Last login: Thu Oct 29 11:53:13 on ttys008
(base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % 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_194818 --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 --ignore-framing
Traceback (most recent call last):
  File "<string>", line 1, in <module>
ModuleNotFoundError: No module named 'visual_servo_pick'
python3: can't open file '/Users/shimazueiichi/pi05/camera_align.py': [Errno 2] No such file or directory
python3: can't open file '/Users/shimazueiichi/pi05/run_policy_client.py': [Errno 2] No such file or directory
(base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % cd ~/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_194818 --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_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[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=  -3.2  response=0.483  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -0.7  dx=  -4.5  response=0.650  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -2.7  dx=  -2.2  response=0.548  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -3.8  dx=  +4.6  response=0.661  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -2.0  dx=  +7.8  response=0.717  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -0.9  dx=  +9.6  response=0.559  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +0.2  dx= +15.6  response=0.542  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -1.8  dx= +11.8  response=0.586  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +1.0  dx=  +1.8  response=0.649  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -2.0  dx=  +4.8  response=0.524  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -3.8  dx=  +1.4  response=0.534  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -5.9  dx=  +0.3  response=0.593  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -8.1  dx=  +2.4  response=0.613  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -9.9  dx=  +3.3  response=0.699  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -7.8  dx=  +3.4  response=0.656  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -3.9  dx=  +4.4  response=0.632  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -0.2  dx=  +5.5  response=0.590  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +3.8  dx=  +5.5  response=0.731  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +8.6  dx=  +6.4  response=0.639  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +5.9  dx=  +5.3  response=0.705  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +3.8  dx=  +1.9  response=0.576  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +7.1  dx=  +1.9  response=0.735  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +11.9  dx=  +0.6  response=0.643  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +13.9  dx=  +1.7  response=0.640  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +11.0  dx=  +4.6  response=0.675  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +8.2  dx=  +8.4  response=0.617  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +7.1  dx= +11.7  response=0.637  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +8.1  dx= +13.5  response=0.537  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +6.2  dx= +22.4  response=0.523  → ずれ (|dx|=22.4 > 20)
[ALIGN ] dy=  +5.1  dx= +25.2  response=0.502  → ずれ (|dx|=25.2 > 20)
[ALIGN ] dy=  +2.1  dx= +22.1  response=0.564  → ずれ (|dx|=22.1 > 20)
[ALIGN ] dy=  +5.2  dx= +14.4  response=0.522  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +8.0  dx= +12.7  response=0.470  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +6.0  dx= +14.6  response=0.441  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +7.2  dx= +10.6  response=0.430  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +4.9  dx= +10.0  response=0.586  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +3.9  dx=  +6.9  response=0.487  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +2.9  dx=  -4.2  response=0.688  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +1.7  dx=  -3.1  response=0.499  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +0.1  dx=  +4.6  response=0.669  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -0.9  dx=  +3.5  response=0.653  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +0.5  dx=  +7.6  response=0.423  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +2.2  dx=  +9.8  response=0.345  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +3.4  dx= +11.8  response=0.063  → 測れない (相関が弱く dx/dy が当てにならない (response=0.063 < 0.20))
[ALIGN ] dy=  +1.9  dx= +11.7  response=0.074  → 測れない (相関が弱く dx/dy が当てにならない (response=0.074 < 0.20))
[ALIGN ] dy=  +3.0  dx=  +9.5  response=0.105  → 測れない (相関が弱く dx/dy が当てにならない (response=0.105 < 0.20))
[ALIGN ] dy=  +2.0  dx= +10.1  response=0.060  → 測れない (相関が弱く dx/dy が当てにならない (response=0.060 < 0.20))
[ALIGN ] dy=  +3.8  dx=  +9.9  response=0.153  → 測れない (相関が弱く dx/dy が当てにならない (response=0.153 < 0.20))
[ALIGN ] dy=  +0.4  dx= +11.0  response=0.038  → 測れない (相関が弱く dx/dy が当てにならない (response=0.038 < 0.20))
[ALIGN ] dy=  +3.4  dx=  +9.3  response=0.106  → 測れない (相関が弱く dx/dy が当てにならない (response=0.106 < 0.20))
[ALIGN ] dy=  +1.0  dx=  +9.2  response=0.075  → 測れない (相関が弱く dx/dy が当てにならない (response=0.075 < 0.20))
[ALIGN ] dy=  +2.3  dx=  +9.9  response=0.080  → 測れない (相関が弱く dx/dy が当てにならない (response=0.080 < 0.20))
[ALIGN ] dy=  +0.9  dx=  +9.3  response=0.342  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -0.4  dx=  +6.2  response=0.753  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -1.5  dx=  +1.2  response=0.876  → 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_145115
[CAMERA] 写り方 dy=-7.9 dx=+8.2 response=0.532 → 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] サーバー待ち ws://localhost:8000 ... (SSH トンネルは張れていますか)
[POLICY] サーバー待ち ws://localhost:8000 ... (SSH トンネルは張れていますか)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_145115
Traceback (most recent call last):
  File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/http11.py", line 244, in parse
    status_line = yield from parse_line(read_line)
                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/http11.py", line 320, in parse_line
    line = yield from read_line(MAX_LINE_LENGTH)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/streams.py", line 46, in read_line
    raise EOFError(f"stream ends after {p} bytes, before end of line")
EOFError: stream ends after 0 bytes, before end of line

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/client.py", line 303, in parse
    response = yield from Response.parse(
               ^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/http11.py", line 246, in parse
    raise EOFError("connection closed while reading HTTP status line") from exc
EOFError: connection closed while reading HTTP status line

The above exception was the direct cause of the following exception:

Traceback (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 498, in main
    policy = PolicyClient(args.host, args.port)
             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/Users/shimazueiichi/r2r2r-scripts/pi05/policy_ws.py", line 46, in __init__
    self.ws = websockets.sync.client.connect(
              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/sync/client.py", line 381, in connect
    connection.handshake(
  File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/sync/client.py", line 102, in handshake
    raise self.protocol.handshake_exc
websockets.exceptions.InvalidMessage: did not receive a valid HTTP response
(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_145207
[CAMERA] 写り方 dy=-7.7 dx=+8.3 response=0.547 → 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 941ms  10ステップ先  Δ= +4.6 +16.4 +11.4  -3.1 -23.1  +2.8
       [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) [  +0.66,   +5.52,   +4.38,   -0.61,   -6.30,  -29.55]  speed=20 wait=1.0s  (pre max|Δ|=6.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +4.2  +2.6  -0.9  -6.0  +0.7  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +2.00,  +10.52,   +7.89,   -1.52,  -13.17,  -28.66]  speed=20 wait=1.0s  (pre max|Δ|=8.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.6  +4.1  +2.5  -1.3  -8.3  +0.9  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +3.65,  +15.84,  +11.97,   -2.57,  -20.65,  -27.69]  speed=20 wait=1.0s  (pre max|Δ|=8.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.1  +4.5  +3.1  -1.3  -8.3  +1.1  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +4.39,  +17.71,  +13.13,   -2.88,  -23.39,  -27.40]  speed=20 wait=1.0s  (pre max|Δ|=3.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.83° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.3  +1.0  +0.2  -0.2  -3.4  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.83°（関節 j1）
