---
title: "フィジカルAI研究室を作る Log#14 | π0.5 を回数で測ったら、苦手な置き場所が見えた"
slug: pi05-weak-position-d
date: 2026-10-29
day: 401
meta_description: "Physical Intelligenceのπ0.5で動かすmechArm 270の実機は、3か所に5回ずつ置いたブロックを15回中9回箱に入れた。位置Cは5/5、Eは3/5、腕を伸ばしきるDは1/5だった。"
tags: [フィジカルAI研究室, π0.5, openpi, Physical Intelligence, mechArm 270, 模倣学習, 実機テスト, Runpod, Hugging Face, 再現手順]
series: "フィジカルAI研究室"
---

Physical Intelligence の π0.5 で動かす小型ロボットアーム mechArm 270 は、実機で、3か所に5回ずつ置いた赤いブロックを15回中9回、白い箱に入れました。置き場所ごとに分けると、アームの左前の位置C は5回中5回、手前の位置E は5回中3回、アームの左で腕を伸ばしきる位置D は5回中1回でした。

π0.5（パイレイテンゴ）は、米国の [Physical Intelligence](https://www.pi.website/) 社が公開しているロボット用の AI のモデルです。上から見たカメラの画像と6つの関節の角度を受け取り、次の1秒ぶんの関節の角度を返します。人が手でアームを動かして教えた19回の動き（お手本）を見せて学習させてあり、学習も推論（AI に答えを出させる計算）も、[Runpod](https://www.runpod.io/) で時間単位に借りた GPU で動かしています。

前の回（LOG363）では、お手本を録った置き場所のうち3か所で、それぞれ1回ずつ箱に入るところまで確かめました。ただ、1回入っただけでは、その置き場所でどのくらいの割合で入るのかは分かりません。そこで、モデルもプログラムの設定も変えずに、3か所で5回ずつ数えました。

数えてみると、置き場所によってはっきり差が出ました。**腕を伸ばしきる位置D では、AI が送った目標の姿勢はお手本とほぼ同じなのに、ブロックを爪の先でしかつかめず、持ち上げた瞬間に落とす回が続きました。** 位置E の失敗は2回とも、爪がブロックの奥側に下りてつかみ損ねたものです。位置C は5回とも入りました。

もう1つ変えたのは、学習済みのモデル（6.3GB）の置き場所です。前の回までは、GPU を借りるたびに自宅の Mac から送り直していて、借りた時間の半分（約30分）がその待ちでした。モデルを [Hugging Face](https://huggingface.co/)（AI のモデルを置いて配るサービス）の非公開の置き場に一度だけ上げておき、借りた GPU のほうから取りに行く形にしたところ、取ってくるのにかかった時間は13秒でした。

やったことの全体は次のとおりです。

| やったこと | なぜ | 結果 |
|---|---|---|
| 学習済みのモデルを Hugging Face の非公開リポジトリに上げた | GPU を借りるたびに Mac から 6.3GB を送る待ち（約30分）をなくすため | Mac から上げるのは1回だけで6分5秒。借りた GPU で取ってくるのは13.19秒 |
| Runpod で A40 を借り、モデルを取ってきてサーバーを起動した | AI の答えを返す計算をするため | モデルの読み込み 5.41 秒。休憩を入れて約4時間38分、2.87ドル（約453円） |
| 位置C・D・E に5回ずつブロックを置き、AI に動かさせた | 1回入っただけでは分からない、置き場所ごとの入る割合を数えるため | C 5/5・D 1/5・E 3/5。合わせて15回中9回 |
| 失敗した回を、ログと横からの動画で見た | どこで、なぜ入らなかったかを分けるため | D は爪の先でつかんで持ち上げた瞬間に落ちる回が2回、つかみ損ねが2回。E はつかみ損ねが2回 |
| つかむところの関節の角度を、お手本と比べた | AI の狙いがお手本からずれていないかを見るため | 爪を閉じる直前の目標は、D でもお手本とほぼ同じ（肩 j1 で 62.2〜63.5°、お手本は 62.3〜62.5°） |

