.6  +0.6  -4.7  -0.3  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +39.84,  +63.02,   +0.56,   +4.40,  -65.45,  -30.94]  speed=20 wait=1.0s  (pre max|Δ|=2.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.4  +0.8  -1.5  +0.5  -2.6  -0.4  着いた
[SEND] pi05_chunk010_via07: send_angles (single) [ +39.72,  +62.68,   +0.63,   +4.44,  -65.80,  -30.94]  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  7  Δ= -0.5  -1.4  -1.4  +0.2  -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）
[011] 推論 631ms  10ステップ先  Δ= -0.3 -18.1  -0.8  +0.1 +16.0  -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_chunk011_via02: send_angles (single) [ +39.70,  +58.20,   +0.70,   +4.39,  -61.67,  -31.11]  speed=20 wait=1.0s  (pre max|Δ|=5.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.6  -5.9  -1.3  +0.2  +3.9  +0.1  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +40.50,  +52.94,   +0.74,   +4.34,  -56.36,  -31.41]  speed=20 wait=1.0s  (pre max|Δ|=7.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  -7.4  -1.3  +0.0  +6.7  -0.2  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +40.57,  +47.68,   +1.00,   +4.33,  -51.29,  -31.66]  speed=20 wait=1.0s  (pre max|Δ|=7.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.15° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -7.3  -1.0  -0.2  +5.9  -0.5  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +40.02,  +45.98,   +1.18,   +4.29,  -49.56,  -31.74]  speed=20 wait=1.0s  (pre max|Δ|=3.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.35° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.7  -3.8  -0.8  -0.3  +2.3  -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）
[012] 推論 1454ms  10ステップ先  Δ=-20.6 -27.0  -1.5  -3.3 +28.2  +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) [ +35.16,  +39.12,   +1.07,   +3.41,  -41.68,  -31.63]  speed=20 wait=1.0s  (pre max|Δ|=9.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.5  -9.2  -1.0  -1.2  +8.1  -0.2  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +28.95,  +31.26,   +0.91,   +2.40,  -32.86,  -31.45]  speed=20 wait=1.0s  (pre max|Δ|=10.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.5 -10.1  -1.1  -1.8  +9.2  +0.0  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +22.52,  +23.53,   +0.71,   +1.45,  -24.09,  -31.29]  speed=20 wait=1.0s  (pre max|Δ|=9.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.95° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.6  -9.8  -1.3  -1.5  +9.1  +0.3  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +20.14,  +21.28,   +0.55,   +1.23,  -21.55,  -31.28]  speed=20 wait=1.0s  (pre max|Δ|=4.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  9  Δ= -3.0  -4.2  -1.5  -0.6  +2.9  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.01°（関節 j1）
[013] 推論 554ms  10ステップ先  Δ=-16.7 -20.0  -1.0  -0.3 +18.9  +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 > 
[SEND] pi05_chunk013_via02: send_angles (single) [ +13.24,  +12.93,   +0.75,   +0.75,  -12.44,  -31.10]  speed=20 wait=1.0s  (pre max|Δ|=10.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.8 -10.4  -1.3  -0.3  +9.4  +0.5  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [  +6.71,   +5.77,   +0.96,   +0.77,   -4.93,  -31.04]  speed=20 wait=1.0s  (pre max|Δ|=8.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.5  -8.8  -1.1  -0.3  +7.8  +0.4  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [  +3.34,   +3.16,   +0.97,   +0.74,   -2.54,  -31.02]  speed=20 wait=1.0s  (pre max|Δ|=4.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.32° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.7  -4.0  -1.1  -0.0  +2.6  +0.4  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [  +3.31,   +3.33,   +0.98,   +0.76,   -2.85,  -31.02]  speed=20 wait=1.0s  (pre max|Δ|=1.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -1.1  -1.0  +0.1  -0.0  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.15°（関節 j1）
[014] 推論 544ms  10ステップ先  Δ= -1.5  -1.9  -1.0  +0.0  +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_chunk014_via02: send_angles (single) [  +1.90,   +2.86,   +0.99,   +0.77,   -2.66,  -30.99]  speed=20 wait=1.0s  (pre max|Δ|=1.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.4  -1.6  -1.0  +0.1  +0.2  +0.4  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [  +1.88,   +2.71,   +1.03,   +0.74,   -2.46,  -31.00]  speed=20 wait=1.0s  (pre max|Δ|=1.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  -1.8  -1.0  +0.0  +0.3  +0.3  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [  +1.80,   +2.57,   +1.08,   +0.73,   -2.51,  -30.98]  speed=20 wait=1.0s  (pre max|Δ|=1.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -1.8  -0.9  +0.0  +0.3  +0.3  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [  +1.78,   +2.54,   +1.06,   +0.74,   -2.47,  -30.98]  speed=20 wait=1.0s  (pre max|Δ|=1.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.59° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  -1.6  -1.0  +0.0  +0.3  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.59°（関節 j1）
[015] 推論 1447ms  10ステップ先  Δ= -0.8  -1.7  -1.1  -0.0  +0.4  +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_chunk015_via02: send_angles (single) [  +1.01,   +2.51,   +0.98,   +0.72,   -2.39,  -30.97]  speed=20 wait=1.0s  (pre max|Δ|=1.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.9  -1.6  -1.0  +0.0  +0.4  +0.2  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [  +0.92,   +2.39,   +0.99,   +0.73,   -2.46,  -30.96]  speed=20 wait=1.0s  (pre max|Δ|=1.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  -1.7  -1.0  +0.0  +0.3  +0.2  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [  +0.96,   +2.33,   +0.96,   +0.69,   -2.30,  -30.97]  speed=20 wait=1.0s  (pre max|Δ|=1.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -1.7  -1.1  -0.0  +0.4  +0.2  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [  +1.09,   +2.39,   +0.92,   +0.69,   -2.44,  -30.96]  speed=20 wait=1.0s  (pre max|Δ|=1.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -1.7  -1.1  -0.0  +0.1  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.65°（関節 j1）
[016] 推論 554ms  10ステップ先  Δ= -0.6  -1.7  -1.1  -0.1  -0.5  +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|=4.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_120644
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_192343 --scale 5 --alpha 0.7
  [Pi] GRIPPER: OPEN result= -1
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_192343/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_192343 (つかんだ瞬間の j0 = -27.7°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  -2.7  dx=  +0.7  response=0.374  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
(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 --ignore-framing
[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_20261029_121202
[CAMERA] 写り方 dy=-18.5 dx=+11.2 response=0.049 → 測れない (相関が弱く dx/dy が当てにならない (response=0.049 < 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
[WARN  ] 写り方が『測れない』だが --ignore-framing が指定されたので続けます
[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 555ms  10ステップ先  Δ= -9.5 +18.2  +5.2  -2.6 -21.8  +2.0
       [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 > 
[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) [  -2.59,   +5.48,   +2.89,   -0.45,   -4.91,  -29.81]  speed=20 wait=1.0s  (pre max|Δ|=5.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.2  +4.2  +1.0  -0.7  -5.1  +0.4  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -5.52,  +11.56,   +4.60,   -1.28,  -12.12,  -29.13]  speed=20 wait=1.0s  (pre max|Δ|=7.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.5  +5.2  +0.8  -1.1  -7.9  +0.9  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -8.83,  +17.76,   +6.60,   -2.13,  -19.85,  -28.37]  speed=20 wait=1.0s  (pre max|Δ|=8.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.0  +5.1  +1.2  -1.1  -8.7  +0.9  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  -9.83,  +19.56,   +7.10,   -2.32,  -21.60,  -28.22]  speed=20 wait=1.0s  (pre max|Δ|=2.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.9  +0.8  -0.3  -0.0  -2.3  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.91°（関節 j1）
[001] 推論 887ms  10ステップ先  Δ=-11.6 +22.1  +6.1  -0.3 -28.6  +0.8
       [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_chunk001_via02: send_angles (single) [ -13.32,  +26.46,   +8.97,   -3.03,  -29.67,  -27.80]  speed=20 wait=1.0s  (pre max|Δ|=7.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.3  +6.0  +1.2  -0.4  -7.6  +0.6  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -17.07,  +33.45,  +11.21,   -3.07,  -38.51,  -27.67]  speed=20 wait=1.0s  (pre max|Δ|=9.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.1  +5.9  +1.6  -0.0  -9.3  +0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -20.40,  +40.30,  +13.35,   -3.00,  -47.75,  -27.61]  speed=20 wait=1.0s  (pre max|Δ|=9.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.1  +5.9  +1.4  +0.2  -9.5  +0.2  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -21.58,  +42.60,  +13.90,   -2.95,  -50.69,  -27.58]  speed=20 wait=1.0s  (pre max|Δ|=3.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.4  +1.4  +0.0  +0.2  -3.6  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.99°（関節 j1）
[002] 推論 2344ms  10ステップ先  Δ= -6.5 +12.6  +5.1  +0.7 -15.6  +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_chunk002_via02: send_angles (single) [ -24.93,  +49.15,  +15.75,   -3.39,  -59.37,  -27.53]  speed=20 wait=1.0s  (pre max|Δ|=8.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.1  +5.6  +1.9  -0.2  -8.5  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -27.43,  +54.43,  +17.69,   -3.23,  -64.94,  -27.51]  speed=20 wait=1.0s  (pre max|Δ|=6.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.6  +4.3  +1.4  -0.2  -6.1  +0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -28.41,  +56.10,  +18.90,   -2.62,  -66.47,  -27.44]  speed=20 wait=1.0s  (pre max|Δ|=1.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.2  +0.6  +0.7  +0.3  -1.3  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -28.37,  +56.16,  +18.95,   -2.56,  -66.46,  -27.42]  speed=20 wait=1.0s  (pre max|Δ|=0.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -1.0  -0.0  +0.1  +0.4  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.96°（関節 j1）
[003] 推論 1556ms  10ステップ先  Δ= +0.1  +2.5  -1.3  -1.2  +0.2  +0.2  グリッパー→閉
       [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) [ -28.99,  +57.55,  +19.55,   -2.36,  -67.87,  -27.41]  speed=20 wait=1.0s  (pre max|Δ|=0.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  +0.4  +0.6  +0.3  -1.0  +0.2  着いた
       [VIA   ] step  5  Δ= +0.0  -0.0  -0.3  -0.0  -0.1  +0.2  送らず (0.5° 以下)
[SEND] pi05_chunk003_via08: send_angles (single) [ -28.70,  +59.59,  +17.73,   -3.87,  -66.66,  -27.36]  speed=20 wait=1.0s  (pre max|Δ|=1.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.34° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +1.2  -1.7  -1.2  +1.1  +0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -28.70,  +59.59,  +17.73,   -3.87,  -66.66,  -27.36]  speed=20 wait=1.0s  (pre max|Δ|=1.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.34° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -1.1  -1.3  -0.5  +1.1  +0.2  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 1.34°（関節 j2）
[004] 推論 915ms  10ステップ先  Δ= +4.4  -2.3  -1.6  +1.0  -0.8  -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_chunk004_via02: send_angles (single) [ -28.80,  +59.35,  +18.36,   -3.53,  -67.58,  -27.39]  speed=20 wait=1.0s  (pre max|Δ|=1.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  -1.4  -0.7  -0.0  +0.0  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -29.06,  +59.29,  +18.78,   -3.50,  -68.56,  -27.34]  speed=20 wait=1.0s  (pre max|Δ|=1.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  -1.4  -0.3  +0.0  -1.0  +0.3  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -26.92,  +59.01,  +18.07,   -2.93,  -68.82,  -27.72]  speed=20 wait=1.0s  (pre max|Δ|=1.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.9  -1.7  -1.0  +0.6  -1.2  -0.2  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -24.42,  +58.39,  +17.43,   -2.51,  -68.38,  -28.08]  speed=20 wait=1.0s  (pre max|Δ|=2.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.2  -2.3  -1.6  +0.4  -0.6  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.25°（関節 j1）
[005] 推論 737ms  10ステップ先  Δ=+28.2  -9.3  -8.0  +5.3  +5.6  -3.1
       [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) [ -16.25,  +56.25,  +15.52,   -1.05,  -66.38,  -29.00]  speed=20 wait=1.0s  (pre max|Δ|=7.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.63° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.5  -4.4  -3.5  +2.1  +1.5  -1.3  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [  -7.73,  +54.24,  +13.58,   +0.43,  -64.90,  -29.90]  speed=20 wait=1.0s  (pre max|Δ|=9.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.0  -4.6  -3.1  +1.4  +2.5  -1.8  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [  +1.21,  +52.08,  +11.58,   +1.82,  -63.09,  -30.67]  speed=20 wait=1.0s  (pre max|Δ|=9.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.50° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.0  -4.6  -3.4  +1.3  +2.5  -1.3  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [  +4.43,  +51.31,  +10.96,   +2.18,  -62.25,  -30.81]  speed=20 wait=1.0s  (pre max|Δ|=3.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.47° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.6  -3.3  -1.9  +0.4  +1.3  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.47°（関節 j1）
[006] 推論 563ms  10ステップ先  Δ=+27.5  -7.3  -9.3  +0.7  +8.2  -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_chunk006_via02: send_angles (single) [ +12.02,  +49.56,   +8.77,   +2.58,  -59.82,  -30.91]  speed=20 wait=1.0s  (pre max|Δ|=7.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.64° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.6  -4.2  -4.1  +0.2  +2.8  -0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +20.92,  +47.88,   +6.30,   +2.86,  -57.02,  -30.99]  speed=20 wait=1.0s  (pre max|Δ|=8.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.48° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.0  -4.2  -3.7  +0.0  +3.2  -0.4  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +29.77,  +46.54,   +4.08,   +3.05,  -54.76,  -31.08]  speed=20 wait=1.0s  (pre max|Δ|=8.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.41° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.9  -3.8  -3.6  -0.0  +2.5  -0.4  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +31.89,  +46.48,   +3.61,   +3.07,  -54.37,  -31.10]  speed=20 wait=1.0s  (pre max|Δ|=2.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.47° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.3  -2.5  -2.0  -0.2  +0.6  -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）