[001] 推論 555ms  10ステップ先  Δ= +5.2 +18.2 +11.5  -0.3 -28.3  +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_chunk001_via02: send_angles (single) [  +5.89,  +23.59,  +16.92,   -3.36,  -32.06,  -26.90]  speed=20 wait=1.0s  (pre max|Δ|=8.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.9  +5.1  +3.0  -0.0  -8.9  +0.7  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +7.65,  +29.62,  +20.86,   -3.48,  -41.24,  -26.76]  speed=20 wait=1.0s  (pre max|Δ|=9.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.0  +5.0  +3.2  +0.0  -9.8  +0.3  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +9.02,  +35.34,  +24.75,   -3.69,  -49.64,  -26.66]  speed=20 wait=1.0s  (pre max|Δ|=8.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.9  +4.8  +3.2  -0.2  -8.7  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +9.28,  +36.75,  +25.33,   -3.63,  -51.49,  -26.66]  speed=20 wait=1.0s  (pre max|Δ|=2.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  +0.5  +0.1  -0.2  -2.3  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.95°（関節 j1）
[002] 推論 572ms  10ステップ先  Δ= +1.9  +8.9  +5.3  -0.4 -11.9  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ +10.40,  +42.82,  +29.18,   -4.00,  -59.98,  -26.65]  speed=20 wait=1.0s  (pre max|Δ|=8.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.27° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.3  +5.1  +4.0  -0.6  -8.0  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +11.01,  +46.37,  +31.11,   -4.01,  -63.76,  -26.65]  speed=20 wait=1.0s  (pre max|Δ|=5.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  +2.6  +2.0  -0.2  -5.1  +0.1  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +10.90,  +46.64,  +30.88,   -3.85,  -63.99,  -26.62]  speed=20 wait=1.0s  (pre max|Δ|=0.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.84° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  -0.8  -0.8  -0.2  -0.1  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +10.98,  +46.57,  +30.52,   -3.84,  -63.88,  -26.63]  speed=20 wait=1.0s  (pre max|Δ|=1.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.20° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -0.9  -1.2  -0.2  +0.0  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.20°（関節 j2）
[003] 推論 1708ms  10ステップ先  Δ= +0.3  +8.7  -8.5  -0.1  +1.6  +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_chunk003_via02: send_angles (single) [ +11.05,  +48.58,  +30.00,   -3.73,  -64.25,  -26.63]  speed=20 wait=1.0s  (pre max|Δ|=1.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  +1.1  -1.7  -0.1  -0.4  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +11.28,  +51.92,  +27.26,   -3.78,  -63.63,  -26.66]  speed=20 wait=1.0s  (pre max|Δ|=4.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  +2.4  -4.2  -0.2  +0.4  +0.1  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +11.40,  +55.38,  +23.90,   -3.77,  -62.43,  -26.72]  speed=20 wait=1.0s  (pre max|Δ|=4.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.37° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +2.6  -4.4  -0.3  +1.5  +0.1  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +11.55,  +56.18,  +23.21,   -3.74,  -62.25,  -26.74]  speed=20 wait=1.0s  (pre max|Δ|=1.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -0.1  -1.5  -0.2  +1.5  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.48°（関節 j2）
[004] 推論 765ms  6ステップ先  Δ= +0.7  +2.6  -4.4  -0.2  +1.7  -0.1  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) [ +11.77,  +59.67,  +20.40,   -3.68,  -61.58,  -26.80]  speed=20 wait=1.0s  (pre max|Δ|=4.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +2.6  -4.3  -0.2  +1.3  -0.1  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +11.90,  +59.76,  +20.33,   -3.69,  -61.42,  -26.78]  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  5  Δ= +0.7  -0.4  -0.7  -0.2  +1.1  +0.1  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 1.15°（関節 j4）
[005] 推論 571ms  10ステップ先  Δ= +0.6  -8.0  +6.5  +0.1  -0.5  +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_chunk005_via02: send_angles (single) [ +11.90,  +59.93,  +20.31,   -2.93,  -62.01,  -27.26]  speed=20 wait=1.0s  (pre max|Δ|=0.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.56° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -0.3  +0.0  +0.3  +0.6  -0.1  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +11.68,  +57.53,  +22.46,   -2.90,  -62.50,  -27.14]  speed=20 wait=1.0s  (pre max|Δ|=2.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.26° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -2.7  +2.2  +0.3  +0.1  +0.0  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +11.94,  +53.33,  +25.87,   -3.04,  -62.93,  -27.00]  speed=20 wait=1.0s  (pre max|Δ|=5.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -5.5  +4.5  +0.2  -1.4  -0.0  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +12.02,  +52.15,  +26.79,   -3.03,  -63.09,  -27.02]  speed=20 wait=1.0s  (pre max|Δ|=2.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -2.7  +1.5  +0.5  -2.3  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.92°（関節 j4）
[006] 推論 638ms  10ステップ先  Δ=+11.0  -6.3  -5.9  +2.9  +2.0  -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_chunk006_via02: send_angles (single) [ +11.80,  +49.47,  +29.43,   -3.12,  -63.82,  -26.86]  speed=20 wait=1.0s  (pre max|Δ|=4.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -4.6  +3.2  +0.2  -2.0  -0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +13.93,  +47.90,  +28.97,   -2.76,  -63.07,  -27.23]  speed=20 wait=1.0s  (pre max|Δ|=3.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.4  -3.6  -0.5  +0.5  +0.2  -0.8  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +20.56,  +47.86,  +22.40,   -1.07,  -60.11,  -28.81]  speed=20 wait=1.0s  (pre max|Δ|=7.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.88° (tol 3.0°)
       [VIA   ] step  8  Δ= +6.8  -1.9  -7.0  +1.6  +3.2  -2.2  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +22.46,  +47.74,  +20.36,   -0.56,  -59.19,  -29.31]  speed=20 wait=1.0s  (pre max|Δ|=3.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.1  -2.0  -3.1  +0.6  +2.3  -1.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.00°（関節 j1）
[007] 推論 1467ms  10ステップ先  Δ=+20.7  +4.1 -24.6  +5.1 +10.7  -4.8
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ +28.79,  +49.20,  +12.59,   +0.96,  -56.32,  -30.77]  speed=20 wait=1.0s  (pre max|Δ|=9.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.5  -0.5  -9.0  +1.7  +3.3  -1.8  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +35.37,  +50.89,   +4.81,   +2.42,  -53.07,  -32.19]  speed=20 wait=1.0s  (pre max|Δ|=9.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  5  Δ= +6.6  +0.8  -9.1  +1.9  +3.6  -1.8  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +41.65,  +53.00,   -1.80,   +3.95,  -49.82,  -33.56]  speed=20 wait=1.0s  (pre max|Δ|=7.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.28° (tol 3.0°)
       [VIA   ] step  8  Δ= +6.1  +1.2  -7.8  +1.6  +3.4  -1.8  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +43.06,  +53.87,   -3.01,   +4.31,  -49.35,  -33.80]  speed=20 wait=1.0s  (pre max|Δ|=2.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.4  -0.3  -2.5  +0.3  +0.7  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.70°（関節 j2）
[008] 推論 560ms  10ステップ先  Δ= -0.0 +11.8  -2.4  +1.7 -10.1  -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_chunk008_via02: send_angles (single) [ +43.03,  +58.36,   -3.19,   +4.83,  -52.85,  -33.86]  speed=20 wait=1.0s  (pre max|Δ|=3.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +3.3  -1.9  +0.8  -3.3  -0.4  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +43.04,  +62.83,   -3.34,   +5.29,  -56.17,  -33.91]  speed=20 wait=1.0s  (pre max|Δ|=4.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.22° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +3.5  -1.9  +1.1  -4.1  +0.6  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +42.82,  +66.34,   -3.59,   +5.70,  -59.09,  -33.98]  speed=20 wait=1.0s  (pre max|Δ|=2.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  +2.8  -1.1  +0.9  -1.7  +0.6  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +42.79,  +66.78,   -3.68,   +5.77,  -59.66,  -34.02]  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= -0.5  -0.0  -0.5  +0.5  +1.4  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.42°（関節 j4）