【画像】LOG401_04_D3_drop.jpg 位置D の3回目を横から撮った動画のコマ。爪の先でブロックをつかみ、爪がマットに押しつけられたまま止まり、持ち上げた瞬間にブロックが抜けて、つかんだ場所の近くに落ちた

GPU を買うか借りるかの判断は、Runpod で実際に借りて学習させた費用をもとに、別のページにまとめています。

【バナー】gpu-buy-or-rent

この回の作業も、Claude（手順と分析を一緒に組み立てた AI）と進めました。手順・分析・記録の集計は Claude が行い、アームの操作と、目で見た判断・止める判断はこちらで行っています。アームを動かすプログラムは変えていません。ここから下は、使ったコマンド・コード・出力を全量で載せた作業ログです。ログの中の Pod の IP アドレスとポート番号は、`<POD_IP>` と `<SSH_PORT>` に置き換えています。Hugging Face の鍵（アクセストークン）は、どこにも載せていません。費用の円は 1ドル＝158円 で計算しています。結果と効果の数字は、どれも記録から数えた値です。見込みのものは、見込みと書いています。


## 作業ログ ― 学習済みのモデルを Hugging Face の非公開リポジトリに置いた

前の回までは、Pod（Runpod で時間単位に借りる GPU つきの計算機）を借りるたびに、Mac の外付け SSD（KIOXIA）にある学習済みのモデル（`checkpoints/pi05_mecharm_trim_lora_v1/3999/`、32ファイル）を `scp` で送っていました。家の回線では1秒あたり約 3.9MB で、送り終わるまで約30分かかります。Pod は借りている間ずっと料金がかかるので、借りた時間の約半分が、この待ちに払っていた分でした。

### Hugging Face は、AI のモデルとデータを置いて配るサービス

Hugging Face（ハギングフェイス）は、米国の Hugging Face 社が運営している、AI のモデルやデータセットを置いて配るためのサービスです。プログラムのコードを置く GitHub の、AI のモデル版と考えると近いです。世界中の会社や研究者が、作ったモデルをここに置いて公開しています。ロボットの学習の道具 [LeRobot](https://github.com/huggingface/lerobot) も Hugging Face が作っていて、ロボットのお手本のデータもここで多く配られています。

この記事で使う言葉は、次のとおりです。

| 言葉 | 意味 |
|---|---|
| リポジトリ | モデル1つ分の置き場。この記事では `PixelstoMotors/pi05-mecharm-trim-lora-v1` という名前で1つ作った |
| 公開・非公開 | 公開はだれでも取ってこられる。非公開は持ち主と、持ち主が鍵を渡した相手だけが取ってこられる。無料のアカウントでも、非公開で 100GB まで置ける（[Hugging Face の容量の決まり](https://huggingface.co/docs/hub/en/storage-limits)） |
| 鍵（アクセストークン） | 非公開のリポジトリを読み書きするための、`hf_` で始まる37文字の文字列。人に見られると、その鍵でリポジトリを操作されてしまう |
| hf | Hugging Face を操作するコマンド。`pip install huggingface_hub` で入る。上げるのは `hf upload`、取ってくるのは `hf download` |
| Xet | Hugging Face の、大きなファイルの置き方。ファイルを細かく分け、前に送った部分と同じ中身は送り直さない（[Hugging Face の紹介記事](https://huggingface.co/blog/xethub-joins-hf)） |

このプロジェクトでの使い方は、学習済みのモデルを Mac から1回だけ上げておき、借りた GPU（Pod）のほうから取りに行く、というものです。GPU を借りるデータセンターは毎回変わることがありますが、Hugging Face はどこからでも同じ手順で取ってこられます。


### 置き場所の候補は3つあった

置き場所の候補は3つありました。

| 置き場所 | 月の費用 | 借りられる GPU |
|---|---|---|
| Hugging Face の非公開リポジトリ | 0円（無料のアカウントで非公開 100GB まで） | どのデータセンターの、どの GPU でも |
| [Runpod のネットワークボリューム](https://docs.runpod.io/storage/network-volumes) | 1GB あたり月 0.07ドル（[Runpod の料金](https://docs.runpod.io/pods/pricing)）。約30GB で月約330円 | 置いたデータセンターにある GPU だけ |
| [Runpod のグローバルボリューム](https://www.runpod.io/blog/global-volumes-beta) | 料金は未公開（試用版） | どのデータセンターでも |