[007] 推論 817ms  10ステップ先  Δ= +7.6  +8.3  -6.2  +1.6  -4.7  -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 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ +39.18,  +46.51,   +0.01,   +3.57,  -50.92,  -32.05]  speed=20 wait=1.0s  (pre max|Δ|=7.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.4  -2.4  -5.6  +0.4  +3.7  -1.3  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +40.31,  +50.51,   -0.85,   +4.02,  -52.76,  -32.27]  speed=20 wait=1.0s  (pre max|Δ|=2.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.1  +1.6  -2.4  +0.2  -1.7  -0.6  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +39.57,  +56.10,   -0.57,   +4.57,  -58.16,  -32.18]  speed=20 wait=1.0s  (pre max|Δ|=7.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.27° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.8  +4.3  -1.3  +0.7  -7.1  -0.2  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +39.37,  +57.22,   -0.63,   +4.73,  -59.32,  -32.18]  speed=20 wait=1.0s  (pre max|Δ|=1.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.33° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.1  -1.3  -0.0  -1.8  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.33°（関節 j2）
[008] 推論 1477ms  7ステップ先  Δ= +0.3  +5.3  -2.1  +0.7  -5.5  -0.4  グリッパー→開
       [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_chunk008_via02: send_angles (single) [ +39.46,  +61.94,   -1.17,   +5.14,  -62.50,  -32.31]  speed=20 wait=1.0s  (pre max|Δ|=3.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.87° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  +3.6  -1.9  +0.4  -3.6  -0.3  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +39.72,  +63.65,   -1.43,   +5.46,  -64.36,  -32.42]  speed=20 wait=1.0s  (pre max|Δ|=2.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.26° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +0.6  -2.1  +0.7  -1.5  +0.2  着いた
[SEND] pi05_chunk008_via06: send_angles (single) [ +39.72,  +63.65,   -1.43,   +5.46,  -64.36,  -32.42]  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  6  Δ= -0.0  -1.1  -1.3  +0.3  +0.4  +0.4  着いた
  [Pi] GRIPPER: OPEN result= -1
[STATE ] 目標を渡す  目標と実測の最大差 1.26°（関節 j2）
[009] 推論 595ms  10ステップ先  Δ= +0.2 -15.7  +1.2  +0.1 +11.6  -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_chunk009_via02: send_angles (single) [ +40.00,  +59.83,   -1.24,   +5.45,  -60.94,  -32.60]  speed=20 wait=1.0s  (pre max|Δ|=4.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  -4.9  -1.1  +0.2  +3.8  +0.2  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +40.80,  +55.88,   -0.80,   +5.47,  -57.85,  -32.77]  speed=20 wait=1.0s  (pre max|Δ|=6.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  -6.3  -0.6  +0.2  +4.4  +0.0  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +40.69,  +50.95,   +0.58,   +5.50,  -54.64,  -32.88]  speed=20 wait=1.0s  (pre max|Δ|=7.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.2  -7.1  +0.8  -0.4  +4.1  -0.1  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +40.06,  +49.05,   +1.06,   +5.39,  -53.16,  -32.86]  speed=20 wait=1.0s  (pre max|Δ|=4.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.45° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.0  -4.1  -0.2  -0.6  +2.0  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.45°（関節 j1）
[010] 推論 627ms  10ステップ先  Δ=-16.8 -24.9  -0.4  -4.1 +25.2  +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 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +36.62,  +42.67,   +1.35,   +4.69,  -46.70,  -32.70]  speed=20 wait=1.0s  (pre max|Δ|=8.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.24° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.4  -8.8  -0.1  -1.2  +6.6  +0.1  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +31.14,  +36.03,   +1.41,   +3.61,  -39.02,  -32.17]  speed=20 wait=1.0s  (pre max|Δ|=8.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.7  -8.9  -0.1  -1.5  +8.1  +0.5  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +25.09,  +28.77,   +1.22,   +2.39,  -30.50,  -31.54]  speed=20 wait=1.0s  (pre max|Δ|=9.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.2  -9.4  -0.8  -1.6  +8.9  +1.1  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +23.18,  +26.63,   +1.11,   +2.04,  -28.12,  -31.41]  speed=20 wait=1.0s  (pre max|Δ|=4.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.4  -4.2  -0.9  -0.7  +2.6  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.93°（関節 j1）
[011] 推論 694ms  10ステップ先  Δ=-21.3 -25.5  -0.8  -1.2 +25.5  +0.8
       [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_chunk011_via02: send_angles (single) [ +16.55,  +19.20,   +1.21,   +0.99,  -20.01,  -31.10]  speed=20 wait=1.0s  (pre max|Δ|=9.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.4  -9.4  -0.8  -0.7  +8.2  +0.5  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [  +9.19,  +10.64,   +1.33,   +0.57,  -10.82,  -30.97]  speed=20 wait=1.0s  (pre max|Δ|=10.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.57° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.5 -10.3  -0.7  -1.0  +9.5  +0.3  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [  +2.84,   +3.96,   +1.23,   +0.46,   -3.72,  -30.82]  speed=20 wait=1.0s  (pre max|Δ|=8.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.40° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.4  -8.3  -0.8  -0.6  +7.4  +0.4  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [  +1.58,   +3.01,   +1.19,   +0.42,   -2.74,  -30.79]  speed=20 wait=1.0s  (pre max|Δ|=2.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.6  -2.3  -0.8  -0.3  +1.3  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.56°（関節 j1）
[012] 推論 1534ms  10ステップ先  Δ= -0.2  -1.1  -1.0  -0.2  -0.5  +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_chunk012_via02: send_angles (single) [  +1.00,   +3.12,   +1.06,   +0.46,   -2.89,  -30.82]  speed=20 wait=1.0s  (pre max|Δ|=1.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  -1.5  -1.0  -0.2  -0.1  +0.2  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [  +0.86,   +3.36,   +1.06,   +0.49,   -3.21,  -30.86]  speed=20 wait=1.0s  (pre max|Δ|=1.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.21° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.3  -1.2  -1.0  -0.2  -0.4  +0.2  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [  +0.86,   +3.40,   +0.99,   +0.49,   -3.38,  -30.86]  speed=20 wait=1.0s  (pre max|Δ|=1.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  -1.2  -1.0  -0.2  -0.6  +0.2  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [  +0.90,   +3.43,   +0.99,   +0.48,   -3.28,  -30.85]  speed=20 wait=1.0s  (pre max|Δ|=1.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  -1.1  -1.0  -0.2  -0.5  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.14°（関節 j1）
[013] 推論 819ms  10ステップ先  Δ= -0.7  -1.1  -1.0  -0.3  -0.6  +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 > 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|=2.02° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_121202
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_192343 --scale 5 --alpha 0.7
  [Pi] GRIPPER: OPEN result= -1
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_192343/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_192343 (つかんだ瞬間の j0 = -27.7°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  -2.8  dx=  +0.7  response=0.333  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
(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 --ignore-framing
[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_20261029_121650
[CAMERA] 写り方 dy=-21.1 dx=+10.1 response=0.051 → 測れない (相関が弱く dx/dy が当てにならない (response=0.051 < 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
[WARN  ] 写り方が『測れない』だが --ignore-framing が指定されたので続けます
[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 1602ms  10ステップ先  Δ= -9.7 +19.1  +5.6  -2.7 -23.1  +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) [  -2.53,   +5.67,   +2.98,   -0.29,   -5.54,  -29.73]  speed=20 wait=1.0s  (pre max|Δ|=5.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.2  +4.4  +1.0  -0.6  -5.3  +0.5  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -5.83,  +12.26,   +5.00,   -1.36,  -13.51,  -28.91]  speed=20 wait=1.0s  (pre max|Δ|=8.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.2  +5.8  +1.1  -1.4  -8.8  +1.1  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -9.02,  +18.46,   +7.06,   -2.28,  -21.24,  -28.16]  speed=20 wait=1.0s  (pre max|Δ|=8.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.2  +5.2  +1.3  -1.1  -8.8  +0.9  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -10.01,  +20.33,   +7.66,   -2.48,  -23.36,  -28.01]  speed=20 wait=1.0s  (pre max|Δ|=2.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.0  +0.8  -0.3  -0.2  -2.6  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.02°（関節 j1）
[001] 推論 735ms  10ステップ先  Δ=-12.2 +23.2  +6.2  -0.1 -29.6  +0.8
       [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_chunk001_via02: send_angles (single) [ -13.81,  +27.45,   +9.59,   -3.18,  -31.73,  -27.65]  speed=20 wait=1.0s  (pre max|Δ|=8.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.6  +6.1  +1.2  -0.5  -8.0  +0.6  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -17.47,  +34.55,  +11.83,   -3.08,  -40.92,  -27.55]  speed=20 wait=1.0s  (pre max|Δ|=9.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.0  +6.0  +1.5  +0.3  -9.8  +0.3  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -21.16,  +42.25,  +14.06,   -2.85,  -50.47,  -27.47]  speed=20 wait=1.0s  (pre max|Δ|=9.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.3  +6.8  +1.6  +0.9  -9.8  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -22.35,  +44.56,  +14.60,   -2.85,  -53.30,  -27.44]  speed=20 wait=1.0s  (pre max|Δ|=3.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +1.3  +0.0  +0.1  -3.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.96°（関節 j1）
[002] 推論 554ms  10ステップ先  Δ= -5.9 +12.3  +4.2  +0.3 -15.0  +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) [ -25.44,  +51.35,  +16.45,   -3.23,  -61.71,  -27.41]  speed=20 wait=1.0s  (pre max|Δ|=8.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.8  +5.8  +1.2  -0.4  -8.0  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -27.73,  +56.46,  +18.26,   -3.06,  -67.02,  -27.39]  speed=20 wait=1.0s  (pre max|Δ|=5.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.6  +4.2  +1.4  -0.1  -5.8  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -28.43,  +57.89,  +19.24,   -2.61,  -68.74,  -27.33]  speed=20 wait=1.0s  (pre max|Δ|=1.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.7  +0.4  +0.6  +0.0  -1.7  +0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -28.55,  +57.86,  +19.37,   -2.51,  -68.70,  -27.32]  speed=20 wait=1.0s  (pre max|Δ|=1.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -1.0  +0.2  +0.0  -0.1  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.02°（関節 j1）
[003] 推論 545ms  10ステップ先  Δ= +0.6  +2.4  -2.5  -2.3  +2.3  +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_chunk003_via02: send_angles (single) [ -28.68,  +58.64,  +19.67,   -2.44,  -69.62,  -27.31]  speed=20 wait=1.0s  (pre max|Δ|=1.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  -0.2  +0.5  +0.0  -1.1  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -28.34,  +59.32,  +18.94,   -3.05,  -69.06,  -27.29]  speed=20 wait=1.0s  (pre max|Δ|=0.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -0.3  -0.2  -0.6  +0.4  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -28.27,  +60.71,  +17.28,   -4.35,  -67.07,  -27.32]  speed=20 wait=1.0s  (pre max|Δ|=2.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +0.4  -1.9  -1.8  +2.4  +0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -28.22,  +61.26,  +16.63,   -4.73,  -66.25,  -27.34]  speed=20 wait=1.0s  (pre max|Δ|=2.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.5  -2.1  -0.8  +2.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.29°（関節 j2）
[004] 推論 683ms  9ステップ先  Δ= +0.7  +1.5  -4.4  -2.9  +5.2  +0.2  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) [ -27.92,  +62.70,  +14.92,   -6.06,  -63.91,  -27.34]  speed=20 wait=1.0s  (pre max|Δ|=3.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  +0.5  -3.0  -1.7  +2.6  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -27.77,  +63.67,  +13.58,   -7.03,  -61.95,  -27.34]  speed=20 wait=1.0s  (pre max|Δ|=2.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.80° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.0  +0.0  -2.1  -1.2  +2.3  +0.1  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -27.67,  +63.67,  +13.48,   -7.17,  -61.85,  -27.31]  speed=20 wait=1.0s  (pre max|Δ|=0.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.84° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -0.7  -0.8  -0.5  +0.9  +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 1.16°（関節 j4）
[005] 推論 1485ms  10ステップ先  Δ= +1.2  -4.2  +4.8  +2.2  -4.0  +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_chunk005_via02: send_angles (single) [ -27.65,  +62.66,  +14.94,   -6.39,  -63.53,  -27.28]  speed=20 wait=1.0s  (pre max|Δ|=1.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.41° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -1.8  +1.2  +0.5  -0.5  +0.4  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -27.66,  +61.63,  +16.84,   -5.53,  -65.11,  -27.19]  speed=20 wait=1.0s  (pre max|Δ|=2.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -2.4  +2.9  +1.1  -2.2  +0.3  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -27.67,  +60.59,  +18.58,   -4.84,  -66.90,  -27.10]  speed=20 wait=1.0s  (pre max|Δ|=2.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.63° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -2.5  +2.5  +1.5  -2.8  -0.0  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -27.02,  +60.18,  +18.62,   -4.67,  -66.98,  -27.14]  speed=20 wait=1.0s  (pre max|Δ|=2.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -2.0  +0.5  +0.6  -1.4  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.04°（関節 j1）
[006] 推論 541ms  10ステップ先  Δ= +5.8  -4.0  +0.3  +1.9  -3.1  -1.0
       [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_chunk006_via02: send_angles (single) [ -27.04,  +59.62,  +19.61,   -4.13,  -68.41,  -27.16]  speed=20 wait=1.0s  (pre max|Δ|=2.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -2.6  +1.5  +0.9  -2.5  -0.5  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -27.34,  +59.52,  +19.94,   -4.11,  -69.21,  -27.08]  speed=20 wait=1.0s  (pre max|Δ|=2.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.35° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  -2.4  +0.4  +0.1  -1.9  -0.4  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -23.67,  +58.71,  +18.85,   -3.51,  -69.13,  -27.42]  speed=20 wait=1.0s  (pre max|Δ|=3.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.46° (tol 3.0°)
       [VIA   ] step  8  Δ= +3.7  -3.2  -0.7  +0.5  -1.4  -0.7  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -21.62,  +58.21,  +18.36,   -3.16,  -68.82,  -27.64]  speed=20 wait=1.0s  (pre max|Δ|=2.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.2  -3.0  -1.2  -0.6  -0.8  -0.9  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.43°（関節 j1）
[007] 推論 690ms  10ステップ先  Δ=+27.6  -9.1  -7.1  +4.3  +4.9  -3.4