[009] 推論 1641ms  4ステップ先  Δ= -0.8  +0.6  -0.4  +0.7  +0.5  +0.0  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_chunk009_via02: send_angles (single) [ +42.52,  +67.52,   -3.60,   +6.15,  -60.56,  -34.24]  speed=20 wait=1.0s  (pre max|Δ|=0.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.56° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.8  +0.6  -0.4  +0.6  +0.5  +0.0  着いた
[SEND] pi05_chunk009_via03: send_angles (single) [ +42.52,  +67.52,   -3.60,   +6.15,  -60.56,  -34.24]  speed=20 wait=1.0s  (pre max|Δ|=0.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.52° (tol 3.0°)
       [VIA   ] step  3  Δ= -0.4  -0.2  +0.3  +0.4  +0.5  +0.6  着いた
  [Pi] GRIPPER: OPEN result= -1
[STATE ] 目標を渡す  目標と実測の最大差 1.11°（関節 j5）
[010] 推論 738ms  10ステップ先  Δ= +0.4 -11.4  +0.6  -1.0  +8.8  -1.8
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +42.67,  +65.76,   -3.64,   +6.35,  -59.49,  -34.70]  speed=20 wait=1.0s  (pre max|Δ|=2.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.74° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -2.2  +0.3  -0.3  +0.5  -1.2  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +42.85,  +61.82,   -3.67,   +6.18,  -55.90,  -34.85]  speed=20 wait=1.0s  (pre max|Δ|=5.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.98° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  -5.7  +0.3  -0.5  +3.7  -0.6  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +42.73,  +58.01,   -3.58,   +6.15,  -52.33,  -34.93]  speed=20 wait=1.0s  (pre max|Δ|=5.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.45° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -5.8  -0.3  +0.3  +1.6  +0.5  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +42.51,  +56.57,   -3.40,   +6.18,  -51.21,  -34.94]  speed=20 wait=1.0s  (pre max|Δ|=3.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.49° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -3.9  -0.3  +0.8  -0.2  +0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.49°（関節 j1）
[011] 推論 559ms  10ステップ先  Δ=-12.9 -24.7  +2.5  -2.5 +19.4  +2.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +42.16,  +52.47,   -2.69,   +5.97,  -48.59,  -34.90]  speed=20 wait=1.0s  (pre max|Δ|=6.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  -6.6  +0.3  +0.3  +2.0  +0.7  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +38.32,  +45.91,   -1.73,   +5.04,  -42.49,  -34.39]  speed=20 wait=1.0s  (pre max|Δ|=8.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.1  -8.7  +0.5  -0.8  +6.6  +0.9  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +31.62,  +37.12,   -0.72,   +3.48,  -33.94,  -33.52]  speed=20 wait=1.0s  (pre max|Δ|=10.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.0 -10.9  +0.3  -2.2  +8.9  +1.2  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +29.54,  +34.36,   -0.45,   +2.95,  -31.19,  -33.27]  speed=20 wait=1.0s  (pre max|Δ|=4.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.2  -4.8  -0.3  -1.0  +3.1  +0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.20°（関節 j1）
[012] 推論 565ms  10ステップ先  Δ=-23.5 -29.3  +1.4  -2.7 +26.4  +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_chunk012_via02: send_angles (single) [ +22.75,  +26.46,   +0.40,   +1.58,  -23.23,  -32.49]  speed=20 wait=1.0s  (pre max|Δ|=10.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.9 -10.1  +0.2  -1.2  +8.2  +0.9  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +15.76,  +18.23,   +1.30,   +0.51,  -15.30,  -31.67]  speed=20 wait=1.0s  (pre max|Δ|=10.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.0 -10.2  +0.3  -1.3  +8.2  +1.0  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [  +8.16,   +9.23,   +1.70,   +0.08,   -7.03,  -31.19]  speed=20 wait=1.0s  (pre max|Δ|=10.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 3.0°)
       [VIA   ] step  8  Δ= -8.1 -10.7  -0.2  -0.7  +8.6  +0.5  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [  +6.11,   +7.24,   +1.61,   +0.09,   -5.05,  -31.12]  speed=20 wait=1.0s  (pre max|Δ|=3.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.0  -3.5  -0.9  -0.2  +2.1  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.54°（関節 j1）
[013] 推論 557ms  10ステップ先  Δ= -5.1  -6.1  -0.8  -0.4  +3.7  +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_chunk013_via02: send_angles (single) [  +1.26,   +2.56,   +1.71,   +0.00,   -1.48,  -31.09]  speed=20 wait=1.0s  (pre max|Δ|=6.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.21° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.6  -6.2  -0.7  -0.3  +3.7  +0.2  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [  +0.67,   +2.49,   +1.69,   +0.01,   -1.43,  -31.09]  speed=20 wait=1.0s  (pre max|Δ|=1.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.28° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.4  -1.3  -0.8  -0.3  +0.3  +0.1  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [  +0.73,   +2.68,   +1.72,   +0.01,   -1.43,  -31.06]  speed=20 wait=1.0s  (pre max|Δ|=1.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  -1.1  -0.8  -0.3  +0.3  +0.1  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [  +0.74,   +2.70,   +1.70,   -0.00,   -1.47,  -31.07]  speed=20 wait=1.0s  (pre max|Δ|=1.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -1.1  -0.8  -0.3  +0.3  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.07°（関節 j1）
[014] 推論 556ms  10ステップ先  Δ= -1.1  -1.5  -0.8  -0.3  +0.3  +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 > 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|=3.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_145207
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/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_194818 --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_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[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=  -1.5  dx=  +0.9  response=0.852  → 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_145641
[CAMERA] 写り方 dy=-8.5 dx=+8.0 response=0.558 → 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 1542ms  10ステップ先  Δ= +3.7 +16.7 +10.9  -2.0 -22.9  +2.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[GRIP  ] 開始時にグリッパーを開く
  [Pi] GRIPPER: OPEN result= -1
[SEND] pi05_chunk000_via02: send_angles (single) [  +0.47,   +5.91,   +4.84,   -0.27,   -6.90,  -29.44]  speed=20 wait=1.0s  (pre max|Δ|=6.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.37° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +4.6  +2.6  -0.5  -6.6  +0.7  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.61,  +11.22,   +8.29,   -0.94,  -14.34,  -28.58]  speed=20 wait=1.0s  (pre max|Δ|=8.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.4  +4.3  +2.4  -1.0  -8.8  +1.0  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.91,  +16.54,  +12.20,   -1.54,  -21.51,  -27.63]  speed=20 wait=1.0s  (pre max|Δ|=8.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.6  +4.3  +2.9  -0.7  -8.1  +1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.33,  +17.97,  +13.09,   -1.70,  -23.19,  -27.44]  speed=20 wait=1.0s  (pre max|Δ|=2.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  +0.4  +0.0  +0.1  -2.0  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.92°（関節 j1）