Hugging Face にしました。月の費用がかからず、借りる GPU の種類も場所も選べるからです。置き場所を「公開」に切り替えれば、ほかの人も同じモデルを取ってきて試せます。公開するかどうかは、まだ決めていません。

置き場所を増やすので、先にプロジェクトの決まり（MASTER）の保存先の表に1行足しました。

```
| フィジカルAI研究室の学習済みモデル（Pod が取りに行く写し。原本は KIOXIA の `checkpoints/`） | Hugging Face の非公開リポジトリ（モデルごとに1つ。名前は checkpoints/ のフォルダ名に合わせる。例 `pi05-mecharm-trim-lora-v1`） |
```

```
- 2026-10-29: 保存先テーブルにフィジカルAI研究室の学習済みモデルの行を追加（Hugging Face の非公開リポジトリ。原本は KIOXIA の checkpoints/ のまま）。Pod を借りるたびに Mac からモデル 6.3GB を送っていて、借りた時間の約半分がその待ちだったため。
```


### Hugging Face のアカウントと鍵を2つ作った

アカウントの名前は、GitHub と同じ `PixelstoMotors` にしました。鍵（アクセストークン）は2つ作っています。Mac から上げる用の書き込める鍵（`mac-upload`）と、Pod で取ってくる用の読むだけの鍵（`runpod-read`）です。Pod は借りている計算機なので、書き込める鍵は置かないようにしました。

`mac-upload` は、作るときに種類が Fine-grained（権限を1つずつ選ぶ種類）になりました。権限の画面で、Repositories の欄の次の2つにチェックが入っていることを確かめてから保存しています。

- Create repos and read/write/manage repos created by this token
- Write contents/settings of your repos

Mac では `hf auth login` を使いました。新しい版の huggingface_hub（2.3.0）では、鍵を貼る代わりにブラウザでログインする形になっていて、表示されたコードをブラウザで入力して許可しています。


### Mac でログインしたときの出力

```
Installing collected packages: pyyaml, idna, httpcore2, hf-xet, fsspec, filelock, click, httpx2, huggingface_hub
 
  Attempting uninstall: idna
    Found existing installation: idna 3.11
    Uninstalling idna-3.11:
      Successfully uninstalled idna-3.11
  Attempting uninstall: click
    Found existing installation: click 8.4.1
    Uninstalling click-8.4.1:
      Successfully uninstalled click-8.4.1
Successfully installed click-8.5.0 filelock-4.2.4 fsspec-2026.9.0 hf-xet-1.7.1 httpcore2-2.16.0 httpx2-2.16.0 huggingface_hub-2.3.0 idna-3.20 pyyaml-6.0.3
Hint: The `hf-cli` skill is not installed. Run `hf skills add -g` to teach your AI agents how to use the `hf` CLI.
? How would you like to log in? Log in with your browser

    Open this URL in your browser:
        https://hf.co/oauth/device

    And enter the code: AGAM-FAEF

    Waiting for authorization..
```

```
    And enter the code: AGAM-FAEF
 

    Waiting for authorization.......................
Token is valid.
The token `oauth-PixelstoMotors` has been saved to /Users/shimazueiichi/.cache/huggingface/stored_tokens
Your token has been saved to /Users/shimazueiichi/.cache/huggingface/token
Login successful.
The current active token is: `oauth-PixelstoMotors`
Note: This token will be refreshed automatically when it expires.
(base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ %
```

表示されたコード（`AGAM-FAEF`）は、ブラウザでの許可が済んだ時点で使えなくなる、1回きりのものです。


### Mac からモデルを1回だけ上げた（6分5秒）

上げるときに打ったコマンドです。

```
hf auth whoami
hf repo create PixelstoMotors/pi05-mecharm-trim-lora-v1 --repo-type model --private
time hf upload PixelstoMotors/pi05-mecharm-trim-lora-v1 /Volumes/KIOXIA/r2r2r-data/checkpoints/pi05_mecharm_trim_lora_v1/3999 . --repo-type model
```