       [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) [ -13.41,  +55.98,  +16.59,   -1.58,  -66.89,  -28.54]  speed=20 wait=1.0s  (pre max|Δ|=8.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.37° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.3  -4.7  -2.8  +1.2  +1.1  -1.5  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [  -5.59,  +54.12,  +14.87,   -0.17,  -65.59,  -29.35]  speed=20 wait=1.0s  (pre max|Δ|=8.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.39° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.0  -4.2  -3.0  +1.0  +2.4  -1.2  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [  +2.85,  +52.10,  +12.97,   +1.16,  -63.87,  -30.13]  speed=20 wait=1.0s  (pre max|Δ|=8.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.48° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.7  -4.4  -3.0  +1.0  +3.5  -1.2  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [  +5.88,  +51.55,  +12.33,   +1.50,  -63.14,  -30.31]  speed=20 wait=1.0s  (pre max|Δ|=3.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.59° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.3  -3.0  -1.8  +0.1  +1.6  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.59°（関節 j1）
[008] 推論 1502ms  10ステップ先  Δ=+28.6  -8.9  -9.2  +1.0  +9.1  -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_chunk008_via02: send_angles (single) [ +14.15,  +49.40,  +10.17,   +2.07,  -60.80,  -30.41]  speed=20 wait=1.0s  (pre max|Δ|=8.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.45° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.3  -4.7  -3.9  +0.4  +2.8  -0.4  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +22.93,  +47.31,   +7.92,   +2.39,  -58.09,  -30.43]  speed=20 wait=1.0s  (pre max|Δ|=8.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.9  -4.5  -3.6  +0.3  +3.1  -0.4  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +31.95,  +45.43,   +5.51,   +2.62,  -55.30,  -30.48]  speed=20 wait=1.0s  (pre max|Δ|=9.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.38° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.0  -4.3  -3.8  +0.3  +3.1  -0.3  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +34.41,  +45.21,   +4.89,   +2.65,  -54.66,  -30.52]  speed=20 wait=1.0s  (pre max|Δ|=2.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.60° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.4  -2.6  -2.0  +0.0  +1.0  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.60°（関節 j1）
[009] 推論 564ms  10ステップ先  Δ= +5.7  +9.7  -4.2  +0.7  -8.0  -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) [ +40.72,  +45.89,   +3.05,   +2.70,  -53.03,  -30.58]  speed=20 wait=1.0s  (pre max|Δ|=6.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.2  -1.9  -3.8  +0.1  +1.8  -0.3  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +40.70,  +51.27,   +2.81,   +2.97,  -57.06,  -30.56]  speed=20 wait=1.0s  (pre max|Δ|=3.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  +3.5  -1.7  +0.2  -3.7  -0.2  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +40.47,  +56.34,   +2.73,   +3.27,  -61.93,  -30.57]  speed=20 wait=1.0s  (pre max|Δ|=6.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.2  +3.9  -1.7  +0.6  -6.3  -0.3  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +40.29,  +57.50,   +2.65,   +3.36,  -62.88,  -30.58]  speed=20 wait=1.0s  (pre max|Δ|=2.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.74° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -0.1  -1.7  +0.5  -2.3  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.74°（関節 j2）
[010] 推論 769ms  6ステップ先  Δ= -0.3  +4.2  -2.0  +0.7  -5.0  -0.3  グリッパー→開
       [VIA   ] 中継点 2 点: step 2, 5
       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) [ +40.35,  +62.25,   +2.50,   +3.65,  -66.78,  -30.58]  speed=20 wait=1.0s  (pre max|Δ|=3.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  +3.7  -1.9  +0.5  -3.9  -0.3  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +40.40,  +62.72,   +2.38,   +3.77,  -67.89,  -30.60]  speed=20 wait=1.0s  (pre max|Δ|=2.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.6  -0.6  -2.0  +0.3  -0.4  +0.2  着いた
  [Pi] GRIPPER: OPEN result= -1
[STATE ] 目標を渡す  目標と実測の最大差 2.01°（関節 j2）
[011] 推論 1526ms  10ステップ先  Δ= -0.3 -16.7  -2.1  -0.4 +14.3  -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_chunk011_via02: send_angles (single) [ +40.45,  +59.71,   +2.40,   +3.83,  -65.84,  -30.78]  speed=20 wait=1.0s  (pre max|Δ|=3.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.5  -3.9  -2.0  -0.3  +1.7  +0.2  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +40.66,  +54.36,   +2.32,   +3.73,  -60.37,  -31.04]  speed=20 wait=1.0s  (pre max|Δ|=7.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.15° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.4  -7.7  -2.1  -0.4  +7.2  -0.1  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +40.83,  +48.67,   +2.29,   +3.75,  -54.93,  -31.35]  speed=20 wait=1.0s  (pre max|Δ|=7.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.2  -7.8  -2.1  -0.4  +6.4  -0.4  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +40.63,  +46.89,   +2.26,   +3.73,  -53.30,  -31.43]  speed=20 wait=1.0s  (pre max|Δ|=3.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.41° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -3.9  -2.1  -0.4  +2.2  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.41°（関節 j1）
[012] 推論 738ms  10ステップ先  Δ=-18.3 -25.8  -2.7  -3.2 +27.0  -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) [ +37.45,  +40.82,   +2.20,   +3.23,  -46.77,  -31.48]  speed=20 wait=1.0s  (pre max|Δ|=8.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.15° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.6  -8.5  -1.9  -0.9  +6.8  -0.6  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +31.55,  +33.60,   +1.91,   +2.29,  -38.37,  -31.35]  speed=20 wait=1.0s  (pre max|Δ|=9.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.3  -9.4  -2.2  -1.6  +8.9  -0.4  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +24.79,  +25.75,   +1.49,   +1.24,  -29.13,  -31.21]  speed=20 wait=1.0s  (pre max|Δ|=9.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.9  -9.9  -2.5  -1.6  +9.5  -0.3  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +22.70,  +23.51,   +1.41,   +0.98,  -26.58,  -31.18]  speed=20 wait=1.0s  (pre max|Δ|=4.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.0  -4.2  -1.8  -0.6  +3.0  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.06°（関節 j1）
[013] 推論 1575ms  10ステップ先  Δ=-19.8 -23.0  -1.9  -0.5 +23.0  -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) [ +16.44,  +16.21,   +1.41,   +0.34,  -18.28,  -31.01]  speed=20 wait=1.0s  (pre max|Δ|=9.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.2  -9.4  -1.8  -0.4  +8.4  -0.2  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [  +9.29,   +8.16,   +1.46,   +0.18,   -9.54,  -30.96]  speed=20 wait=1.0s  (pre max|Δ|=9.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.8  -9.8  -1.8  -0.5  +9.0  -0.3  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [  +3.46,   +2.99,   +1.36,   +0.16,   -3.99,  -30.92]  speed=20 wait=1.0s  (pre max|Δ|=6.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.1  -6.7  -1.9  -0.4  +5.9  -0.3  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [  +2.85,   +2.56,   +1.32,   +0.17,   -3.76,  -30.90]  speed=20 wait=1.0s  (pre max|Δ|=1.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.8  -1.7  -1.9  -0.3  +0.5  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.93°（関節 j2）
[014] 推論 752ms  10ステップ先  Δ= -2.1  -1.8  -2.1  -0.3  +0.4  -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_chunk014_via02: send_angles (single) [  +1.19,   +2.19,   +1.30,   +0.18,   -3.60,  -30.90]  speed=20 wait=1.0s  (pre max|Δ|=2.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.95° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.8  -2.0  -2.0  -0.3  +0.4  -0.2  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [  +0.90,   +2.30,   +1.22,   +0.18,   -3.81,  -30.94]  speed=20 wait=1.0s  (pre max|Δ|=2.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.0  -1.4  -2.0  -0.2  +0.0  -0.3  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [  +0.86,   +2.40,   +1.18,   +0.19,   -3.65,  -30.94]  speed=20 wait=1.0s  (pre max|Δ|=2.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -1.3  -2.1  -0.2  +0.2  -0.3  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [  +0.85,   +2.39,   +1.16,   +0.18,   -3.60,  -30.95]  speed=20 wait=1.0s  (pre max|Δ|=2.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.09° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -1.3  -2.1  -0.2  +0.3  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.09°（関節 j2）
[015] 推論 622ms  10ステップ先  Δ= -0.5  -1.2  -2.0  -0.1  -0.1  -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 > 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|=3.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_121650
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_192343 --scale 5 --alpha 0.7
  [Pi] GRIPPER: OPEN result= -1
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_192343/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_192343 (つかんだ瞬間の j0 = -27.7°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  -1.7  dx=  +2.5  response=0.477  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
(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 --ignore-framing
[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_20261029_122156
[CAMERA] 写り方 dy=-8.3 dx=+3.1 response=0.212 → 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 557ms  10ステップ先  Δ= -9.7 +20.1  +5.5  -2.5 -23.9  +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 > 
[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) [  -2.74,   +6.35,   +2.73,   -0.25,   -5.94,  -29.59]  speed=20 wait=1.0s  (pre max|Δ|=5.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.37° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.4  +4.9  +1.0  -0.5  -5.8  +0.6  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -5.71,  +12.85,   +4.60,   -1.10,  -13.54,  -28.75]  speed=20 wait=1.0s  (pre max|Δ|=8.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.7  +5.6  +0.9  -1.1  -9.0  +0.7  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -8.93,  +19.48,   +6.67,   -2.04,  -21.67,  -27.79]  speed=20 wait=1.0s  (pre max|Δ|=9.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.0  +5.6  +1.3  -1.2  -9.1  +0.9  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -10.09,  +21.60,   +7.24,   -2.26,  -24.09,  -27.54]  speed=20 wait=1.0s  (pre max|Δ|=2.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +1.0  -0.2  -0.2  -2.8  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.90°（関節 j1）
[001] 推論 622ms  10ステップ先  Δ=-12.6 +22.6  +5.9  +0.2 -29.2  +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) [ -13.91,  +28.35,   +9.19,   -2.88,  -32.15,  -27.25]  speed=20 wait=1.0s  (pre max|Δ|=8.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.18° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.1  +5.9  +1.1  -0.2  -8.2  +0.4  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -17.67,  +35.64,  +11.48,   -2.74,  -41.60,  -27.20]  speed=20 wait=1.0s  (pre max|Δ|=9.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.3  +6.1  +1.5  -0.1  -9.7  +0.1  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -21.32,  +42.71,  +13.43,   -2.62,  -50.72,  -27.16]  speed=20 wait=1.0s  (pre max|Δ|=9.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.3  +6.0  +1.3  +0.0  -9.6  +0.2  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -22.47,  +45.05,  +13.96,   -2.57,  -53.23,  -27.13]  speed=20 wait=1.0s  (pre max|Δ|=3.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.3  +1.4  -0.0  -0.1  -3.1  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.00°（関節 j1）
[002] 推論 631ms  10ステップ先  Δ= -6.6 +13.1  +4.5  +0.2 -16.1  +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) [ -25.65,  +51.94,  +15.71,   -2.99,  -62.02,  -27.09]  speed=20 wait=1.0s  (pre max|Δ|=8.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.7  +5.9  +1.7  -0.6  -8.4  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -28.45,  +57.28,  +17.48,   -2.76,  -67.77,  -27.07]  speed=20 wait=1.0s  (pre max|Δ|=6.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.1  +4.4  +1.3  -0.4  -6.3  +0.1  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -29.51,  +58.96,  +18.47,   -2.26,  -69.68,  -27.04]  speed=20 wait=1.0s  (pre max|Δ|=2.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.2  +0.7  +0.7  +0.0  -2.2  +0.1  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -29.58,  +59.12,  +18.44,   -2.17,  -69.70,  -27.03]  speed=20 wait=1.0s  (pre max|Δ|=0.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.82° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.7  -0.0  +0.1  +0.1  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.82°（関節 j1）
[003] 推論 664ms  10ステップ先  Δ= +1.0  +2.8  -4.2  -3.0  +5.4  -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_chunk003_via02: send_angles (single) [ -29.35,  +59.59,  +17.99,   -2.56,  -69.27,  -27.02]  speed=20 wait=1.0s  (pre max|Δ|=0.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -0.3  -0.5  -0.3  +0.5  -0.0  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -29.06,  +60.64,  +16.55,   -3.73,  -67.40,  -27.03]  speed=20 wait=1.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.12° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  +0.2  -1.9  -1.5  +2.9  -0.5  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -28.97,  +62.30,  +14.71,   -5.02,  -64.95,  -27.03]  speed=20 wait=1.0s  (pre max|Δ|=4.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  +1.1  -2.8  -1.7  +4.6  -1.0  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -28.85,  +62.74,  +14.27,   -5.26,  -64.39,  -27.03]  speed=20 wait=1.0s  (pre max|Δ|=1.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.19° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  -0.7  -1.2  -0.3  +0.6  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.19°（関節 j2）
[004] 推論 1550ms  6ステップ先  Δ= -0.3  +0.4  -2.8  -1.5  +2.5  -0.5  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 5
       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) [ -28.89,  +64.02,  +12.90,   -6.22,  -62.56,  -27.04]  speed=20 wait=1.0s  (pre max|Δ|=2.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  +0.4  -2.6  -1.3  +2.2  -0.4  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -28.93,  +64.01,  +12.69,   -6.44,  -62.48,  -27.03]  speed=20 wait=1.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.0  -0.9  -0.9  -0.6  +0.5  +1.0  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 1.50°（関節 j4）