[001] 推論 559ms  10ステップ先  Δ= +5.7 +18.9 +11.4  -0.2 -29.6  +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) [  +4.77,  +23.86,  +16.65,   -2.20,  -31.64,  -26.94]  speed=20 wait=1.0s  (pre max|Δ|=8.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.7  +5.0  +2.9  -0.2  -8.6  +0.7  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +6.60,  +29.96,  +20.54,   -2.14,  -41.08,  -26.82]  speed=20 wait=1.0s  (pre max|Δ|=9.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.3  +5.2  +3.1  +0.2 -10.0  +0.3  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +8.25,  +35.93,  +24.25,   -2.24,  -50.17,  -26.76]  speed=20 wait=1.0s  (pre max|Δ|=9.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.6  +5.1  +3.2  +0.1  -9.5  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +8.75,  +37.82,  +25.24,   -2.26,  -52.66,  -26.75]  speed=20 wait=1.0s  (pre max|Δ|=2.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  +0.9  +0.6  -0.1  -2.8  +0.2  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 1720ms  10ステップ先  Δ= +1.3  +8.8  +5.4  -0.1 -11.7  +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_chunk002_via02: send_angles (single) [  +9.66,  +43.53,  +29.01,   -2.70,  -60.67,  -26.72]  speed=20 wait=1.0s  (pre max|Δ|=8.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +4.8  +3.3  -0.3  -8.0  +0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +10.23,  +46.78,  +31.06,   -2.68,  -63.77,  -26.72]  speed=20 wait=1.0s  (pre max|Δ|=3.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +2.3  +2.1  -0.4  -3.8  +0.1  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +10.25,  +47.50,  +31.33,   -2.49,  -64.22,  -26.70]  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  8  Δ= +0.5  -0.3  -0.3  -0.2  +0.9  +0.1  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +10.22,  +47.52,  +31.06,   -2.46,  -64.29,  -26.71]  speed=20 wait=1.0s  (pre max|Δ|=0.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.83° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -0.8  -0.7  -0.2  +0.8  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.83°（関節 j4）
[003] 推論 765ms  10ステップ先  Δ= +1.1 +10.9 -10.1  -0.2  +2.4  +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_chunk003_via02: send_angles (single) [ +10.53,  +51.40,  +28.52,   -2.43,  -64.25,  -26.69]  speed=20 wait=1.0s  (pre max|Δ|=3.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.27° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.9  +3.1  -3.2  -0.1  +0.9  +0.1  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +10.94,  +55.36,  +25.26,   -2.47,  -63.49,  -26.73]  speed=20 wait=1.0s  (pre max|Δ|=4.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  +3.1  -4.5  -0.3  +1.3  +0.1  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +10.85,  +58.56,  +22.36,   -2.49,  -62.82,  -26.76]  speed=20 wait=1.0s  (pre max|Δ|=3.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +2.3  -3.9  -0.3  +1.1  +0.0  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +10.85,  +59.20,  +21.65,   -2.48,  -62.68,  -26.79]  speed=20 wait=1.0s  (pre max|Δ|=1.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.0  -1.4  -0.2  +1.0  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.04°（関節 j4）
[004] 推論 588ms  4ステップ先  Δ= +0.1  +0.8  -2.1  -0.3  +1.3  +0.3  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 3
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ +10.79,  +60.57,  +20.51,   -2.53,  -62.44,  -26.80]  speed=20 wait=1.0s  (pre max|Δ|=2.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  +0.8  -2.1  -0.3  +1.1  +0.3  着いた
[SEND] pi05_chunk004_via03: send_angles (single) [ +10.79,  +60.57,  +20.51,   -2.53,  -62.44,  -26.80]  speed=20 wait=1.0s  (pre max|Δ|=1.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  3  Δ= +0.1  -0.5  -0.5  -0.3  +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 1.10°（関節 j4）
[005] 推論 550ms  10ステップ先  Δ= +1.0  -8.6  +6.9  -0.9  -0.4  -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_chunk005_via02: send_angles (single) [ +10.78,  +59.65,  +21.23,   -2.52,  -62.71,  -27.15]  speed=20 wait=1.0s  (pre max|Δ|=1.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -1.4  +0.8  -0.6  +0.8  -0.2  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +10.70,  +56.64,  +24.31,   -2.67,  -63.55,  -26.96]  speed=20 wait=1.0s  (pre max|Δ|=4.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -4.1  +3.8  -0.6  -0.3  +0.0  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +11.14,  +53.23,  +27.10,   -2.75,  -64.07,  -26.91]  speed=20 wait=1.0s  (pre max|Δ|=4.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.0  -4.6  +3.9  +0.4  -2.4  -0.5  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +11.21,  +52.52,  +27.38,   -2.74,  -63.93,  -27.01]  speed=20 wait=1.0s  (pre max|Δ|=2.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.97° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -2.3  +0.8  +0.6  -2.1  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.97°（関節 j1）
[006] 推論 542ms  10ステップ先  Δ=+13.5  -4.4  -8.9  +3.0  +3.0  -3.2
       [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|=62.40°, post-send timeout 11.4s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_145641
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/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_194818 --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_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[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=  -1.1  dx=  +1.0  response=0.923  → 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_145851
[CAMERA] 写り方 dy=-7.7 dx=+7.8 response=0.566 → 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 1436ms  10ステップ先  Δ= +4.2 +17.1 +12.2  -2.2 -26.3  +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) [  +0.64,   +5.23,   +4.25,   -0.46,   -6.15,  -29.34]  speed=20 wait=1.0s  (pre max|Δ|=5.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.41° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.0  +3.8  +2.5  -0.2  -5.9  +0.4  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.95,  +11.04,   +8.48,   -1.36,  -15.22,  -28.51]  speed=20 wait=1.0s  (pre max|Δ|=10.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.5  +4.9  +3.1  -1.2 -10.5  +1.2  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +3.30,  +16.63,  +12.63,   -2.25,  -23.66,  -27.54]  speed=20 wait=1.0s  (pre max|Δ|=9.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.6  +4.7  +3.1  -1.8  -9.6  +1.7  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.86,  +18.55,  +13.97,   -2.49,  -26.53,  -27.23]  speed=20 wait=1.0s  (pre max|Δ|=3.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.1  +1.0  +0.5  -0.6  -3.5  +0.9  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 618ms  10ステップ先  Δ= +5.7 +18.2 +12.0  -1.2 -29.8  +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_chunk001_via02: send_angles (single) [  +5.34,  +23.85,  +17.60,   -2.89,  -34.80,  -26.90]  speed=20 wait=1.0s  (pre max|Δ|=7.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.8  +4.3  +2.9  -0.9  -7.7  +0.6  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +7.15,  +29.72,  +21.60,   -2.99,  -44.14,  -26.79]  speed=20 wait=1.0s  (pre max|Δ|=9.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.86° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.1  +4.9  +3.2  -0.4 -10.0  +0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +8.86,  +35.84,  +25.64,   -3.18,  -54.09,  -26.71]  speed=20 wait=1.0s  (pre max|Δ|=10.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  +5.3  +3.5  -0.1 -10.6  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +9.29,  +37.67,  +26.66,   -3.21,  -56.93,  -26.62]  speed=20 wait=1.0s  (pre max|Δ|=3.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.9  +0.9  +0.7  -0.2  -3.1  +0.3  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 1500ms  10ステップ先  Δ= +1.3  +6.5  +3.1  -0.1  -7.9  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ +10.34,  +42.87,  +29.85,   -3.44,  -63.82,  -26.61]  speed=20 wait=1.0s  (pre max|Δ|=6.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +4.2  +3.0  -0.3  -6.6  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +10.81,  +45.11,  +30.88,   -3.30,  -65.46,  -26.62]  speed=20 wait=1.0s  (pre max|Δ|=2.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  +1.3  +0.9  -0.2  -2.0  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +10.74,  +45.07,  +30.26,   -3.22,  -65.07,  -26.61]  speed=20 wait=1.0s  (pre max|Δ|=1.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -1.0  -1.0  -0.1  +1.1  +0.1  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +10.77,  +45.21,  +29.95,   -3.23,  -65.07,  -26.61]  speed=20 wait=1.0s  (pre max|Δ|=1.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.25° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -0.8  -1.3  -0.2  +1.1  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.25°（関節 j2）