`hf upload-large-folder`（途中で切れても続きから上げられる命令）は使っていません。この命令は、上げる元のフォルダの中に作業用のファイルを作るので、KIOXIA の原本のフォルダに書き込んでしまうからです。測定データとモデルは、上書き・移動・削除をしない決まりにしています。

```
Run 'hf --help' for full details. Did you mean 'repos'?
 
Found 32 files to upload
  Preparing   ████████████████████  32 / 32 ✓
  Uploading   ████████████████████  20 / 20 files  1.79GB · 67.6kB/s ✓
  Validating  ████████████████████  100%
  Committing  ████████████████████  32 / 32 ✓
✓ Uploaded
  url: https://huggingface.co/PixelstoMotors/pi05-mecharm-trim-lora-v1/commit/8ce882b68e8d5383c857c176ec26c0dd7c838b11
hf upload PixelstoMotors/pi05-mecharm-trim-lora-v1  . --repo-type model  16.69s user 11.09s system 7% cpu 6:05.42 total
(base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ %
```

上げ終わるまで 6分5秒 でした。見込んでいた30分より短かったのは、回線を通ったのが 6.3GB のうち 1.79GB だけだったからです。Hugging Face の置き方（Xet）は、ファイルを細かく分け、同じ中身の部分を1回しか送りません。

出力の最初の行 `Did you mean 'repos'?` は、`hf repo create` がこの版では `hf repos create` に名前が変わっていて、リポジトリを作る前にエラーで止まっていたことを示しています。そのあとの `hf upload` が、リポジトリがないので自動で作っていました。


### 自動で作られたリポジトリは公開になっていた（約9分）

`hf upload` が自動で作ったリポジトリは、公開の設定でした。外から Hugging Face の API に問い合わせて確かめた結果です。

```
$ curl -sS -m 20 https://huggingface.co/api/models/PixelstoMotors/pi05-mecharm-trim-lora-v1 | head -c 600
{"_id":"6ae2abc1e413a206073b106d","id":"PixelstoMotors/pi05-mecharm-trim-lora-v1","private":false,"tags":["region:us"],"downloads":0,"likes":0,"modelId":"PixelstoMotors/pi05-mecharm-trim-lora-v1","author":"PixelstoMotors","sha":"8ce882b68e8d5383c857c176ec26c0dd7c838b11","lastModified":"2026-10-29T02:19:24.000Z","gated":false,"disabled":false,"config":{},"siblings":[{"rfilename":".gitattributes"},{"rfilename":"_CHECKPOINT_METADATA"},{"rfilename":"assets/local/mecharm_redblock_box_teach_v1_trim2/norm_stats.json"},{"rfilename":"params/_METADATA"},{"rfilename":"params/_sharding"},{"rfilename":"par
```

リポジトリの Settings の Model Access control で、Public を Private に切り替えました。切り替えのときに確認の画面は出ませんでした。切り替えたあとに同じ問い合わせをすると、見る権限がないという応答（401）に変わっています。

```
$ curl -sS -m 20 -o /dev/null -w '%{http_code}\n' https://huggingface.co/api/models/PixelstoMotors/pi05-mecharm-trim-lora-v1
401
```

公開になっていたのは、上げ終わった 11:19 から切り替えた 11:28 までの約9分です。その間のダウンロード数は 0 でした（Settings の Total downloads）。次に別のモデルを置くときは、先に `hf repos create … --private` で非公開のリポジトリを作ってから上げます。