[005] 推論 731ms  10ステップ先  Δ= +0.2  -3.3  +3.5  +1.3  -2.9  +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) [ -29.04,  +63.21,  +14.08,   -5.73,  -64.00,  -27.04]  speed=20 wait=1.0s  (pre max|Δ|=1.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  -1.7  +0.5  +0.4  -0.0  +0.5  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -29.08,  +62.32,  +15.68,   -5.09,  -65.28,  -26.99]  speed=20 wait=1.0s  (pre max|Δ|=2.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.57° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -2.5  +2.1  +1.0  -1.3  +0.3  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -28.97,  +61.63,  +16.94,   -4.79,  -66.67,  -26.99]  speed=20 wait=1.0s  (pre max|Δ|=2.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.82° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -2.3  +1.9  +1.0  -2.2  -0.4  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -29.02,  +61.53,  +17.04,   -4.78,  -66.85,  -26.99]  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  9  Δ= -0.0  -1.9  +0.7  +0.5  -1.3  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.92°（関節 j1）
[006] 推論 655ms  10ステップ先  Δ= +0.5  -2.4  +1.3  +0.6  -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_chunk006_via02: send_angles (single) [ -29.10,  +60.86,  +18.30,   -4.22,  -67.96,  -27.03]  speed=20 wait=1.0s  (pre max|Δ|=2.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.15° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  -2.6  +2.0  +0.8  -2.0  -0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -29.16,  +60.75,  +18.72,   -4.24,  -68.82,  -26.99]  speed=20 wait=1.0s  (pre max|Δ|=2.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.26° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.6  -2.3  +0.7  -0.1  -1.6  -0.3  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -28.99,  +61.10,  +17.94,   -4.57,  -69.19,  -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  8  Δ= -0.4  -1.9  -0.2  -0.4  -1.5  -0.4  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -28.40,  +61.05,  +17.63,   -4.53,  -69.19,  -27.16]  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  9  Δ= +0.2  -2.0  -0.8  -0.5  -0.9  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.96°（関節 j1）
[007] 推論 1560ms  10ステップ先  Δ=+17.4  -6.2  -3.6  +3.3  +1.9  -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) [ -28.05,  +60.42,  +18.48,   -4.09,  -69.85,  -27.17]  speed=20 wait=1.0s  (pre max|Δ|=2.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.50° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -2.6  +0.1  -0.0  -0.8  -0.5  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ -21.80,  +59.16,  +17.21,   -2.90,  -68.78,  -27.85]  speed=20 wait=1.0s  (pre max|Δ|=6.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.45° (tol 3.0°)
       [VIA   ] step  5  Δ= +6.8  -3.8  -1.1  +1.1  +0.3  -1.1  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ -13.55,  +57.36,  +15.30,   -1.28,  -66.99,  -28.81]  speed=20 wait=1.0s  (pre max|Δ|=8.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.66° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.5  -4.3  -3.1  +1.3  +3.6  -1.7  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ -11.16,  +56.81,  +14.71,   -0.79,  -66.38,  -29.09]  speed=20 wait=1.0s  (pre max|Δ|=3.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.60° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.6  -3.2  -1.8  -0.1  +2.0  -0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.60°（関節 j1）
[008] 推論 569ms  10ステップ先  Δ=+29.3  -9.5  -8.6  +3.3  +7.9  -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) [  -3.10,  +54.96,  +13.00,   +0.72,  -64.69,  -30.01]  speed=20 wait=1.0s  (pre max|Δ|=8.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.1  -4.5  -3.5  +1.4  +2.0  -1.3  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [  +5.46,  +52.77,  +10.99,   +1.90,  -62.99,  -30.48]  speed=20 wait=1.0s  (pre max|Δ|=8.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.8  -4.6  -3.2  +1.0  +2.0  -0.7  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +15.07,  +50.55,   +8.59,   +2.54,  -60.26,  -30.55]  speed=20 wait=1.0s  (pre max|Δ|=9.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.62° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.8  -4.6  -3.7  +0.7  +2.9  -0.4  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +18.12,  +49.89,   +7.94,   +2.62,  -59.44,  -30.56]  speed=20 wait=1.0s  (pre max|Δ|=3.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.66° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.2  -3.3  -2.0  +0.1  +0.8  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.66°（関節 j1）
[009] 推論 662ms  10ステップ先  Δ=+21.9  -3.4  -7.3  +0.4  +4.4  -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_chunk009_via02: send_angles (single) [ +25.87,  +48.02,   +6.05,   +2.82,  -57.06,  -30.70]  speed=20 wait=1.0s  (pre max|Δ|=7.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.69° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.7  -4.5  -3.7  +0.0  +2.5  -0.5  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +34.54,  +46.44,   +3.96,   +2.94,  -54.33,  -30.78]  speed=20 wait=1.0s  (pre max|Δ|=8.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.51° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.8  -4.3  -3.6  +0.0  +3.0  -0.4  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +39.93,  +47.91,   +2.49,   +3.16,  -54.33,  -30.81]  speed=20 wait=1.0s  (pre max|Δ|=5.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  8  Δ= +5.3  -1.0  -3.1  +0.2  +0.2  -0.3  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +40.09,  +49.15,   +2.40,   +3.25,  -55.16,  -30.83]  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= -0.2  +0.2  -1.5  -0.1  -0.7  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.46°（関節 j2）
[010] 推論 1469ms  10ステップ先  Δ= +0.5 +11.6  -2.0  +0.6 -12.6  -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 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +40.39,  +54.57,   +2.17,   +3.51,  -60.06,  -30.83]  speed=20 wait=1.0s  (pre max|Δ|=5.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.69° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  +4.2  -1.7  +0.1  -5.6  -0.2  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +40.79,  +59.52,   +2.05,   +3.69,  -64.37,  -30.81]  speed=20 wait=1.0s  (pre max|Δ|=5.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +3.7  -1.8  +0.4  -5.3  -0.2  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +40.74,  +62.03,   +1.88,   +3.92,  -66.96,  -30.83]  speed=20 wait=1.0s  (pre max|Δ|=3.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  +1.2  -2.0  +0.6  -3.4  -0.3  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +40.79,  +61.95,   +1.84,   +3.98,  -67.07,  -30.83]  speed=20 wait=1.0s  (pre max|Δ|=2.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -1.2  -2.0  +0.5  +0.1  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.02°（関節 j2）
[011] 推論 790ms  4ステップ先  Δ= +0.4  -0.4  -2.1  +0.4  -1.2  +0.2  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) [ +40.67,  +62.75,   +1.81,   +4.12,  -68.36,  -30.84]  speed=20 wait=1.0s  (pre max|Δ|=2.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -0.4  -2.1  +0.4  -1.2  +0.2  着いた
[SEND] pi05_chunk011_via03: send_angles (single) [ +40.67,  +62.75,   +1.81,   +4.12,  -68.36,  -30.84]  speed=20 wait=1.0s  (pre max|Δ|=1.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  3  Δ= +0.4  -1.0  -1.4  +0.3  -0.3  +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 1.44°（関節 j2）
[012] 推論 1732ms  10ステップ先  Δ= +0.7 -17.3  -1.1  +0.2 +15.3  -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_chunk012_via02: send_angles (single) [ +40.70,  +58.96,   +1.92,   +4.16,  -65.13,  -31.03]  speed=20 wait=1.0s  (pre max|Δ|=4.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -4.8  -1.3  +0.3  +2.9  +0.1  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +40.96,  +53.71,   +1.94,   +4.06,  -59.90,  -31.24]  speed=20 wait=1.0s  (pre max|Δ|=7.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -7.5  -1.3  -0.1  +7.0  -0.1  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +41.21,  +48.08,   +2.01,   +4.09,  -54.13,  -31.52]  speed=20 wait=1.0s  (pre max|Δ|=7.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -7.8  -1.2  -0.3  +6.8  -0.4  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +41.02,  +46.42,   +2.20,   +4.11,  -52.71,  -31.60]  speed=20 wait=1.0s  (pre max|Δ|=3.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.35° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -3.8  -1.1  -0.4  +2.0  -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）
[013] 推論 746ms  10ステップ先  Δ=-19.7 -26.5  -2.1  -3.4 +28.6  +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_chunk013_via02: send_angles (single) [ +36.78,  +39.95,   +2.01,   +3.41,  -45.16,  -31.54]  speed=20 wait=1.0s  (pre max|Δ|=8.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.4  -8.8  -1.2  -1.1  +7.7  -0.3  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +30.58,  +32.77,   +1.68,   +2.41,  -36.49,  -31.36]  speed=20 wait=1.0s  (pre max|Δ|=9.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.7  -9.4  -1.6  -1.7  +9.1  -0.2  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +23.68,  +24.68,   +1.25,   +1.38,  -27.05,  -31.16]  speed=20 wait=1.0s  (pre max|Δ|=10.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.7 -10.3  -2.0  -1.5  +9.8  +0.0  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +21.43,  +22.28,   +1.18,   +1.09,  -24.26,  -31.10]  speed=20 wait=1.0s  (pre max|Δ|=4.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.15° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.2  -4.3  -2.1  -0.7  +3.0  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.15°（関節 j1）
[014] 推論 581ms  10ステップ先  Δ=-18.6 -22.0  -1.8  -0.3 +22.7  +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_chunk014_via02: send_angles (single) [ +15.01,  +14.37,   +1.34,   +0.61,  -15.34,  -30.96]  speed=20 wait=1.0s  (pre max|Δ|=10.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.2 -10.1  -1.9  -0.2  +9.2  +0.3  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [  +7.90,   +6.78,   +1.38,   +0.51,   -6.40,  -30.87]  speed=20 wait=1.0s  (pre max|Δ|=9.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.87° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.3  -9.3  -1.9  -0.4  +9.2  +0.4  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [  +2.88,   +2.58,   +1.35,   +0.49,   -1.82,  -30.79]  speed=20 wait=1.0s  (pre max|Δ|=5.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.2  -5.8  -1.9  -0.3  +4.7  +0.4  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [  +2.54,   +2.44,   +1.41,   +0.49,   -1.82,  -30.77]  speed=20 wait=1.0s  (pre max|Δ|=1.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  -1.4  -1.8  -0.3  +0.3  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.84°（関節 j2）
[015] 推論 615ms  10ステップ先  Δ= -1.2  -1.7  -1.8  -0.2  +0.0  +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) [  +1.83,   +2.34,   +1.36,   +0.53,   -1.91,  -30.78]  speed=20 wait=1.0s  (pre max|Δ|=1.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.9  -1.5  -1.9  -0.3  +0.2  +0.4  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [  +1.81,   +2.30,   +1.39,   +0.53,   -2.14,  -30.79]  speed=20 wait=1.0s  (pre max|Δ|=1.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -1.6  -1.9  -0.3  -0.0  +0.4  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [  +1.65,   +2.14,   +1.45,   +0.53,   -2.12,  -30.78]  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  8  Δ= +0.2  -1.7  -1.8  -0.3  -0.0  +0.3  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [  +1.56,   +2.17,   +1.45,   +0.55,   -2.10,  -30.77]  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= +0.1  -1.7  -1.8  -0.2  +0.0  +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）
[016] 推論 635ms  10ステップ先  Δ= -0.7  -1.8  -1.9  -0.3  -0.1  +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|=3.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_122156
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_193404 --scale 5 --alpha 0.7
  [Pi] GRIPPER: OPEN result= -1
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_193404/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_193404 (つかんだ瞬間の j0 = -61.6°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy= -10.7  dx=  -0.1  response=0.338  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -9.1  dx=  -0.6  response=0.345  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -10.7  dx=  +7.7  response=0.348  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -9.7  dx=  +9.6  response=0.354  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -7.9  dx= +10.1  response=0.335  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -4.8  dx=  -2.9  response=0.292  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -5.8  dx=  +1.3  response=0.356  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -8.8  dx=  +3.2  response=0.347  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -10.5  dx=  +4.2  response=0.384  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -11.6  dx=  +4.4  response=0.363  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -9.7  dx=  +1.2  response=0.367  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -10.7  dx=  +3.2  response=0.352  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -11.7  dx=  +5.1  response=0.275  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -10.5  dx=  +5.7  response=0.268  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -12.0  dx=  +5.6  response=0.234  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -10.4  dx=  +6.3  response=0.244  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -11.7  dx=  +1.9  response=0.267  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -13.4  dx=  +5.5  response=0.258  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -12.2  dx=  +8.9  response=0.274  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -10.9  dx=  +5.1  response=0.274  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -9.5  dx=  +1.1  response=0.246  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= -11.6  dx=  +2.0  response=0.250  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
2026-10-29 12:29:02.940 python3[12688:7283186] error messaging the mach port for IMKCFRunLoopWakeUpReliable
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
(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 --ignore-framing
[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_20261029_122909
[CAMERA] 写り方 dy=-7.8 dx=+6.6 response=0.541 → 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 1090ms  10ステップ先  Δ=-19.4 +18.3  +5.8  +0.2 -24.0  -1.0
       [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 > 