[003] 推論 620ms  10ステップ先  Δ= +0.5 +10.9 -10.3  -0.2  +4.0  +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_chunk003_via02: send_angles (single) [ +11.01,  +48.63,  +27.53,   -3.19,  -64.35,  -26.60]  speed=20 wait=1.0s  (pre max|Δ|=3.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.21° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  +2.6  -3.7  -0.1  +1.7  +0.1  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +11.20,  +52.41,  +24.63,   -3.22,  -63.25,  -26.66]  speed=20 wait=1.0s  (pre max|Δ|=4.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  +2.9  -4.1  -0.2  +1.8  +0.1  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +11.02,  +55.95,  +21.80,   -3.32,  -62.43,  -26.68]  speed=20 wait=1.0s  (pre max|Δ|=3.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.4  +2.6  -3.9  -0.4  +1.2  +0.0  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +11.04,  +56.95,  +20.94,   -3.32,  -62.17,  -26.68]  speed=20 wait=1.0s  (pre max|Δ|=1.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  +0.1  -1.9  -0.4  +0.6  +0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.47°（関節 j2）
[004] 推論 590ms  5ステップ先  Δ= -0.2  +2.0  -3.8  -0.3  +0.9  +0.0  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 4
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ +11.09,  +59.84,  +18.61,   -3.30,  -61.71,  -26.71]  speed=20 wait=1.0s  (pre max|Δ|=3.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.72° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  +1.9  -3.8  -0.3  +0.8  +0.0  着いた
[SEND] pi05_chunk004_via04: send_angles (single) [ +11.13,  +59.92,  +18.59,   -3.31,  -61.58,  -26.71]  speed=20 wait=1.0s  (pre max|Δ|=0.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.74° (tol 3.0°)
       [VIA   ] step  4  Δ= -0.2  -0.6  -0.7  -0.3  +0.7  +0.1  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 1.52°（関節 j4）
[005] 推論 1455ms  10ステップ先  Δ= +0.4  -9.6  +7.6  +0.0  -0.5  +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_chunk005_via02: send_angles (single) [ +11.28,  +58.60,  +19.55,   -2.71,  -62.01,  -27.03]  speed=20 wait=1.0s  (pre max|Δ|=2.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -2.0  +0.3  +0.2  +1.1  -0.0  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +11.17,  +55.63,  +22.45,   -2.93,  -62.88,  -26.87]  speed=20 wait=1.0s  (pre max|Δ|=4.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -4.5  +3.2  -0.0  -0.4  +0.1  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +11.29,  +52.17,  +25.92,   -2.93,  -63.57,  -26.82]  speed=20 wait=1.0s  (pre max|Δ|=5.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -5.0  +4.0  +0.3  -2.6  +0.1  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +11.31,  +51.06,  +26.80,   -2.87,  -63.63,  -26.87]  speed=20 wait=1.0s  (pre max|Δ|=3.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -3.2  +1.0  +0.4  -2.1  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.11°（関節 j1）
[006] 推論 541ms  10ステップ先  Δ=+11.8  -5.4  -7.0  +2.6  +2.8  -2.8
       [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_chunk006_via02: send_angles (single) [ +11.03,  +48.45,  +29.67,   -2.98,  -64.45,  -26.71]  speed=20 wait=1.0s  (pre max|Δ|=4.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  -4.7  +2.9  +0.2  -1.9  -0.3  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +13.14,  +47.49,  +29.04,   -2.55,  -63.74,  -27.11]  speed=20 wait=1.0s  (pre max|Δ|=3.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.2  -3.0  -0.9  +0.5  +1.7  -0.7  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +20.38,  +47.98,  +21.83,   -0.98,  -61.02,  -28.77]  speed=20 wait=1.0s  (pre max|Δ|=8.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  8  Δ= +7.3  -1.7  -8.1  +1.7  +4.1  -2.3  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +22.79,  +47.79,  +19.80,   -0.56,  -59.73,  -29.26]  speed=20 wait=1.0s  (pre max|Δ|=3.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.6  -1.9  -3.1  +0.7  +2.1  -1.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.86°（関節 j1）
[007] 推論 613ms  10ステップ先  Δ=+21.3  +3.2 -23.1  +5.1  +9.0  -5.3
       [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) [ +29.82,  +48.99,  +12.11,   +1.10,  -57.10,  -30.79]  speed=20 wait=1.0s  (pre max|Δ|=8.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.24° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.0  -0.7  -9.0  +2.0  +3.0  -2.0  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +36.63,  +50.38,   +4.64,   +2.54,  -53.72,  -32.31]  speed=20 wait=1.0s  (pre max|Δ|=8.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.24° (tol 3.0°)
       [VIA   ] step  5  Δ= +6.9  +0.6  -8.7  +1.6  +3.8  -1.5  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +43.00,  +52.21,   -1.23,   +3.95,  -50.87,  -33.76]  speed=20 wait=1.0s  (pre max|Δ|=7.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 3.0°)
       [VIA   ] step  8  Δ= +6.3  +0.9  -7.1  +1.4  +3.1  -1.8  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +44.12,  +52.88,   -2.04,   +4.20,  -51.14,  -34.01]  speed=20 wait=1.0s  (pre max|Δ|=2.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.2  -0.4  -2.1  +0.2  -0.1  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.78°（関節 j2）
[008] 推論 779ms  10ステップ先  Δ= -0.1 +12.2  -2.9  +1.9 -10.4  -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_chunk008_via02: send_angles (single) [ +44.25,  +57.78,   -2.66,   +4.77,  -54.66,  -34.10]  speed=20 wait=1.0s  (pre max|Δ|=3.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  +3.7  -2.4  +0.9  -3.7  -0.4  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +44.39,  +62.13,   -2.89,   +5.22,  -57.87,  -34.18]  speed=20 wait=1.0s  (pre max|Δ|=5.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  +3.3  -2.1  +0.3  -5.3  -0.4  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +44.30,  +65.96,   -3.08,   +5.71,  -61.06,  -34.27]  speed=20 wait=1.0s  (pre max|Δ|=2.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  +2.9  -1.7  +0.9  -2.5  -0.5  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +44.28,  +66.27,   -3.16,   +5.76,  -61.38,  -34.29]  speed=20 wait=1.0s  (pre max|Δ|=1.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.37° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.4  -1.1  +0.4  +1.5  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.37°（関節 j4）
[009] 推論 1550ms  2ステップ先  Δ= -0.2  -0.6  -1.0  +0.3  +1.4  -0.5  グリッパー→開
       [VIA   ] 中継点 1 点: step 1
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via01: send_angles (single) [ +44.20,  +66.25,   -3.24,   +5.85,  -61.39,  -34.37]  speed=20 wait=1.0s  (pre max|Δ|=1.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  1  Δ= -0.2  -0.6  -1.0  +0.3  +1.2  -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 0.65°（関節 j3）
[010] 推論 789ms  10ステップ先  Δ= +0.3 -14.3  +0.1  -0.5 +10.6  +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_chunk010_via02: send_angles (single) [ +44.22,  +62.43,   -3.16,   +5.91,  -58.61,  -34.57]  speed=20 wait=1.0s  (pre max|Δ|=4.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -4.4  -0.5  -0.5  +2.9  +0.3  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +44.43,  +58.71,   -3.17,   +5.88,  -55.59,  -34.70]  speed=20 wait=1.0s  (pre max|Δ|=5.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.46° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -5.5  -0.5  +0.4  +1.3  +0.5  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +44.49,  +54.38,   -2.83,   +6.04,  -52.32,  -34.84]  speed=20 wait=1.0s  (pre max|Δ|=6.79°, post-send timeout 8.0s)

[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -6.8  -0.3  +0.7  +1.7  +0.2  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +44.16,  +52.61,   -2.52,   +6.04,  -50.94,  -34.82]  speed=20 wait=1.0s  (pre max|Δ|=3.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.32° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -3.9  -0.1  +0.6  +0.8  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.32°（関節 j1）
[011] 推論 1754ms  10ステップ先  Δ=-19.0 -28.6  +3.1  -3.4 +24.6  +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 > [SEND] pi05_chunk011_via02: send_angles (single) [ +40.14,  +45.94,   -1.42,   +5.18,  -45.12,  -34.35]  speed=20 wait=1.0s  (pre max|Δ|=8.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.8  -9.0  +0.5  -0.3  +5.8  +0.7  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +33.59,  +37.80,   -0.24,   +3.91,  -37.51,  -33.56]  speed=20 wait=1.0s  (pre max|Δ|=10.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.8 -10.4  +0.6  -1.9  +8.0  +1.1  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +26.95,  +28.96,   +0.93,   +2.50,  -29.21,  -32.77]  speed=20 wait=1.0s  (pre max|Δ|=11.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.0 -11.0  +0.6  -2.0  +8.6  +1.1  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +24.90,  +26.30,   +1.19,   +2.08,  -26.39,  -32.54]  speed=20 wait=1.0s  (pre max|Δ|=4.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.3  -4.7  -0.3  -0.8  +2.9  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.08°（関節 j1）