### 上げたファイルは、32ファイルとも原本と同じ大きさだった

Mac の KIOXIA にある原本と、Hugging Face に上がったファイルの一覧を、1ファイルずつ大きさで比べました。原本の一覧は Mac につないだ作業環境で、上がった側の一覧は Hugging Face の API で出しています（このときはまだ公開だったので、鍵なしで読めました）。

```
local files sum 6335855217 32
426 _CHECKPOINT_METADATA
1766 assets/local/mecharm_redblock_box_teach_v1_trim2/norm_stats.json
33052 params/_METADATA
17773 params/_sharding
12891 params/array_metadatas/process_0
2861 params/d/5135b7cda491aae169dd0001cb558427
118 params/manifest.ocdbt
29598904 params/ocdbt.process_0/d/015b3153da5204ea859de42455bbb66f
1258 params/ocdbt.process_0/d/064d53822e61a8449ad46a1bf1cbb357
945626246 params/ocdbt.process_0/d/0f74cbd20e735395c7d7995803245d70
235537011 params/ocdbt.process_0/d/1e373b40e2d78b11f1a46c1c3451e63f
945879588 params/ocdbt.process_0/d/2105d39052b427b1c8a576587d2ea70e
497034603 params/ocdbt.process_0/d/2701bbdc45d3cd25d60aface67c14298
497190748 params/ocdbt.process_0/d/2a99d4f0a467bcf84d77d1fbafdfdf5d
234403 params/ocdbt.process_0/d/334da8956d4358be340387e33c84dffc
132946559 params/ocdbt.process_0/d/34bae0b3baaf174e9041ecf109784d1d
58980373 params/ocdbt.process_0/d/37a68386c19e90ee7de121f1b66e0c6a
1107 params/ocdbt.process_0/d/7441dbd0e616dc943ff1ecd59ffda518
17463306 params/ocdbt.process_0/d/74cf06263b61569cf71b1e85c27b0af2
14719239 params/ocdbt.process_0/d/81fc104abd9310a7a173df6e58f01ac2
41477813 params/ocdbt.process_0/d/875b5c7933edbbcbe9aa30f0478ff975
828933461 params/ocdbt.process_0/d/89a9e8779f70eea2f5ddd4ea3486e0cf
118290936 params/ocdbt.process_0/d/956498ee1dbc961c03bb714835709f7f
90308271 params/ocdbt.process_0/d/a55fd069f835d8b221ea9a562b8e952d
236602677 params/ocdbt.process_0/d/b215c8aff42c77082723a0f0ea72bda5
945630533 params/ocdbt.process_0/d/b64f43979583f0ca922ba0a109be8c9b
488768410 params/ocdbt.process_0/d/c8502eef036907a2a72bd6c4ab846e29
1376 params/ocdbt.process_0/d/c9d1b9901f0e9ecb4a8a8a5c1521bca1
151449744 params/ocdbt.process_0/d/dc471644a511839d37da75e3b5338edf
59109038 params/ocdbt.process_0/d/e7b4ef0b9d72d9cd35c5b7487098b0c7
213 params/ocdbt.process_0/d/f441d5a43fd08f99c163955edd12e309
513 params/ocdbt.process_0/manifest.ocdbt
```

```
remote files sum 6335858616 33
3399 .gitattributes
426 _CHECKPOINT_METADATA
1766 assets/local/mecharm_redblock_box_teach_v1_trim2/norm_stats.json
33052 params/_METADATA
17773 params/_sharding
12891 params/array_metadatas/process_0
2861 params/d/5135b7cda491aae169dd0001cb558427
118 params/manifest.ocdbt
29598904 params/ocdbt.process_0/d/015b3153da5204ea859de42455bbb66f
1258 params/ocdbt.process_0/d/064d53822e61a8449ad46a1bf1cbb357
945626246 params/ocdbt.process_0/d/0f74cbd20e735395c7d7995803245d70
235537011 params/ocdbt.process_0/d/1e373b40e2d78b11f1a46c1c3451e63f
945879588 params/ocdbt.process_0/d/2105d39052b427b1c8a576587d2ea70e
497034603 params/ocdbt.process_0/d/2701bbdc45d3cd25d60aface67c14298
497190748 params/ocdbt.process_0/d/2a99d4f0a467bcf84d77d1fbafdfdf5d
234403 params/ocdbt.process_0/d/334da8956d4358be340387e33c84dffc
132946559 params/ocdbt.process_0/d/34bae0b3baaf174e9041ecf109784d1d
58980373 params/ocdbt.process_0/d/37a68386c19e90ee7de121f1b66e0c6a
1107 params/ocdbt.process_0/d/7441dbd0e616dc943ff1ecd59ffda518
17463306 params/ocdbt.process_0/d/74cf06263b61569cf71b1e85c27b0af2
14719239 params/ocdbt.process_0/d/81fc104abd9310a7a173df6e58f01ac2
41477813 params/ocdbt.process_0/d/875b5c7933edbbcbe9aa30f0478ff975
828933461 params/ocdbt.process_0/d/89a9e8779f70eea2f5ddd4ea3486e0cf
118290936 params/ocdbt.process_0/d/956498ee1dbc961c03bb714835709f7f
90308271 params/ocdbt.process_0/d/a55fd069f835d8b221ea9a562b8e952d
236602677 params/ocdbt.process_0/d/b215c8aff42c77082723a0f0ea72bda5
945630533 params/ocdbt.process_0/d/b64f43979583f0ca922ba0a109be8c9b
488768410 params/ocdbt.process_0/d/c8502eef036907a2a72bd6c4ab846e29
1376 params/ocdbt.process_0/d/c9d1b9901f0e9ecb4a8a8a5c1521bca1
151449744 params/ocdbt.process_0/d/dc471644a511839d37da75e3b5338edf
59109038 params/ocdbt.process_0/d/e7b4ef0b9d72d9cd35c5b7487098b0c7
213 params/ocdbt.process_0/d/f441d5a43fd08f99c163955edd12e309
513 params/ocdbt.process_0/manifest.ocdbt
```