[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) [  -4.57,   +5.44,   +2.98,   +0.37,   -5.67,  -30.43]  speed=20 wait=1.0s  (pre max|Δ|=5.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.1  +4.1  +1.3  +0.1  -5.7  -0.3  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [ -10.95,  +11.45,   +4.84,   +0.39,  -13.50,  -30.74]  speed=20 wait=1.0s  (pre max|Δ|=8.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.0  +5.1  +1.0  +0.2  -8.8  -0.6  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -17.55,  +17.51,   +6.74,   +0.42,  -21.43,  -31.02]  speed=20 wait=1.0s  (pre max|Δ|=9.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.0  +5.1  +1.2  +0.2  -9.0  -0.9  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -19.84,  +19.62,   +7.50,   +0.41,  -24.00,  -31.12]  speed=20 wait=1.0s  (pre max|Δ|=2.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.6  +1.2  +0.0  +0.3  -2.8  -0.9  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 764ms  10ステップ先  Δ=-21.6 +19.6  +6.7  +1.0 -29.5  -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) [ -25.70,  +25.51,   +9.76,   +0.86,  -32.53,  -31.24]  speed=20 wait=1.0s  (pre max|Δ|=8.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.6  +4.9  +1.4  +1.0  -8.5  -0.6  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -32.84,  +31.59,  +12.16,   +0.91,  -41.26,  -31.24]  speed=20 wait=1.0s  (pre max|Δ|=9.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.84° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.7  +5.1  +1.8  -0.2  -9.5  -0.3  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -39.94,  +38.23,  +14.50,   +0.81,  -50.74,  -31.24]  speed=20 wait=1.0s  (pre max|Δ|=9.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.7  +5.8  +1.7  -0.8 -10.0  -0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -41.69,  +40.29,  +15.06,   +0.78,  -53.53,  -31.24]  speed=20 wait=1.0s  (pre max|Δ|=3.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.9  +1.1  -0.1  -0.6  -3.1  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.93°（関節 j1）
[002] 推論 1706ms  10ステップ先  Δ=-18.0 +14.3  +5.9  +0.8 -20.5  -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_chunk002_via02: send_angles (single) [ -48.83,  +46.15,  +16.95,   +1.35,  -62.57,  -31.31]  speed=20 wait=1.0s  (pre max|Δ|=8.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.2  +4.9  +1.3  +0.3  -8.3  -0.4  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -55.21,  +51.91,  +19.20,   +1.71,  -70.52,  -31.32]  speed=20 wait=1.0s  (pre max|Δ|=9.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.4  +4.8  +1.7  +0.4  -9.1  -0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -59.31,  +55.48,  +21.29,   +1.89,  -74.75,  -31.33]  speed=20 wait=1.0s  (pre max|Δ|=5.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.4  +2.7  +1.8  +0.1  -5.1  -0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -59.63,  +55.57,  +21.55,   +1.92,  -74.68,  -31.36]  speed=20 wait=1.0s  (pre max|Δ|=0.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -0.9  +0.0  +0.1  +0.5  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.94°（関節 j1）
[003] 推論 726ms  10ステップ先  Δ= -0.9  +5.2  -5.8  -0.6  +9.9  -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_chunk003_via02: send_angles (single) [ -59.92,  +57.12,  +20.67,   +1.94,  -74.24,  -31.40]  speed=20 wait=1.0s  (pre max|Δ|=0.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.6  +0.6  -0.9  +0.1  +0.9  -0.4  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -59.87,  +59.34,  +18.22,   +1.55,  -70.10,  -31.44]  speed=20 wait=1.0s  (pre max|Δ|=5.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.6  +1.2  -3.3  -0.3  +5.0  -0.3  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -60.14,  +61.31,  +16.21,   +1.25,  -66.04,  -31.45]  speed=20 wait=1.0s  (pre max|Δ|=5.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.36° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.8  +1.0  -3.1  -0.6  +5.5  +0.1  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -60.19,  +61.71,  +15.71,   +1.22,  -65.20,  -31.45]  speed=20 wait=1.0s  (pre max|Δ|=0.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.0  -0.6  -1.0  -0.3  -0.5  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.95°（関節 j1）
[004] 推論 549ms  6ステップ先  Δ= -0.2  +0.0  -2.1  -0.3  +3.4  +0.4  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 5
       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) [ -60.35,  +62.95,  +14.50,   +1.20,  -62.01,  -31.50]  speed=20 wait=1.0s  (pre max|Δ|=2.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  +0.3  -2.1  -0.3  +2.5  +0.3  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -60.36,  +62.70,  +14.53,   +1.18,  -61.07,  -31.52]  speed=20 wait=1.0s  (pre max|Δ|=1.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.33° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  -0.9  -0.8  -0.2  +1.7  -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 1.24°（関節 j4）
[005] 推論 627ms  10ステップ先  Δ= -0.1  -4.1  +3.5  +1.2  -5.5  -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 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ -60.25,  +62.48,  +14.42,   +0.54,  -61.57,  -31.50]  speed=20 wait=1.0s  (pre max|Δ|=1.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.6  -1.1  -0.3  +0.2  +0.7  -0.7  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -60.18,  +61.64,  +15.67,   +0.89,  -63.75,  -31.70]  speed=20 wait=1.0s  (pre max|Δ|=1.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.5  -2.0  +1.0  +0.6  -1.4  -0.8  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -59.91,  +60.01,  +17.74,   +1.28,  -67.02,  -31.95]  speed=20 wait=1.0s  (pre max|Δ|=4.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.2  -3.1  +2.9  +0.8  -4.5  -0.0  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -59.76,  +59.56,  +18.20,   +1.33,  -67.77,  -31.97]  speed=20 wait=1.0s  (pre max|Δ|=3.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -2.4  +0.8  -0.5  -3.2  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.31°（関節 j1）
[006] 推論 540ms  10ステップ先  Δ= +0.9  -4.7  +3.3  +0.2  -8.2  +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_chunk006_via02: send_angles (single) [ -59.81,  +58.36,  +19.86,   +1.59,  -69.95,  -32.09]  speed=20 wait=1.0s  (pre max|Δ|=3.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  -3.5  +1.7  -0.3  -3.5  +0.3  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -59.56,  +57.17,  +21.37,   +1.85,  -72.76,  -32.15]  speed=20 wait=1.0s  (pre max|Δ|=3.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.15° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -3.2  +1.2  -0.1  -2.7  +0.2  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -59.26,  +57.03,  +21.69,   +2.02,  -74.50,  -32.22]  speed=20 wait=1.0s  (pre max|Δ|=2.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  -2.3  +0.3  +0.1  -2.7  +0.1  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -58.82,  +57.14,  +21.45,   +2.11,  -74.59,  -32.32]  speed=20 wait=1.0s  (pre max|Δ|=2.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  -2.2  +0.1  -0.1  -0.2  +0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.18°（関節 j1）
[007] 推論 433ms  10ステップ先  Δ=+25.3  -5.8  -2.8  +3.5  +0.6  -2.5
       [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|=74.44°, post-send timeout 13.2s)
[SEND] arrival OK: max|Δ|=2.19° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_122909
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_193404 --scale 5 --alpha 0.7
  [Pi] GRIPPER: OPEN result= -1
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_193404/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_193404 (つかんだ瞬間の j0 = -61.6°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy= -10.8  dx=  +3.4  response=0.633  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
^C^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
(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 --ignore-framing
[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_20261029_123158
[CAMERA] 写り方 dy=-8.0 dx=+7.2 response=0.437 → 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 601ms  10ステップ先  Δ=-17.3 +15.6  +5.0  +0.2 -21.4  -0.9
       [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) [  -3.27,   +4.13,   +2.65,   +0.28,   -4.04,  -30.39]  speed=20 wait=1.0s  (pre max|Δ|=3.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.41° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.9  +2.6  +0.9  +0.0  -3.8  -0.2  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -9.37,   +9.44,   +4.35,   +0.37,  -11.42,  -30.71]  speed=20 wait=1.0s  (pre max|Δ|=8.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.7  +4.4  +0.8  +0.2  -8.8  -0.5  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -15.64,  +15.15,   +6.13,   +0.39,  -19.42,  -31.03]  speed=20 wait=1.0s  (pre max|Δ|=8.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.3  +4.8  +0.9  +0.3  -8.6  -0.7  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -17.63,  +17.08,   +6.72,   +0.44,  -21.69,  -31.14]  speed=20 wait=1.0s  (pre max|Δ|=2.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.3  +1.0  -0.2  +0.4  -3.0  -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 1518ms  10ステップ先  Δ=-20.0 +18.7  +6.0  +1.2 -27.1  -1.0
       [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_chunk001_via02: send_angles (single) [ -23.46,  +22.66,   +8.78,   +0.88,  -29.75,  -31.38]  speed=20 wait=1.0s  (pre max|Δ|=7.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.98° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.6  +4.6  +1.2  +0.7  -7.5  -0.5  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -30.19,  +28.39,  +11.10,   +1.02,  -38.01,  -31.46]  speed=20 wait=1.0s  (pre max|Δ|=10.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.3  +4.9  +1.5  -0.6 -10.2  -0.2  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -36.61,  +34.76,  +13.17,   +0.93,  -46.94,  -31.45]  speed=20 wait=1.0s  (pre max|Δ|=10.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.7  +5.2  +1.3  -0.6 -10.0  -0.2  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -37.81,  +36.74,  +13.57,   +0.96,  -49.50,  -31.46]  speed=20 wait=1.0s  (pre max|Δ|=2.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +0.9  -0.3  -0.6  -2.9  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.05°（関節 j1）
[002] 推論 551ms  10ステップ先  Δ=-21.0 +16.7  +6.4  +0.3 -24.5  -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_chunk002_via02: send_angles (single) [ -45.46,  +42.65,  +15.75,   +1.15,  -58.51,  -31.48]  speed=20 wait=1.0s  (pre max|Δ|=8.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.6  +4.9  +1.9  -0.2  -8.9  -0.1  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -52.80,  +48.97,  +17.88,   +1.59,  -67.46,  -31.49]  speed=20 wait=1.0s  (pre max|Δ|=9.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.86° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.5  +5.3  +1.5  +0.2  -9.3  -0.1  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -58.18,  +53.75,  +19.95,   +1.75,  -73.56,  -31.49]  speed=20 wait=1.0s  (pre max|Δ|=6.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.7  +3.9  +1.7  -0.2  -6.8  -0.0  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -58.88,  +54.46,  +20.23,   +1.75,  -74.11,  -31.50]  speed=20 wait=1.0s  (pre max|Δ|=0.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.7  -0.2  +0.0  -0.3  -0.9  +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 595ms  10ステップ先  Δ= -0.9  +5.0  -4.4  -0.6  +8.9  -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) [ -59.50,  +55.56,  +21.01,   +1.85,  -74.11,  -31.55]  speed=20 wait=1.0s  (pre max|Δ|=0.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  +0.1  +0.8  -0.2  -0.0  -0.0  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -59.80,  +57.10,  +19.53,   +1.75,  -71.25,  -31.61]  speed=20 wait=1.0s  (pre max|Δ|=3.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.61° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.6  +0.6  -1.5  -0.3  +3.4  -0.1  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -60.06,  +59.75,  +16.62,   +1.44,  -66.26,  -31.68]  speed=20 wait=1.0s  (pre max|Δ|=6.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.9  +1.7  -4.2  -0.6  +6.6  -0.1  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -60.08,  +60.42,  +15.76,   +1.39,  -65.14,  -31.69]  speed=20 wait=1.0s  (pre max|Δ|=2.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.3  -2.0  -0.4  +2.1  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.29°（関節 j2）
[004] 推論 1477ms  7ステップ先  Δ= -0.1  +1.0  -3.1  -0.3  +4.8  -0.2  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) [ -60.63,  +62.21,  +14.01,   +1.33,  -61.91,  -31.72]  speed=20 wait=1.0s  (pre max|Δ|=3.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  +0.9  -3.0  -0.3  +3.7  -0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -60.48,  +62.36,  +13.91,   +1.34,  -60.88,  -31.72]  speed=20 wait=1.0s  (pre max|Δ|=1.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  -0.7  -1.0  -0.3  +1.6  -0.2  着いた
[SEND] pi05_chunk004_via06: send_angles (single) [ -60.48,  +62.36,  +13.91,   +1.34,  -60.88,  -31.72]  speed=20 wait=1.0s  (pre max|Δ|=1.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  6  Δ= -0.1  -0.7  -1.0  -0.3  +0.5  -0.3  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 1.61°（関節 j4）
[005] 推論 627ms  10ステップ先  Δ= +0.5  -4.4  +3.2  +0.8  -6.8  -0.9
       [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_chunk005_via02: send_angles (single) [ -60.25,  +61.81,  +14.16,   +0.95,  -61.70,  -31.72]  speed=20 wait=1.0s  (pre max|Δ|=1.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.4  -1.3  -0.6  +0.1  +0.8  -0.4  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -59.85,  +60.78,  +15.46,   +1.21,  -64.23,  -31.88]  speed=20 wait=1.0s  (pre max|Δ|=2.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.88° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.0  -2.3  +0.7  +0.3  -1.7  -0.6  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -59.44,  +59.17,  +17.62,   +1.60,  -68.35,  -32.14]  speed=20 wait=1.0s  (pre max|Δ|=5.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.26° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -3.5  +2.8  +0.6  -5.9  -0.6  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -59.34,  +58.71,  +18.00,   +1.64,  -69.25,  -32.19]  speed=20 wait=1.0s  (pre max|Δ|=2.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.63° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -2.7  +0.4  +0.2  -2.8  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.63°（関節 j1）
[006] 推論 642ms  10ステップ先  Δ= +2.4  -5.3  +3.5  +1.3  -9.2  -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_chunk006_via02: send_angles (single) [ -59.15,  +57.43,  +19.97,   +2.17,  -72.17,  -32.44]  speed=20 wait=1.0s  (pre max|Δ|=3.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -3.9  +2.4  +0.5  -3.0  +0.1  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -58.80,  +56.27,  +21.29,   +2.54,  -75.10,  -32.57]  speed=20 wait=1.0s  (pre max|Δ|=3.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.61° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  -3.5  +1.2  +0.8  -2.8  -0.1  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -58.15,  +56.15,  +21.48,   +2.82,  -76.67,  -32.73]  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  8  Δ= +0.8  -2.7  +0.3  +0.2  -1.0  -0.2  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -57.22,  +56.07,  +21.10,   +2.93,  -76.78,  -32.85]  speed=20 wait=1.0s  (pre max|Δ|=2.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.81° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.1  -2.8  -0.1  +0.2  -1.1  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.81°（関節 j1）