[012] 推論 736ms  10ステップ先  Δ=-21.4 -25.7  +0.7  -1.8 +24.8  +1.5
       [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) [ +17.83,  +18.42,   +1.65,   +0.98,  -17.92,  -31.62]  speed=20 wait=1.0s  (pre max|Δ|=9.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.0 -10.0  +0.2  -0.9  +8.5  +0.9  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +10.38,   +9.86,   +1.98,   +0.31,   -8.69,  -31.16]  speed=20 wait=1.0s  (pre max|Δ|=10.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  5  Δ= -8.0 -10.3  -0.3  -1.0  +9.2  +0.6  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [  +4.37,   +3.27,   +2.20,   +0.07,   -2.23,  -31.05]  speed=20 wait=1.0s  (pre max|Δ|=8.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.30° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.2  -8.1  -0.6  -0.5  +6.5  +0.2  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [  +3.41,   +2.69,   +2.22,   +0.06,   -1.65,  -31.04]  speed=20 wait=1.0s  (pre max|Δ|=1.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.2  -1.9  -0.6  -0.3  +0.7  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.70°（関節 j1）
[013] 推論 729ms  10ステップ先  Δ= -2.3  -2.4  -0.6  -0.3  -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 > 
[SEND] pi05_chunk013_via02: send_angles (single) [  +1.31,   +2.13,   +2.23,   +0.05,   -1.38,  -31.03]  speed=20 wait=1.0s  (pre max|Δ|=2.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.8  -2.3  -0.6  -0.3  +0.5  +0.2  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [  +1.06,   +2.00,   +2.24,   +0.05,   -1.48,  -31.06]  speed=20 wait=1.0s  (pre max|Δ|=1.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.60° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -1.7  -0.6  -0.2  +0.1  +0.1  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [  +0.92,   +2.03,   +2.19,   +0.08,   -1.85,  -31.05]  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  8  Δ= +0.1  -1.6  -0.6  -0.2  -0.3  +0.1  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [  +0.81,   +1.99,   +2.17,   +0.08,   -1.96,  -31.05]  speed=20 wait=1.0s  (pre max|Δ|=1.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.61° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -1.6  -0.6  -0.2  -0.5  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.61°（関節 j1）
[014] 推論 560ms  10ステップ先  Δ= -1.1  -1.6  -0.1  -0.3  -1.5  +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 > 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|=3.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_145851
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/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_194818 --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_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[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=  -1.3  dx=  +1.0  response=0.865  → 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_150534
[CAMERA] 写り方 dy=-7.8 dx=+7.9 response=0.550 → 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 555ms  10ステップ先  Δ= +3.7 +18.1 +11.6  -1.7 -25.8  +2.8
       [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) [  +0.43,   +6.58,   +4.81,   -0.25,   -8.23,  -29.42]  speed=20 wait=1.0s  (pre max|Δ|=7.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +5.1  +3.0  -0.5  -8.0  +0.7  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.38,  +12.51,   +8.57,   -0.81,  -16.73,  -28.55]  speed=20 wait=1.0s  (pre max|Δ|=9.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  +5.0  +2.8  -0.9  -9.3  +1.0  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.65,  +17.91,  +12.29,   -1.32,  -24.02,  -27.61]  speed=20 wait=1.0s  (pre max|Δ|=8.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.6  +4.4  +2.8  -0.7  -8.2  +1.1  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.30,  +19.58,  +13.47,   -1.44,  -26.08,  -27.34]  speed=20 wait=1.0s  (pre max|Δ|=2.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  +0.7  +0.4  +0.2  -2.6  +0.5  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 555ms  10ステップ先  Δ= +6.1 +19.2 +11.8  -0.3 -28.7  +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) [  +4.70,  +25.64,  +17.11,   -2.12,  -34.31,  -26.94]  speed=20 wait=1.0s  (pre max|Δ|=7.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  +5.2  +2.9  -0.3  -7.7  +0.6  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +6.68,  +31.96,  +21.21,   -2.15,  -44.13,  -26.90]  speed=20 wait=1.0s  (pre max|Δ|=10.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.4  +5.3  +3.4  -0.2 -10.4  +0.2  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +8.52,  +38.14,  +25.13,   -2.07,  -52.91,  -26.86]  speed=20 wait=1.0s  (pre max|Δ|=9.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.9  +5.3  +3.3  +0.1  -9.4  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +9.04,  +39.65,  +26.00,   -2.14,  -55.34,  -26.84]  speed=20 wait=1.0s  (pre max|Δ|=2.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.9  +0.5  +0.5  -0.1  -2.8  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.95°（関節 j1）
[002] 推論 548ms  10ステップ先  Δ= +0.8  +6.4  +3.5  -0.4  -7.3  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [  +9.47,  +44.85,  +29.23,   -2.51,  -62.08,  -26.82]  speed=20 wait=1.0s  (pre max|Δ|=6.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.26° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +4.2  +3.4  -0.4  -6.3  +0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +9.78,  +46.30,  +30.24,   -2.54,  -63.24,  -26.82]  speed=20 wait=1.0s  (pre max|Δ|=1.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  +0.4  +1.1  -0.5  -2.0  +0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +9.79,  +46.70,  +29.77,   -2.48,  -63.15,  -26.81]  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  8  Δ= -0.1  -0.6  -0.9  -0.2  -0.2  +0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +9.88,  +46.95,  +29.37,   -2.48,  -63.14,  -26.81]  speed=20 wait=1.0s  (pre max|Δ|=1.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.0  -0.5  -1.3  -0.2  -0.2  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.12°（関節 j2）
[003] 推論 637ms  10ステップ先  Δ= +0.8 +10.2 -10.2  -0.3  +1.0  +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_chunk003_via02: send_angles (single) [ +10.12,  +51.25,  +26.12,   -2.50,  -62.99,  -26.80]  speed=20 wait=1.0s  (pre max|Δ|=4.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  +3.4  -4.4  -0.2  -0.1  +0.3  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +10.64,  +54.70,  +23.25,   -2.52,  -62.37,  -26.83]  speed=20 wait=1.0s  (pre max|Δ|=3.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +2.5  -3.9  -0.2  +0.6  +0.1  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +10.66,  +57.39,  +20.83,   -2.58,  -61.90,  -26.85]  speed=20 wait=1.0s  (pre max|Δ|=3.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.2  +1.8  -3.4  -0.4  +1.0  +0.0  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +10.67,  +57.97,  +20.27,   -2.55,  -61.88,  -26.84]  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= -0.1  -0.2  -1.5  -0.4  +1.0  -0.0  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 550ms  5ステップ先  Δ= -0.1  +0.8  -2.6  -0.3  +1.2  +0.0  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 4
       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) [ +10.72,  +59.75,  +19.09,   -2.61,  -61.56,  -26.85]  speed=20 wait=1.0s  (pre max|Δ|=2.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.86° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  +0.9  -2.7  -0.3  +1.1  +0.0  着いた
[SEND] pi05_chunk004_via04: send_angles (single) [ +10.70,  +59.64,  +19.20,   -2.61,  -61.66,  -26.88]  speed=20 wait=1.0s  (pre max|Δ|=0.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.75° (tol 3.0°)
       [VIA   ] step  4  Δ= -0.1  -0.7  -0.8  -0.3  +0.7  +0.1  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 1.44°（関節 j4）