32ファイルとも大きさが一致しています。Hugging Face 側には、自動で作られる `.gitattributes`（3,399 バイト）が1つ増えています。前の回の記事に書いた 6,340,573,809 バイトは `du -sb` の値で、フォルダそのものの大きさも数えに入っています。ファイルの中身だけを足すと 6,335,855,217 バイトです。


## A40 の Pod を借り、モデルを Hugging Face から13秒で取ってきた

Pod は前の回と同じく、Runpod の A40（GPU のメモリ 48GB）を1枚、テンプレートは Runpod Pytorch 2.8.0、コンテナのディスクは 200GB で借りました。料金は1時間 0.62ドル（約98円）です。最初に Deploy Pod を押したときは「This machine does not have the resources to deploy your pod. Please try a different machine」と出て借りられず、押し直すと借りられました。選んだ機械が、押すまでの間に別の人に借りられていたと見ています（見込み）。LOG355 でディスクを小さくしても同じ表示が変わらなかったので、ディスクの大きさはそのままにしました。

Mac から Pod へ送ったのは、アームを動かすスクリプト一式（`pi05/`）と、学習の設定を足すスクリプト（`add_trim_config.py`）だけです。

```
P=<SSH_PORT>; IP=<POD_IP>; K=~/.ssh/id_ed25519
ssh -p $P -i $K root@$IP "mkdir -p /workspace/r2r2r /workspace/logs /workspace/ckpt"
scp -P $P -i $K -r ~/r2r2r-scripts/pi05 root@$IP:/workspace/r2r2r/
scp -P $P -i $K /Volumes/KIOXIA/r2r2r-data/lab/Log11/pod/add_trim_config.py root@$IP:/workspace/r2r2r/
```

```
run_policy_client.py                          100%   44KB 118.0KB/s   00:00    
 
check_dataset.py                              100%   14KB  74.7KB/s   00:00    
build_demo_episodes.py.bak_pre_LOG352_2026101 100%   11KB  57.8KB/s   00:00    
RUNPOD_TRAIN.md                               100%   15KB  73.9KB/s   00:00    
install_addon.py                              100% 4786    25.0KB/s   00:00    
mecharm_policy.py                             100% 2321    12.1KB/s   00:00    
eval_policy_offline.cpython-312.pyc           100%   15KB  81.4KB/s   00:00    
build_demo_episodes.cpython-310.pyc           100%   11KB  40.2KB/s   00:00    
build_demo_episodes.cpython-312.pyc           100%   29KB 152.9KB/s   00:00    
check_dataset.cpython-312.pyc                 100%   25KB  96.5KB/s   00:00    
policy_ws.cpython-312.pyc                     100% 4580    23.8KB/s   00:00    
camera_align.cpython-312.pyc                  100%   18KB  70.5KB/s   00:00    
run_policy_client.cpython-312.pyc             100%   49KB 258.1KB/s   00:00    
build_demo_episodes.py                        100%   24KB 127.9KB/s   00:00    
policy_ws.py                                  100% 2778    14.3KB/s   00:00    
camera_align.py                               100%   13KB  69.8KB/s   00:00    
add_trim_config.py                            100% 1966    10.2KB/s   00:00    
(base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ %
```