[007] 推論 550ms  10ステップ先  Δ=+26.7  -6.1  -3.1  +3.9  +1.8  -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) [ -49.41,  +55.12,  +20.00,   +4.08,  -75.91,  -33.52]  speed=20 wait=1.0s  (pre max|Δ|=7.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.0  -3.8  -1.2  +1.2  +0.2  -1.0  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ -41.29,  +54.30,  +19.12,   +5.36,  -75.21,  -34.23]  speed=20 wait=1.0s  (pre max|Δ|=8.45°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=15.36° actual=[ -41.66,  +56.42,  +20.47,   +5.62,  -59.85,  -34.71]
[SEND] リトライしません: pre→last max|Δ| 16.87° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  5  Δ= +8.5  -3.3  -2.0  +0.6  +1.5  -1.3  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[SEND] pi05_chunk007_via08: send_angles (single) [ -33.20,  +53.14,  +18.43,   +6.57,  -74.70,  -34.79]  speed=20 wait=1.0s  (pre max|Δ|=14.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.5  -3.3  -2.0  +0.9 -14.9  -0.1  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ -30.70,  +52.76,  +18.09,   +6.82,  -74.28,  -34.87]  speed=20 wait=1.0s  (pre max|Δ|=2.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.8  -2.4  -1.6  +0.1  +1.4  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.34°（関節 j1）
[008] 推論 587ms  10ステップ先  Δ=+29.6  -5.5  -6.7  +1.1  +6.3  -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_chunk008_via02: send_angles (single) [ -22.00,  +51.79,  +16.78,   +7.50,  -72.87,  -35.01]  speed=20 wait=1.0s  (pre max|Δ|=9.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.52° (tol 3.0°)
       [VIA   ] step  2  Δ= +9.1  -3.3  -2.9  +0.6  +2.2  -0.3  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ -12.93,  +50.26,  +15.36,   +7.64,  -71.29,  -35.02]  speed=20 wait=1.0s  (pre max|Δ|=9.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.38° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.3  -4.0  -2.7  -0.1  +2.1  -0.3  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [  -3.74,  +49.48,  +13.67,   +7.86,  -69.50,  -35.08]  speed=20 wait=1.0s  (pre max|Δ|=9.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.37° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.5  -3.2  -2.9  +0.2  +2.2  -0.4  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [  -1.52,  +49.57,  +13.01,   +7.92,  -69.12,  -35.11]  speed=20 wait=1.0s  (pre max|Δ|=2.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.28° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.3  -2.3  -1.9  +0.2  +0.7  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.28°（関節 j1）
[009] 推論 1437ms  10ステップ先  Δ=+25.8  -3.5  -8.3  +0.2  +5.0  -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 > 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|=69.43°, post-send timeout 12.4s)
[SEND] arrival OK: max|Δ|=1.84° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_123158
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_193404 --scale 5 --alpha 0.7
  [Pi] GRIPPER: OPEN result= -1
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_193404/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_193404 (つかんだ瞬間の j0 = -61.6°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy= -10.7  dx=  +3.4  response=0.627  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
(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 --ignore-framing
[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_20261029_124104
[CAMERA] 写り方 dy=-7.8 dx=+6.8 response=0.512 → 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 1103ms  10ステップ先  Δ=-17.9 +16.3  +5.7  +0.1 -22.4  -0.8
       [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 > 
[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) [  -3.75,   +4.69,   +3.04,   +0.28,   -4.72,  -30.39]  speed=20 wait=1.0s  (pre max|Δ|=4.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.4  +3.2  +1.2  +0.0  -4.5  -0.2  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [ -10.06,  +10.30,   +4.95,   +0.32,  -12.40,  -30.69]  speed=20 wait=1.0s  (pre max|Δ|=8.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.0  +4.8  +0.9  +0.2  -8.5  -0.5  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -16.40,  +15.97,   +6.80,   +0.35,  -20.09,  -30.98]  speed=20 wait=1.0s  (pre max|Δ|=8.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.8  +4.7  +0.9  +0.3  -8.4  -0.7  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -18.30,  +17.74,   +7.50,   +0.34,  -22.64,  -31.08]  speed=20 wait=1.0s  (pre max|Δ|=2.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.5  +0.8  -0.1  +0.3  -3.0  -0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.89°（関節 j1）
[001] 推論 554ms  10ステップ先  Δ=-21.4 +19.0  +6.6  +1.2 -29.9  -0.9
       [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_chunk001_via02: send_angles (single) [ -24.36,  +23.39,   +9.71,   +0.76,  -31.07,  -31.23]  speed=20 wait=1.0s  (pre max|Δ|=8.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.7  +4.8  +1.4  +1.0  -8.3  -0.7  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -31.42,  +29.25,  +12.12,   +0.90,  -39.79,  -31.28]  speed=20 wait=1.0s  (pre max|Δ|=9.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.5  +4.9  +1.6  -0.3  -9.3  -0.5  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -37.97,  +35.36,  +14.30,   +0.77,  -49.28,  -31.33]  speed=20 wait=1.0s  (pre max|Δ|=10.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.0  +5.2  +1.5  -0.7 -10.0  -0.5  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -40.02,  +37.59,  +14.92,   +0.74,  -52.62,  -31.34]  speed=20 wait=1.0s  (pre max|Δ|=3.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.2  +1.3  -0.1  -0.6  -3.8  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.08°（関節 j1）
[002] 推論 600ms  10ステップ先  Δ=-19.9 +15.6  +6.9  +0.9 -23.7  -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_chunk002_via02: send_angles (single) [ -47.46,  +43.57,  +17.08,   +1.05,  -61.70,  -31.39]  speed=20 wait=1.0s  (pre max|Δ|=8.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.4  +4.9  +1.6  +0.2  -8.6  -0.1  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -54.46,  +49.54,  +19.46,   +1.55,  -70.38,  -31.41]  speed=20 wait=1.0s  (pre max|Δ|=9.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.4  +5.1  +1.8  +0.1  -9.0  -0.1  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -59.32,  +53.81,  +21.91,   +1.79,  -76.20,  -31.41]  speed=20 wait=1.0s  (pre max|Δ|=6.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.2  +3.3  +2.1  +0.0  -6.8  -0.1  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -59.96,  +54.26,  +22.40,   +1.80,  -76.83,  -31.42]  speed=20 wait=1.0s  (pre max|Δ|=0.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.7  -0.5  +0.2  -0.2  -0.7  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.93°（関節 j1）
[003] 推論 1521ms  10ステップ先  Δ= -0.5  +4.8  -5.6  -0.9  +9.7  -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_chunk003_via02: send_angles (single) [ -60.09,  +55.14,  +21.74,   +1.64,  -75.51,  -31.50]  speed=20 wait=1.0s  (pre max|Δ|=0.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.21° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -0.1  -0.5  -0.5  +0.7  -0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -60.33,  +57.29,  +19.20,   +1.25,  -71.55,  -31.56]  speed=20 wait=1.0s  (pre max|Δ|=5.17°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=11.44° actual=[ -60.38,  +58.18,  +20.30,   +1.58,  -60.11,  -31.28]
[SEND] リトライしません: pre→last max|Δ| 16.61° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  5  Δ= +0.1  +1.1  -3.0  -0.8  +5.2  -0.3  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[SEND] pi05_chunk003_via08: send_angles (single) [ -60.82,  +59.49,  +17.07,   +1.10,  -67.46,  -31.55]  speed=20 wait=1.0s  (pre max|Δ|=7.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.4  +1.3  -3.2  -0.5  -7.4  -0.3  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -60.92,  +60.02,  +16.64,   +1.15,  -66.53,  -31.57]  speed=20 wait=1.0s  (pre max|Δ|=1.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.28° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  -0.3  -1.4  -0.2  +1.9  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.28°（関節 j2）
[004] 推論 563ms  8ステップ先  Δ= -1.1  +1.2  -3.6  -0.2  +7.5  -0.4  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) [ -61.39,  +61.93,  +14.63,   +1.08,  -62.09,  -31.60]  speed=20 wait=1.0s  (pre max|Δ|=4.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.0  +0.9  -3.3  -0.3  +5.0  -0.3  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -61.53,  +62.40,  +14.13,   +1.19,  -59.70,  -31.68]  speed=20 wait=1.0s  (pre max|Δ|=2.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -0.4  -1.4  +0.1  +2.9  -0.4  着いた
[SEND] pi05_chunk004_via07: send_angles (single) [ -61.47,  +62.17,  +14.35,   +1.25,  -59.59,  -31.68]  speed=20 wait=1.0s  (pre max|Δ|=1.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 3.0°)
       [VIA   ] step  7  Δ= +0.2  -0.9  -0.7  +0.2  +1.4  -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 1.23°（関節 j4）
[005] 推論 636ms  10ステップ先  Δ= +0.9  -2.6  +2.5  +0.7  -5.9  -0.9
       [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_chunk005_via02: send_angles (single) [ -61.30,  +62.21,  +14.24,   +0.51,  -59.93,  -31.63]  speed=20 wait=1.0s  (pre max|Δ|=0.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  -0.8  -0.1  -0.2  +0.9  -0.3  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -61.07,  +61.71,  +14.60,   +0.45,  -61.65,  -31.72]  speed=20 wait=1.0s  (pre max|Δ|=1.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.21° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.0  -1.3  +0.3  -0.2  -0.8  -0.3  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -60.46,  +60.55,  +16.35,   +0.86,  -65.65,  -32.13]  speed=20 wait=1.0s  (pre max|Δ|=4.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.99° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  -2.4  +2.0  +0.2  -4.8  -0.8  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -60.30,  +60.36,  +16.80,   +0.92,  -66.73,  -32.22]  speed=20 wait=1.0s  (pre max|Δ|=4.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -1.8  +1.2  -1.3  -4.1  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.22°（関節 j4）
[006] 推論 605ms  10ステップ先  Δ= +8.2  -6.1  +4.1  +1.5 -10.7  -1.0
       [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_chunk006_via02: send_angles (single) [ -60.07,  +58.83,  +19.21,   +1.53,  -70.17,  -32.48]  speed=20 wait=1.0s  (pre max|Δ|=4.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  -3.3  +2.2  +0.1  -5.0  +0.1  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -59.60,  +57.58,  +21.25,   +2.10,  -73.83,  -32.79]  speed=20 wait=1.0s  (pre max|Δ|=4.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  -3.6  +1.7  +0.7  -4.6  -0.0  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -55.31,  +56.46,  +21.55,   +2.91,  -75.35,  -33.36]  speed=20 wait=1.0s  (pre max|Δ|=4.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.60° (tol 3.0°)
       [VIA   ] step  8  Δ= +4.5  -3.4  +0.3  +1.2  -1.9  -0.6  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -52.60,  +56.06,  +21.01,   +3.21,  -75.23,  -33.62]  speed=20 wait=1.0s  (pre max|Δ|=3.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.82° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.0  -3.0  -0.2  +0.2  -0.4  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.82°（関節 j1）
[007] 推論 1545ms  10ステップ先  Δ=+28.0  -6.3  -4.0  +4.0  +2.3  -2.1
       [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_chunk007_via02: send_angles (single) [ -44.33,  +55.10,  +19.64,   +4.38,  -74.34,  -34.41]  speed=20 wait=1.0s  (pre max|Δ|=8.31°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=12.73° actual=[ -44.56,  +56.95,  +21.00,   +4.74,  -61.61,  -34.80]
[SEND] リトライしません: pre→last max|Δ| 13.18° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  2  Δ= +8.3  -3.8  -1.6  +1.2  +0.4  -1.1  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[SEND] pi05_chunk007_via05: send_angles (single) [ -35.83,  +54.13,  +18.49,   +5.73,  -73.87,  -35.09]  speed=20 wait=1.0s  (pre max|Δ|=12.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.47° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.7  -2.8  -2.5  +1.0 -12.3  -0.3  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ -27.43,  +52.96,  +17.67,   +6.93,  -73.02,  -35.44]  speed=20 wait=1.0s  (pre max|Δ|=8.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.41° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.8  -3.6  -2.3  +0.8  +1.0  -0.6  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ -24.66,  +52.53,  +17.27,   +7.17,  -72.51,  -35.43]  speed=20 wait=1.0s  (pre max|Δ|=3.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.1  -2.8  -1.7  -0.1  +1.5  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.22°（関節 j1）
[008] 推論 584ms  10ステップ先  Δ=+28.7  -6.4  -6.6  +0.8  +6.1  -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_chunk008_via02: send_angles (single) [ -15.91,  +51.28,  +15.83,   +7.16,  -70.76,  -35.50]  speed=20 wait=1.0s  (pre max|Δ|=9.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  2  Δ= +9.1  -3.5  -3.2  -0.1  +2.1  -0.4  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [  -7.86,  +49.83,  +14.46,   +7.36,  -69.39,  -35.51]  speed=20 wait=1.0s  (pre max|Δ|=8.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.37° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.4  -3.8  -2.8  +0.2  +1.7  -0.4  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [  +1.23,  +48.54,  +12.87,   +7.99,  -67.67,  -35.62]  speed=20 wait=1.0s  (pre max|Δ|=9.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.26° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.4  -3.7  -3.0  +0.5  +2.0  -0.4  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [  +3.67,  +48.35,  +12.40,   +8.12,  -67.08,  -35.67]  speed=20 wait=1.0s  (pre max|Δ|=2.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.45° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.0  -2.4  -1.8  +0.1  +0.9  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.45°（関節 j1）
[009] 推論 602ms  10ステップ先  Δ=+26.1  -3.1  -7.4  -0.1  +4.6  -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 > 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|=67.32°, post-send timeout 12.1s)
[SEND] arrival OK: max|Δ|=1.93° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_124104
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_193404 --scale 5 --alpha 0.7
  [Pi] GRIPPER: OPEN result= -1
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_193404/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_193404 (つかんだ瞬間の j0 = -61.6°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy= -10.6  dx=  +3.4  response=0.624  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
(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 --ignore-framing
[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_20261029_124830
[CAMERA] 写り方 dy=-7.9 dx=+6.8 response=0.524 → 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 1157ms  10ステップ先  Δ=-18.0 +15.4  +4.7  +0.2 -21.4  -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 > 