[005] 推論 1557ms  10ステップ先  Δ= +0.3  -9.2  +7.2  -0.4  -0.8  +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_chunk005_via02: send_angles (single) [ +10.72,  +58.05,  +20.34,   -2.58,  -62.05,  -27.08]  speed=20 wait=1.0s  (pre max|Δ|=2.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.36° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -2.3  +0.6  -0.4  +1.0  +0.2  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +10.68,  +55.03,  +23.45,   -2.67,  -63.00,  -26.92]  speed=20 wait=1.0s  (pre max|Δ|=4.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -4.4  +3.6  -0.5  -1.1  +0.2  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +10.61,  +51.77,  +26.70,   -2.67,  -63.88,  -26.84]  speed=20 wait=1.0s  (pre max|Δ|=4.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -4.8  +3.8  +0.2  -2.7  -0.4  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +10.68,  +51.19,  +26.98,   -2.64,  -63.90,  -26.91]  speed=20 wait=1.0s  (pre max|Δ|=2.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -2.5  +0.5  +0.4  -2.3  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.42°（関節 j1）
[006] 推論 550ms  10ステップ先  Δ=+11.1  -4.7  -7.0  +2.6  +3.0  -2.7
       [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) [ +10.30,  +48.78,  +29.68,   -2.74,  -64.68,  -26.74]  speed=20 wait=1.0s  (pre max|Δ|=4.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  -4.8  +3.2  +0.3  -2.1  -0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +13.77,  +48.27,  +27.63,   -2.14,  -63.57,  -27.35]  speed=20 wait=1.0s  (pre max|Δ|=3.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  5  Δ= +3.3  -2.5  -2.1  +0.8  +0.9  -1.0  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +19.94,  +48.66,  +21.04,   -0.78,  -60.77,  -28.75]  speed=20 wait=1.0s  (pre max|Δ|=8.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  8  Δ= +6.2  -2.0  -8.1  +1.4  +3.7  -2.1  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +21.53,  +48.86,  +19.45,   -0.47,  -59.56,  -29.10]  speed=20 wait=1.0s  (pre max|Δ|=2.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.7  -1.8  -2.7  +0.4  +2.4  -1.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.85°（関節 j1）
[007] 推論 624ms  10ステップ先  Δ=+20.5  +1.1 -22.4  +5.3  +9.4  -5.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ +27.79,  +49.51,  +12.56,   +1.01,  -57.05,  -30.48]  speed=20 wait=1.0s  (pre max|Δ|=8.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.3  -1.2  -8.2  +2.0  +3.1  -1.7  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +34.44,  +50.34,   +5.54,   +2.50,  -53.69,  -31.92]  speed=20 wait=1.0s  (pre max|Δ|=8.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.22° (tol 3.0°)
       [VIA   ] step  5  Δ= +6.8  -0.4  -8.2  +1.5  +3.8  -1.8  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +40.64,  +51.18,   -0.59,   +3.94,  -50.88,  -33.41]  speed=20 wait=1.0s  (pre max|Δ|=7.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.20° (tol 3.0°)
       [VIA   ] step  8  Δ= +6.1  -0.1  -7.3  +1.3  +3.2  -1.9  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +42.06,  +51.84,   -1.63,   +4.27,  -50.70,  -33.72]  speed=20 wait=1.0s  (pre max|Δ|=2.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.63° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.1  -0.4  -2.2  -0.3  +0.4  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.63°（関節 j2）
[008] 推論 1501ms  10ステップ先  Δ= +0.0 +11.9  -3.8  +1.6  -8.9  -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_chunk008_via02: send_angles (single) [ +42.39,  +56.65,   -3.03,   +4.99,  -53.44,  -33.99]  speed=20 wait=1.0s  (pre max|Δ|=3.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  +3.7  -3.0  +0.5  -2.6  -0.5  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +42.61,  +61.03,   -3.35,   +5.54,  -56.65,  -34.05]  speed=20 wait=1.0s  (pre max|Δ|=4.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.42° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +3.2  -2.0  +1.0  -4.6  -0.4  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +42.46,  +64.53,   -3.76,   +6.02,  -59.26,  -34.12]  speed=20 wait=1.0s  (pre max|Δ|=2.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.0  +2.5  -1.8  +0.8  -2.5  -0.4  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +42.49,  +64.93,   -3.80,   +6.09,  -59.74,  -34.14]  speed=20 wait=1.0s  (pre max|Δ|=1.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -0.5  -1.1  +0.6  +0.9  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.08°（関節 j2）
[009] 推論 569ms  4ステップ先  Δ= -0.2  +0.3  -1.0  +0.8  -0.2  +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_chunk009_via02: send_angles (single) [ +42.34,  +65.91,   -3.73,   +6.56,  -60.83,  -34.36]  speed=20 wait=1.0s  (pre max|Δ|=1.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.83° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  +0.3  -1.0  +0.8  -0.3  +0.2  着いた
[SEND] pi05_chunk009_via03: send_angles (single) [ +42.34,  +65.91,   -3.73,   +6.56,  -60.83,  -34.36]  speed=20 wait=1.0s  (pre max|Δ|=0.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.83° (tol 3.0°)
       [VIA   ] step  3  Δ= -0.2  -0.6  -0.8  +0.4  +0.5  +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 0.83°（関節 j2）
[010] 推論 741ms  10ステップ先  Δ= +0.2 -12.9  -0.4  -1.4 +10.7  -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_chunk010_via02: send_angles (single) [ +42.44,  +63.38,   -3.63,   +6.63,  -58.91,  -34.72]  speed=20 wait=1.0s  (pre max|Δ|=3.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -3.1  -0.7  -0.6  +1.7  -0.5  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +42.35,  +59.21,   -3.79,   +6.25,  -54.92,  -34.75]  speed=20 wait=1.0s  (pre max|Δ|=6.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -6.3  -0.9  -0.5  +3.9  -0.6  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +42.36,  +55.09,   -3.53,   +6.05,  -51.12,  -34.78]  speed=20 wait=1.0s  (pre max|Δ|=6.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  -6.4  -0.6  +0.4  +2.7  -0.4  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +42.01,  +53.66,   -3.34,   +5.98,  -49.97,  -34.75]  speed=20 wait=1.0s  (pre max|Δ|=3.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.59° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -3.6  -0.5  +0.3  +0.7  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.59°（関節 j1）
[011] 推論 1542ms  10ステップ先  Δ=-19.1 -29.4  +3.5  -4.1 +25.9  +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 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +37.72,  +46.84,   -2.33,   +4.91,  -43.79,  -34.23]  speed=20 wait=1.0s  (pre max|Δ|=9.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.3  -9.4  +0.5  -0.8  +6.3  +0.2  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +31.34,  +38.44,   -0.99,   +3.51,  -35.68,  -33.43]  speed=20 wait=1.0s  (pre max|Δ|=10.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.7 -10.6  +0.6  -1.7  +8.4  +1.0  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +25.12,  +29.67,   +0.36,   +2.07,  -27.06,  -32.67]  speed=20 wait=1.0s  (pre max|Δ|=11.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.3 -11.1  +0.7  -1.8  +8.8  +1.6  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +22.95,  +26.80,   +0.73,   +1.62,  -24.18,  -32.44]  speed=20 wait=1.0s  (pre max|Δ|=4.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.8  -4.9  -0.2  -0.7  +3.1  +0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.85°（関節 j1）
[012] 推論 620ms  10ステップ先  Δ=-21.5 -26.7  +0.6  -1.4 +22.7  +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_chunk012_via02: send_angles (single) [ +15.73,  +18.42,   +1.36,   +0.41,  -15.89,  -31.62]  speed=20 wait=1.0s  (pre max|Δ|=10.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.0 -10.2  -0.0  -0.9  +8.4  +1.0  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [  +8.17,   +9.30,   +1.84,   -0.10,   -7.20,  -31.21]  speed=20 wait=1.0s  (pre max|Δ|=10.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.59° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.6 -10.8  -0.3  -0.9  +8.9  +0.6  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [  +2.21,   +2.69,   +2.00,   -0.06,   -1.91,  -31.11]  speed=20 wait=1.0s  (pre max|Δ|=8.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.26° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.0  -8.2  -0.1  -0.2  +5.5  +0.3  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [  +1.22,   +1.97,   +2.04,   -0.04,   -1.55,  -31.10]  speed=20 wait=1.0s  (pre max|Δ|=1.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.63° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.2  -2.0  -0.8  -0.2  +0.6  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.63°（関節 j1）