### Pod では hf のコマンドが入らず、鍵の貼り付けも1回まちがえた

Pod に入って tmux（接続が切れても作業が続く画面）を開き、`pip install -U huggingface_hub` を打つと、そのあとの `hf download` が `hf: command not found` で止まりました。このテンプレートの Ubuntu 24.04 は、何も付けないと pip でのインストールを断ることがあります。`--break-system-packages` を付けて入れ直しました。

```
root@f2787ffca4f4:/# time hf download PixelstoMotors/pi05-mecharm-trim-lora-v1 --local-dir /workspace/ckpt/3999
 
find /workspace/ckpt/3999 -type f -not -path '*/.cache/*' -printf '%s\n' | awk '{s+=$1} END{print s, NR}'
-bash: hf: command not found

real    0m0.001s
user    0m0.000s
sys     0m0.001s
find: ‘/workspace/ckpt/3999’: No such file or directory
 0
root@f2787ffca4f4:/#
```

```
pip install -U --break-system-packages huggingface_hub
hash -r
which hf
```

```
Downloading truststore-0.10.5-py3-none-any.whl.metadata (4.5 kB)
 
Requirement already satisfied: h11>=0.16 in /usr/local/lib/python3.12/dist-packages (from httpcore2==2.16.0->httpx2<3,>=2.0.0->huggingface_hub) (0.16.0)
Downloading huggingface_hub-2.3.0-py3-none-any.whl (855 kB)
   ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 855.2/855.2 kB 16.1 MB/s  0:00:00
Downloading click-8.5.0-py3-none-any.whl (125 kB)
Downloading hf_xet-1.7.1-cp38-abi3-manylinux2014_x86_64.manylinux_2_17_x86_64.whl (4.2 MB)
   ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 4.2/4.2 MB 80.7 MB/s  0:00:00
Downloading httpx2-2.16.0-py3-none-any.whl (97 kB)
Downloading httpcore2-2.16.0-py3-none-any.whl (85 kB)
Downloading tqdm-4.70.1-py3-none-any.whl (80 kB)
Downloading truststore-0.10.5-py3-none-any.whl (19 kB)
Installing collected packages: truststore, tqdm, hf-xet, click, httpcore2, httpx2, huggingface_hub
Successfully installed click-8.5.0 hf-xet-1.7.1 httpcore2-2.16.0 httpx2-2.16.0 huggingface_hub-2.3.0 tqdm-4.70.1 truststore-0.10.5
/usr/local/bin/hf
root@f2787ffca4f4:/#
```