[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) [  -2.89,   +3.71,   +2.73,   +0.28,   -3.51,  -30.32]  speed=20 wait=1.0s  (pre max|Δ|=3.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.5  +2.2  +0.8  +0.0  -3.3  -0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -9.44,   +9.26,   +4.29,   +0.34,  -11.49,  -30.57]  speed=20 wait=1.0s  (pre max|Δ|=9.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.3  +4.7  +0.6  +0.2  -9.7  -0.3  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -15.98,  +15.00,   +6.02,   +0.42,  -19.21,  -30.81]  speed=20 wait=1.0s  (pre max|Δ|=8.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.3  +4.7  +1.0  +0.4  -8.7  -0.6  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -18.36,  +16.93,   +6.58,   +0.45,  -21.66,  -30.87]  speed=20 wait=1.0s  (pre max|Δ|=2.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.7  +0.9  -0.3  +0.4  -2.9  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.99°（関節 j1）
[001] 推論 560ms  10ステップ先  Δ=-21.4 +20.0  +6.7  +0.8 -29.1  -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) [ -24.48,  +22.84,   +8.83,   +0.75,  -30.05,  -31.04]  speed=20 wait=1.0s  (pre max|Δ|=7.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.8  +4.9  +1.6  +0.9  -8.0  -0.6  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -31.50,  +28.98,  +11.15,   +0.88,  -38.67,  -31.08]  speed=20 wait=1.0s  (pre max|Δ|=9.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.6  +5.2  +1.6  -0.3  -9.1  -0.7  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -38.22,  +35.61,  +13.38,   +0.69,  -48.10,  -31.09]  speed=20 wait=1.0s  (pre max|Δ|=9.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.2  +5.6  +1.5  -0.8  -9.8  -0.6  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -40.15,  +37.96,  +13.94,   +0.60,  -51.18,  -31.08]  speed=20 wait=1.0s  (pre max|Δ|=3.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.2  +1.2  -0.1  -0.5  -3.5  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.06°（関節 j1）
[002] 推論 557ms  10ステップ先  Δ=-19.9 +15.8  +6.1  +1.0 -23.6  -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_chunk002_via02: send_angles (single) [ -47.52,  +43.62,  +15.96,   +1.03,  -60.13,  -31.13]  speed=20 wait=1.0s  (pre max|Δ|=8.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.4  +4.6  +1.6  +0.4  -8.5  -0.5  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -54.30,  +49.54,  +18.00,   +1.43,  -68.58,  -31.16]  speed=20 wait=1.0s  (pre max|Δ|=9.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.8  +5.0  +1.5  +0.2  -9.3  -0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -59.11,  +54.22,  +20.07,   +1.59,  -74.75,  -31.20]  speed=20 wait=1.0s  (pre max|Δ|=6.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.2  +3.7  +1.7  -0.2  -6.7  -0.4  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -59.96,  +54.83,  +20.49,   +1.63,  -75.26,  -31.21]  speed=20 wait=1.0s  (pre max|Δ|=0.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.6  -0.4  +0.1  -0.3  -0.4  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.98°（関節 j1）
[003] 推論 606ms  10ステップ先  Δ= -0.5  +4.2  -4.1  -0.8  +7.0  -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) [ -60.34,  +55.55,  +20.90,   +1.72,  -75.92,  -31.27]  speed=20 wait=1.0s  (pre max|Δ|=0.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  -0.3  +0.5  -0.2  -0.5  -0.3  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -60.51,  +57.03,  +19.51,   +1.47,  -74.18,  -31.34]  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  5  Δ= -0.3  +0.5  -0.9  -0.5  +1.7  -0.4  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -60.72,  +59.28,  +17.01,   +1.16,  -69.63,  -31.40]  speed=20 wait=1.0s  (pre max|Δ|=6.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.5  +1.3  -3.4  -0.6  +6.2  -0.4  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -60.75,  +60.00,  +16.26,   +1.10,  -68.42,  -31.42]  speed=20 wait=1.0s  (pre max|Δ|=2.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  -0.3  -2.0  -0.4  +2.5  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.66°（関節 j2）
[004] 推論 1462ms  9ステップ先  Δ= -1.3  +1.7  -5.4  -0.6  +9.3  -0.3  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) [ -61.06,  +61.96,  +13.74,   +0.79,  -63.93,  -31.43]  speed=20 wait=1.0s  (pre max|Δ|=4.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.20° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.9  +1.0  -4.2  -0.6  +4.9  -0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -61.23,  +62.90,  +12.58,   +0.68,  -60.63,  -31.49]  speed=20 wait=1.0s  (pre max|Δ|=3.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  +0.1  -2.4  -0.3  +3.4  -0.3  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -61.46,  +62.70,  +12.55,   +0.81,  -59.95,  -31.52]  speed=20 wait=1.0s  (pre max|Δ|=1.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -0.9  -1.0  -0.1  +1.1  -0.3  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 1.48°（関節 j4）
[005] 推論 617ms  10ステップ先  Δ= +0.2  -2.8  +2.6  +0.5  -5.2  -0.9
       [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_chunk005_via02: send_angles (single) [ -61.36,  +62.79,  +12.24,   +0.05,  -60.27,  -31.51]  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  2  Δ= -0.5  -0.8  -0.9  -0.1  +1.2  -0.4  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -61.33,  +62.70,  +12.45,   -0.13,  -61.35,  -31.54]  speed=20 wait=1.0s  (pre max|Δ|=0.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.5  -0.9  -0.5  -0.2  +0.1  -0.4  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -60.83,  +61.22,  +14.99,   +0.47,  -65.34,  -31.92]  speed=20 wait=1.0s  (pre max|Δ|=3.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.0  -2.4  +2.0  +0.4  -3.9  -0.8  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -60.71,  +60.87,  +15.72,   +0.56,  -66.58,  -32.02]  speed=20 wait=1.0s  (pre max|Δ|=3.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.14° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -2.1  +1.1  +0.3  -3.6  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.14°（関節 j1）
[006] 推論 635ms  10ステップ先  Δ= +8.3  -7.7  +5.1  +2.6 -10.8  -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_chunk006_via02: send_angles (single) [ -60.43,  +59.20,  +18.10,   +1.21,  -70.08,  -32.37]  speed=20 wait=1.0s  (pre max|Δ|=4.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -3.8  +2.5  +0.9  -5.0  +0.1  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -60.02,  +57.69,  +20.09,   +1.73,  -73.70,  -32.61]  speed=20 wait=1.0s  (pre max|Δ|=4.80°, post-send timeout 8.0s)
  [WARN] _daemon_request timeout (timeout=4.0s, cmd=send_angles). socket closed.
[SEND] [ERROR] daemon_send_angles 例外: daemon timeout after 4.0s (cmd=send_angles)
       [VIA   ] step  5  Δ= +0.7  -3.7  +1.8  +0.1  -4.8  +0.3  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[SEND] pi05_chunk006_via08: send_angles (single) [ -55.39,  +55.76,  +20.86,   +2.64,  -75.55,  -33.32]  speed=20 wait=1.0s  (pre max|Δ|=4.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.15° (tol 3.0°)
       [VIA   ] step  8  Δ= +4.6  -4.2  +0.6  +0.9  -2.4  -0.4  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -52.53,  +55.31,  +20.52,   +2.98,  -75.34,  -33.61]  speed=20 wait=1.0s  (pre max|Δ|=3.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.60° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.0  -2.6  -0.7  -0.4  +0.6  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.60°（関節 j1）
[007] 推論 707ms  10ステップ先  Δ=+27.0  -5.6  -4.7  +3.6  +2.9  -2.3
       [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_chunk007_via02: send_angles (single) [ -44.99,  +54.67,  +19.20,   +4.05,  -74.63,  -34.33]  speed=20 wait=1.0s  (pre max|Δ|=7.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.45° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.7  -3.2  -2.1  +0.8  +1.3  -1.1  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ -36.71,  +53.71,  +18.01,   +5.35,  -74.09,  -35.04]  speed=20 wait=1.0s  (pre max|Δ|=8.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.62° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.5  -3.4  -2.9  +1.1  +1.8  -1.0  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ -28.37,  +52.74,  +16.99,   +6.54,  -73.49,  -35.43]  speed=20 wait=1.0s  (pre max|Δ|=8.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.63° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.7  -3.6  -2.4  +0.9  +1.6  -0.7  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ -25.63,  +52.36,  +16.55,   +6.80,  -72.99,  -35.47]  speed=20 wait=1.0s  (pre max|Δ|=3.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.0  -3.0  -1.8  +0.0  +1.2  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.30°（関節 j1）
[008] 推論 1537ms  10ステップ先  Δ=+30.2  -6.4  -7.1  +1.2  +6.3  -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_chunk008_via02: send_angles (single) [ -16.54,  +50.99,  +15.10,   +7.11,  -71.19,  -35.55]  speed=20 wait=1.0s  (pre max|Δ|=9.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  2  Δ= +9.3  -3.7  -3.3  +0.4  +2.2  -0.3  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [  -8.09,  +49.85,  +13.56,   +7.34,  -69.72,  -35.52]  speed=20 wait=1.0s  (pre max|Δ|=8.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.79° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.8  -3.6  -2.9  +0.4  +1.8  -0.3  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [  +1.67,  +48.55,  +11.81,   +7.86,  -67.73,  -35.59]  speed=20 wait=1.0s  (pre max|Δ|=10.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.51° (tol 3.0°)
       [VIA   ] step  8  Δ=+10.1  -4.1  -3.2  +0.4  +2.3  -0.3  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [  +4.40,  +48.29,  +11.28,   +8.01,  -67.04,  -35.62]  speed=20 wait=1.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.77° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.9  -2.8  -2.1  +0.3  +0.9  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.77°（関節 j1）
[009] 推論 553ms  10ステップ先  Δ=+29.3  -4.1  -7.3  -0.6  +5.2  -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_chunk009_via02: send_angles (single) [ +13.45,  +47.47,   +9.58,   +7.99,  -65.25,  -35.65]  speed=20 wait=1.0s  (pre max|Δ|=9.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.62° (tol 3.0°)
       [VIA   ] step  2  Δ= +9.2  -3.6  -3.5  -0.3  +1.8  -0.3  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +22.85,  +46.87,   +7.95,   +7.80,  -63.63,  -35.66]  speed=20 wait=1.0s  (pre max|Δ|=9.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.87° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.6  -3.2  -3.2  -0.4  +1.4  -0.3  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +31.71,  +46.85,   +6.20,   +7.78,  -62.11,  -35.72]  speed=20 wait=1.0s  (pre max|Δ|=9.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.80° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.0  -2.9  -3.5  -0.2  +1.6  -0.4  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +33.56,  +47.00,   +5.74,   +7.79,  -61.81,  -35.74]  speed=20 wait=1.0s  (pre max|Δ|=2.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.65° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.0  -2.7  -2.0  -0.3  +0.5  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.65°（関節 j1）
[010] 推論 552ms  10ステップ先  Δ= +7.8  +6.7  -9.8  -0.7  +1.8  -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_chunk010_via02: send_angles (single) [ +39.97,  +46.80,   +4.77,   +7.27,  -60.18,  -35.86]  speed=20 wait=1.0s  (pre max|Δ|=6.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.85° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.3  -2.8  -3.0  -0.9  +2.0  -0.5  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +41.86,  +49.65,   +2.42,   +7.12,  -59.56,  -35.84]  speed=20 wait=1.0s  (pre max|Δ|=3.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.9  +0.0  -4.0  -0.1  +0.5  -0.2  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +41.69,  +55.01,   -1.21,   +7.43,  -60.14,  -35.85]  speed=20 wait=1.0s  (pre max|Δ|=4.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  +4.3  -5.0  +0.1  -0.3  -0.3  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +41.51,  +56.37,   -2.03,   +7.50,  -60.34,  -35.87]  speed=20 wait=1.0s  (pre max|Δ|=2.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  +0.1  -2.4  +0.1  -0.6  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.68°（関節 j2）
[011] 推論 680ms  9ステップ先  Δ= +0.3  +4.8  -4.4  +0.3  -3.0  -0.3  グリッパー→開
       [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_chunk011_via02: send_angles (single) [ +41.83,  +60.37,   -4.02,   +7.63,  -61.40,  -35.86]  speed=20 wait=1.0s  (pre max|Δ|=3.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.0  +2.8  -3.7  +0.2  -1.6  -0.3  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +42.00,  +62.33,   -4.81,   +7.67,  -62.25,  -35.91]  speed=20 wait=1.0s  (pre max|Δ|=2.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +0.8  -2.4  +0.2  -2.5  -0.2  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +42.18,  +62.31,   -4.72,   +7.74,  -62.72,  -35.93]  speed=20 wait=1.0s  (pre max|Δ|=1.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  -1.2  -1.6  +0.2  -0.7  -0.2  着いた
  [Pi] GRIPPER: OPEN result= -1
[STATE ] 目標を渡す  目標と実測の最大差 1.56°（関節 j2）
[012] 推論 1472ms  10ステップ先  Δ= -0.5 -17.1  +5.7  +0.3  +6.5  -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) [ +42.06,  +58.07,   -2.99,   +7.70,  -61.46,  -35.97]  speed=20 wait=1.0s  (pre max|Δ|=5.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  -5.5  +0.2  +0.2  +1.6  -0.3  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +42.11,  +53.34,   -0.62,   +7.77,  -59.79,  -36.03]  speed=20 wait=1.0s  (pre max|Δ|=7.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -7.0  +1.7  +0.2  +3.3  -0.3  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +41.85,  +47.98,   +1.96,   +7.83,  -57.59,  -36.02]  speed=20 wait=1.0s  (pre max|Δ|=7.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.0  -7.6  +1.9  +0.3  +3.1  -0.3  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +41.36,  +46.39,   +2.51,   +7.80,  -56.61,  -35.97]  speed=20 wait=1.0s  (pre max|Δ|=3.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.38° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  -3.9  -0.2  +0.3  +1.6  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.38°（関節 j1）
[013] 推論 819ms  10ステップ先  Δ=-18.3 -24.4  -1.3  -3.6 +26.8  +2.9
       [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_chunk013_via02: send_angles (single) [ +37.13,  +40.34,   +3.28,   +6.94,  -50.71,  -35.30]  speed=20 wait=1.0s  (pre max|Δ|=8.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.7  -8.4  +0.2  -0.7  +6.1  +0.4  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +31.41,  +33.46,   +2.77,   +5.63,  -41.86,  -34.16]  speed=20 wait=1.0s  (pre max|Δ|=9.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.1  -9.1  -1.1  -1.8  +9.3  +1.6  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +25.55,  +26.35,   +1.96,   +4.37,  -32.54,  -33.07]  speed=20 wait=1.0s  (pre max|Δ|=9.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.7  -9.2  -2.0  -1.7  +9.6  +1.7  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +23.52,  +24.35,   +1.76,   +3.98,  -29.98,  -32.76]  speed=20 wait=1.0s  (pre max|Δ|=4.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.5  -4.0  -2.2  -0.7  +3.0  +0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.19°（関節 j1）