[013] 推論 629ms  10ステップ先  Δ= -1.1  -1.8  -0.7  -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_chunk013_via02: send_angles (single) [  +0.14,   +1.86,   +2.14,   -0.03,   -1.89,  -31.06]  speed=20 wait=1.0s  (pre max|Δ|=1.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.74° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.7  -1.7  -0.7  -0.2  -0.1  +0.2  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [  -0.22,   +1.86,   +2.11,   -0.05,   -1.96,  -31.05]  speed=20 wait=1.0s  (pre max|Δ|=1.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.74° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.4  -1.7  -0.7  -0.2  -0.2  +0.2  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [  -0.30,   +1.79,   +2.07,   -0.07,   -2.06,  -31.05]  speed=20 wait=1.0s  (pre max|Δ|=1.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.5  -1.8  -0.7  -0.2  -0.3  +0.2  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [  -0.21,   +1.81,   +2.08,   -0.07,   -2.25,  -31.06]  speed=20 wait=1.0s  (pre max|Δ|=1.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -1.8  -0.7  -0.2  -0.5  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.79°（関節 j1）
[014] 推論 1548ms  10ステップ先  Δ= -0.7  -1.8  -0.5  -0.3  -0.8  +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 > 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|=3.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_150534
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/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_194818 --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_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[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=  -1.3  dx=  +1.5  response=0.872  → 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_150950
[CAMERA] 写り方 dy=-7.7 dx=+8.3 response=0.543 → 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 560ms  10ステップ先  Δ= +3.9 +17.1 +11.2  -2.0 -23.2  +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 > 
[GRIP  ] 開始時にグリッパーを開く
  [Pi] GRIPPER: OPEN result= -1
[SEND] pi05_chunk000_via02: send_angles (single) [  +0.78,   +5.94,   +4.60,   -0.32,   -6.87,  -29.46]  speed=20 wait=1.0s  (pre max|Δ|=6.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.34° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.9  +4.5  +2.8  -0.5  -6.6  +0.7  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.82,  +11.87,   +8.30,   -1.15,  -14.79,  -28.42]  speed=20 wait=1.0s  (pre max|Δ|=9.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.2  +4.9  +2.7  -1.2  -9.3  +1.3  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +3.19,  +17.11,  +12.12,   -1.78,  -21.41,  -27.41]  speed=20 wait=1.0s  (pre max|Δ|=7.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.8  +4.3  +2.8  -0.7  -7.6  +1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.75,  +18.55,  +13.03,   -1.87,  -23.47,  -27.19]  speed=20 wait=1.0s  (pre max|Δ|=2.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  +0.5  +0.0  +0.1  -2.3  +0.4  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 688ms  10ステップ先  Δ= +4.4 +17.2 +11.6  -0.2 -28.5  +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) [  +5.13,  +23.86,  +16.59,   -2.64,  -31.32,  -26.64]  speed=20 wait=1.0s  (pre max|Δ|=7.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.5  +4.4  +2.8  -0.2  -7.9  +0.8  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +6.68,  +29.81,  +20.58,   -2.75,  -41.02,  -26.52]  speed=20 wait=1.0s  (pre max|Δ|=10.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.86° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.9  +5.0  +3.2  -0.2 -10.3  +0.3  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +7.78,  +35.59,  +24.61,   -2.75,  -50.34,  -26.46]  speed=20 wait=1.0s  (pre max|Δ|=9.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  +4.9  +3.4  -0.2  -9.6  +0.2  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +8.04,  +36.70,  +25.40,   -2.69,  -51.96,  -26.45]  speed=20 wait=1.0s  (pre max|Δ|=1.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  +0.2  +0.4  -0.2  -2.0  +0.3  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 1535ms  10ステップ先  Δ= +1.6  +8.0  +5.3  -0.2 -10.8  +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) [  +8.90,  +42.57,  +29.06,   -2.91,  -60.19,  -26.46]  speed=20 wait=1.0s  (pre max|Δ|=8.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +4.9  +4.1  -0.5  -8.1  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +9.46,  +45.65,  +30.86,   -2.77,  -63.59,  -26.46]  speed=20 wait=1.0s  (pre max|Δ|=3.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +2.1  +1.9  -0.4  -3.7  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +9.35,  +45.82,  +30.62,   -2.58,  -63.23,  -26.42]  speed=20 wait=1.0s  (pre max|Δ|=1.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -0.8  -0.8  -0.3  +1.1  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +9.41,  +45.70,  +30.28,   -2.62,  -62.92,  -26.42]  speed=20 wait=1.0s  (pre max|Δ|=1.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -1.0  -1.1  -0.3  +1.4  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.05°（関節 j1）
[003] 推論 613ms  10ステップ先  Δ= +0.6  +9.3  -9.8  -0.2  +2.0  +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_chunk003_via02: send_angles (single) [  +9.48,  +47.84,  +28.95,   -2.51,  -63.48,  -26.42]  speed=20 wait=1.0s  (pre max|Δ|=2.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  +1.1  -2.3  -0.2  +0.1  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [  +9.81,  +51.61,  +25.50,   -2.47,  -62.88,  -26.49]  speed=20 wait=1.0s  (pre max|Δ|=4.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +2.8  -4.9  -0.2  +0.7  +0.1  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [  +9.85,  +55.30,  +22.31,   -2.52,  -62.07,  -26.55]  speed=20 wait=1.0s  (pre max|Δ|=4.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +2.8  -4.2  -0.2  +1.4  +0.1  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [  +9.79,  +56.04,  +21.52,   -2.52,  -61.91,  -26.58]  speed=20 wait=1.0s  (pre max|Δ|=1.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.24° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -0.2  -1.8  -0.3  +0.4  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.24°（関節 j2）
[004] 推論 606ms  5ステップ先  Δ= +0.6  +2.0  -3.4  -0.4  +0.7  +0.0  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 4
       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) [  +9.89,  +58.99,  +19.38,   -2.58,  -61.58,  -26.63]  speed=20 wait=1.0s  (pre max|Δ|=3.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.77° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +2.0  -3.4  -0.4  +0.7  +0.0  着いた
[SEND] pi05_chunk004_via04: send_angles (single) [  +9.80,  +58.98,  +19.37,   -2.56,  -61.62,  -26.62]  speed=20 wait=1.0s  (pre max|Δ|=0.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.78° (tol 3.0°)
       [VIA   ] step  4  Δ= +0.2  -0.8  -0.7  -0.5  +0.4  +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 1.13°（関節 j4）
[005] 推論 554ms  10ステップ先  Δ= +0.3  -8.3  +6.8  -0.4  -1.5  +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_chunk005_via02: send_angles (single) [  +9.80,  +57.53,  +20.57,   -2.55,  -62.08,  -26.80]  speed=20 wait=1.0s  (pre max|Δ|=2.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  -2.2  +0.5  -0.4  +0.7  +0.1  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [  +9.79,  +54.72,  +23.46,   -2.58,  -63.08,  -26.66]  speed=20 wait=1.0s  (pre max|Δ|=4.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -4.6  +3.2  -0.4  -1.0  +0.1  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [  +9.62,  +51.68,  +26.76,   -2.61,  -64.10,  -26.66]  speed=20 wait=1.0s  (pre max|Δ|=4.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.10° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.0  -4.8  +3.7  +0.3  -2.8  -0.2  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [  +9.85,  +51.42,  +26.97,   -2.55,  -64.26,  -26.78]  speed=20 wait=1.0s  (pre max|Δ|=2.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -2.4  +0.2  +0.4  -2.0  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.19°（関節 j1）
[006] 推論 1542ms  10ステップ先  Δ=+13.5  -4.2  -8.7  +3.3  +2.9  -3.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > 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|=63.54°, post-send timeout 11.5s)
[SEND] arrival OK: max|Δ|=2.28° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_150950
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 