[014] 推論 1792ms  10ステップ先  Δ=-21.9 -24.6  -2.2  -3.2 +27.7  +2.1
       [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) [ +16.34,  +17.14,   +1.61,   +2.75,  -21.02,  -31.70]  speed=20 wait=1.0s  (pre max|Δ|=9.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.9  -9.4  -2.3  -1.2  +9.1  +1.2  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [  +9.25,   +9.50,   +1.70,   +1.60,  -11.50,  -31.10]  speed=20 wait=1.0s  (pre max|Δ|=9.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.6  -9.4  -2.2  -1.4  +9.9  +0.8  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [  +2.67,   +2.92,   +1.73,   +0.85,   -3.56,  -30.95]  speed=20 wait=1.0s  (pre max|Δ|=8.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.2  -8.2  -2.1  -1.1  +8.0  +0.3  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [  +1.43,   +1.98,   +1.65,   +0.76,   -2.57,  -30.97]  speed=20 wait=1.0s  (pre max|Δ|=2.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.0  -2.4  -2.2  -0.4  +1.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.21°（関節 j2）
[015] 推論 735ms  10ステップ先  Δ= +0.0  -1.6  -2.2  -0.3  -0.4  +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_chunk015_via02: send_angles (single) [  +1.06,   +2.09,   +1.58,   +0.77,   -2.83,  -30.94]  speed=20 wait=1.0s  (pre max|Δ|=2.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.28° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  -1.4  -2.3  -0.3  -0.2  +0.3  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [  +1.07,   +2.07,   +1.65,   +0.77,   -2.92,  -30.95]  speed=20 wait=1.0s  (pre max|Δ|=2.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.0  -1.4  -2.2  -0.3  -0.3  +0.3  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [  +1.03,   +1.90,   +1.67,   +0.75,   -2.94,  -30.95]  speed=20 wait=1.0s  (pre max|Δ|=2.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.0  -1.6  -2.2  -0.3  -0.3  +0.3  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [  +1.09,   +1.88,   +1.69,   +0.73,   -2.99,  -30.95]  speed=20 wait=1.0s  (pre max|Δ|=2.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.0  -1.6  -2.2  -0.3  -0.4  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.17°（関節 j2）
[016] 推論 553ms  10ステップ先  Δ= -0.1  -1.7  -2.2  -0.4  -0.1  +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 > 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|=3.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_124830
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()"
python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_193404 --scale 5 --alpha 0.7
  [Pi] GRIPPER: OPEN result= -1
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_193404/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_193404 (つかんだ瞬間の j0 = -61.6°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy= -10.6  dx=  +3.3  response=0.648  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
(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 --ignore-framing
[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_20261029_125314
[CAMERA] 写り方 dy=-8.1 dx=+7.2 response=0.420 → 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 606ms  10ステップ先  Δ=-18.6 +17.2  +5.5  -0.0 -22.8  -0.8
       [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 > 
[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) [  -3.87,   +4.93,   +2.79,   +0.25,   -5.13,  -30.41]  speed=20 wait=1.0s  (pre max|Δ|=4.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.27° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.5  +3.4  +1.1  -0.0  -5.0  -0.2  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [ -10.20,  +10.71,   +4.56,   +0.25,  -12.61,  -30.67]  speed=20 wait=1.0s  (pre max|Δ|=8.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.0  +4.9  +0.9  +0.1  -8.8  -0.4  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -16.76,  +16.66,   +6.45,   +0.18,  -20.39,  -30.94]  speed=20 wait=1.0s  (pre max|Δ|=8.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.0  +5.0  +1.1  +0.2  -8.9  -0.7  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -18.97,  +18.72,   +7.11,   +0.22,  -22.96,  -31.04]  speed=20 wait=1.0s  (pre max|Δ|=2.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.7  +1.1  -0.2  +0.3  -2.9  -0.8  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 1467ms  10ステップ先  Δ=-21.0 +20.1  +6.3  +0.8 -29.6  -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_chunk001_via02: send_angles (single) [ -24.76,  +24.64,   +9.17,   +0.66,  -31.30,  -31.15]  speed=20 wait=1.0s  (pre max|Δ|=8.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.4  +5.0  +1.3  +0.9  -8.4  -0.6  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -31.54,  +30.83,  +11.34,   +0.69,  -39.96,  -31.16]  speed=20 wait=1.0s  (pre max|Δ|=9.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.2  +5.2  +1.3  -0.5  -9.3  -0.3  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -37.90,  +37.35,  +13.53,   +0.37,  -49.30,  -31.13]  speed=20 wait=1.0s  (pre max|Δ|=9.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.5  +5.5  +1.5  -0.9  -9.7  -0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -40.36,  +39.82,  +14.22,   +0.33,  -52.43,  -31.10]  speed=20 wait=1.0s  (pre max|Δ|=3.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.7  +1.5  +0.1  -0.5  -3.5  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.04°（関節 j1）
[002] 推論 804ms  10ステップ先  Δ=-18.8 +15.6  +6.0  +0.9 -22.8  -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) [ -47.42,  +45.46,  +16.16,   +0.80,  -61.52,  -31.18]  speed=20 wait=1.0s  (pre max|Δ|=8.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.7  +4.6  +1.4  +0.5  -8.8  -0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -54.17,  +51.49,  +18.22,   +1.15,  -69.63,  -31.19]  speed=20 wait=1.0s  (pre max|Δ|=8.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.1  +5.0  +1.5  -0.1  -8.4  +0.0  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -58.95,  +56.04,  +20.35,   +1.27,  -75.04,  -31.22]  speed=20 wait=1.0s  (pre max|Δ|=5.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.1  +3.6  +1.7  -0.1  -6.0  -0.0  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -59.44,  +56.49,  +20.72,   +1.28,  -75.50,  -31.22]  speed=20 wait=1.0s  (pre max|Δ|=0.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -0.5  +0.2  -0.3  -0.4  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.90°（関節 j1）
[003] 推論 629ms  10ステップ先  Δ= -1.1  +4.5  -4.7  -1.1  +6.9  -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_chunk003_via02: send_angles (single) [ -59.79,  +57.84,  +20.31,   +1.31,  -76.41,  -31.28]  speed=20 wait=1.0s  (pre max|Δ|=9.18°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=7.42° actual=[ -59.67,  +58.79,  +20.56,   +1.31,  -68.99,  -30.84]
[SEND] リトライしません: pre→last max|Δ| 1.76° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  2  Δ= -0.7  +0.5  -0.3  -0.2  -9.2  +0.6  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[SEND] pi05_chunk003_via05: send_angles (single) [ -59.65,  +59.77,  +18.34,   +0.87,  -73.89,  -31.41]  speed=20 wait=1.0s  (pre max|Δ|=4.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.34° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.0  +1.0  -2.2  -0.4  -4.9  -0.6  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -59.99,  +61.44,  +16.28,   +0.55,  -69.37,  -31.49]  speed=20 wait=1.0s  (pre max|Δ|=3.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  +0.6  -3.4  -0.8  +3.2  -0.6  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -60.12,  +61.87,  +15.89,   +0.52,  -68.23,  -31.50]  speed=20 wait=1.0s  (pre max|Δ|=2.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -0.4  -1.5  -0.6  +2.2  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.51°（関節 j2）
[004] 推論 651ms  10ステップ先  Δ= -0.9  +0.7  -4.8  +0.2 +11.7  -1.0  グリッパー→閉
       [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) [ -60.25,  +63.30,  +13.83,   +0.27,  -63.40,  -31.52]  speed=20 wait=1.0s  (pre max|Δ|=5.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.5  +0.5  -3.6  -0.5  +5.3  -0.5  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -60.45,  +63.77,  +12.86,   +0.52,  -59.70,  -31.69]  speed=20 wait=1.0s  (pre max|Δ|=4.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.7  -0.4  -2.0  -0.0  +4.2  -0.6  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -60.64,  +63.54,  +12.55,   +1.11,  -57.24,  -31.97]  speed=20 wait=1.0s  (pre max|Δ|=4.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.9  -0.9  -1.0  +0.6  +4.2  -0.8  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -60.64,  +63.54,  +12.55,   +1.11,  -57.24,  -31.97]  speed=20 wait=1.0s  (pre max|Δ|=2.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.26° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -0.9  -0.4  +1.0  +2.3  -0.7  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 1.29°（関節 j4）
[005] 推論 1558ms  10ステップ先  Δ= +0.0  -4.4  +6.3  +0.4  -9.5  -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_chunk005_via02: send_angles (single) [ -60.45,  +62.97,  +12.98,   +0.59,  -58.06,  -31.91]  speed=20 wait=1.0s  (pre max|Δ|=2.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.76° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  -1.1  +0.8  -0.4  +2.8  +0.7  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -60.32,  +61.48,  +15.18,   +0.90,  -61.46,  -32.02]  speed=20 wait=1.0s  (pre max|Δ|=2.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  -2.6  +3.0  -0.1  -0.6  +0.4  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -60.08,  +59.91,  +17.90,   +1.19,  -66.57,  -32.19]  speed=20 wait=1.0s  (pre max|Δ|=4.70°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=5.67° actual=[ -60.20,  +60.73,  +17.22,   +1.58,  -60.90,  -32.25]
[SEND] リトライしません: pre→last max|Δ| 2.64° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  8  Δ= +0.1  -3.2  +3.3  -0.1  -4.7  +0.2  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[SEND] pi05_chunk005_via09: send_angles (single) [ -60.11,  +59.47,  +18.52,   +1.27,  -68.03,  -32.22]  speed=20 wait=1.0s  (pre max|Δ|=7.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.73° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -1.3  +1.3  -0.3  -7.1  +0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.73°（関節 j4）
[006] 推論 556ms  10ステップ先  Δ= +9.5  -5.0  +2.8  +1.7 -10.5  -0.9
       [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 > 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|=66.62°, post-send timeout 12.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_125314
(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 --ignore-framing
[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_20261029_125528
[CAMERA] 写り方 dy=-22.2 dx=+14.4 response=0.032 → 測れない (相関が弱く dx/dy が当てにならない (response=0.032 < 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
[WARN  ] 写り方が『測れない』だが --ignore-framing が指定されたので続けます
[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 553ms  10ステップ先  Δ=-17.2 +17.5  +5.7  +0.0 -22.8  -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 > 
[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) [  -3.72,   +5.03,   +3.02,   +0.18,   -5.12,  -30.30]  speed=20 wait=1.0s  (pre max|Δ|=4.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.4  +3.5  +1.2  -0.1  -4.9  -0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -9.57,  +10.80,   +4.85,   +0.21,  -12.80,  -30.50]  speed=20 wait=1.0s  (pre max|Δ|=8.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.5  +4.8  +0.9  +0.0  -8.8  -0.3  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -15.84,  +16.98,   +6.89,   +0.25,  -20.66,  -30.74]  speed=20 wait=1.0s  (pre max|Δ|=8.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.3  +5.2  +1.1  +0.2  -8.7  -0.5  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -17.53,  +19.02,   +7.50,   +0.30,  -23.10,  -30.82]  speed=20 wait=1.0s  (pre max|Δ|=2.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.9  +1.0  -0.1  +0.4  -3.0  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j1）
[001] 推論 608ms  10ステップ先  Δ=-21.1 +19.6  +6.2  +0.9 -29.7  -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_chunk001_via02: send_angles (single) [ -23.69,  +25.05,   +9.65,   +0.60,  -31.54,  -30.85]  speed=20 wait=1.0s  (pre max|Δ|=8.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.9  +5.0  +1.3  +0.6  -8.5  -0.4  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -30.66,  +31.16,  +11.85,   +0.73,  -40.44,  -30.84]  speed=20 wait=1.0s  (pre max|Δ|=9.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.7  +5.2  +1.5  -0.8  -9.7  -0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -37.28,  +37.57,  +14.02,   +0.55,  -49.77,  -30.85]  speed=20 wait=1.0s  (pre max|Δ|=9.70°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=36.50° actual=[ -37.08,  +38.67,  +14.58,   +0.26,  -13.27,  -31.02]
[SEND] リトライしません: pre→last max|Δ| 26.80° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  8  Δ= -7.1  +5.5  +1.5  -0.9  -9.7  -0.4  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
       [LIMIT] step 9 (実測から): j4 移動量 -39.7° を ±20° に制限
[SEND] pi05_chunk001_via09: send_angles (single) [ -38.98,  +39.63,  +14.59,   +0.52,  -33.09,  -30.82]  speed=20 wait=1.0s  (pre max|Δ|=20.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.9  +1.0  +0.0  +0.2 -20.0  +0.2  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 558ms  10ステップ先  Δ=-19.3 +17.5  +5.8  +0.1 -26.9  +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) [ -45.71,  +45.28,  +16.40,   +1.06,  -42.65,  -30.89]  speed=20 wait=1.0s  (pre max|Δ|=9.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.0  +4.7  +1.5  +0.0  -9.1  +0.1  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -52.19,  +51.42,  +18.47,   +1.20,  -51.75,  -30.93]  speed=20 wait=1.0s  (pre max|Δ|=9.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.7  +5.1  +1.7  -0.2  -9.7  +0.1  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -57.29,  +57.09,  +20.44,   +1.22,  -59.29,  -30.95]  speed=20 wait=1.0s  (pre max|Δ|=8.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.82° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.4  +4.8  +1.8  -0.5  -8.9  -0.0  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -58.03,  +58.14,  +20.77,   +1.19,  -60.48,  -30.93]  speed=20 wait=1.0s  (pre max|Δ|=1.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.83° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.8  +0.2  +0.5  -0.4  -1.3  +0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.83°（関節 j1）
[003] 推論 417ms  8ステップ先  Δ= +0.1  +2.0  -2.0  -0.5  +2.8  -0.0  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 > 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|=60.90°, post-send timeout 11.1s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_125528
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 