Pod では、鍵を `read -s HF_TOKEN && export HF_TOKEN` で入れています。`read -s` は打った文字を画面に出さず、コマンドの履歴にも残しません。1回目は、鍵とは違う文字列を貼り付けていました（Hugging Face の鍵は `hf_` で始まる37文字ですが、50文字ありました）。文字数だけを出して確かめ、貼り直しています。

```
[ -n "$HF_TOKEN" ] && echo 鍵あり || echo 鍵なし
```

```
鍵なし
 
root@f2787ffca4f4:/# read -s HF_TOKEN && export HF_TOKEN
root@f2787ffca4f4:/# time hf download PixelstoMotors/pi05-mecharm-trim-lora-v1 --local-dir /workspace/ckpt/3999
find /workspace/ckpt/3999 -type f -not -path '*/.cache/*' -printf '%s\n' | awk '{s+=$1} END{print s, NR}'
Hint: The `hf-cli` skill is not installed. Run `hf skills add -g` to teach your AI agents how to use the `hf` CLI.
Error: Model 'PixelstoMotors/pi05-mecharm-trim-lora-v1' not found.
If the repo is private, make sure you are authenticated and your token has the required permissions.
If the repo does not exist, create it with: hf repos create PixelstoMotors/pi05-mecharm-trim-lora-v1
Hint: set HF_DEBUG=1 as environment variable for full traceback.

real    0m0.540s
user    0m0.383s
sys     0m0.057s
find: ‘/workspace/ckpt/3999’: No such file or directory
 0
root@f2787ffca4f4:/#
```

```
echo ${#HF_TOKEN}
hf auth whoami
```

```
hf auth whoami
 
50
Error: Invalid user token. The token from HF_TOKEN environment variable is invalid. Note that HF_TOKEN takes precedence over `hf auth login`.
Hint: set HF_DEBUG=1 as environment variable for full traceback.
root@f2787ffca4f4:/# echo ${#HF_TOKEN}
hf auth whoami
50
Error: Invalid user token. The token from HF_TOKEN environment variable is invalid. Note that HF_TOKEN takes precedence over `hf auth login`.
Hint: set HF_DEBUG=1 as environm
```

```
hf auth whoami
 
37
✓ Logged in
  user: PixelstoMotors
root@f2787ffca4f4:/#
```


### Pod でモデルを取ってくるのにかかった時間は13.19秒だった

```
user: PixelstoMotors
 
root@f2787ffca4f4:/# time hf download PixelstoMotors/pi05-mecharm-trim-lora-v1 --local-dir /workspace/ckpt/3999
find /workspace/ckpt/3999 -type f -not -path '*/.cache/*' -printf '%s\n' | awk '{s+=$1} END{print s, NR}'
Fetching 33 files: 100%|███████████████████████| 33/33 [00:12<00:00,  2.61it/s]
Download complete: ████████████████████████████████████████| 6.34GB, 57.6MB/s  ✓
 Downloadedion complete: 100%|████████████████████| 6.34GB / 6.34GB,  539MB/s  
  path: /workspace/ckpt/3999
Download complete: ████████████████████████████████████████| 6.34GB, 57.6MB/s  
Reconstruction complete: 100%|████████████████████| 6.34GB / 6.34GB,  539MB/s  

real    0m13.190s
user    0m11.067s
sys     0m19.014s
6335858616 33
root@f2787ffca4f4:/#
```

取ってきたファイルは33個・合わせて 6,335,858,616 バイトで、Hugging Face 側の一覧と同じです。

- ねらい：Pod を借りている時間の約半分を占めていた、モデルを送る待ちをなくす
- 変わったこと：Mac から Pod へ `scp` で送る形から、Hugging Face の非公開リポジトリに1回だけ上げ、Pod から取りに行く形にした
- 見込める効果：Pod にモデルを置くまでの時間が、約30分（LOG363）から 13.19 秒になった（どちらも記録の値）。A40 の料金で、1回借りるごとに約0.3ドル（約49円）の待ちがなくなる。借りるデータセンターや GPU の種類にも縛られない

そのあとの [openpi](https://github.com/Physical-Intelligence/openpi)（π0.5 を動かすための公開コード）の取り直しとサーバーの起動は、前の回と同じコマンドです。コミット 215abfb の版を使っています。

```
cd /workspace
git clone --recurse-submodules https://github.com/Physical-Intelligence/openpi.git
cd openpi && git checkout 215abfb
curl -LsSf https://astral.sh/uv/install.sh | sh
source $HOME/.local/bin/env
GIT_LFS_SKIP_SMUDGE=1 uv sync
```

```
+ typeguard==4.4.2
 
 + typing-extensions==4.13.2
 + typing-inspect==0.9.0
 + typing-inspection==0.4.1
 + tyro==0.9.22
 + tzdata==2025.2
 + urllib3==2.4.0
 + virtualenv==20.31.2
 + wadler-lindig==0.1.6
 + wandb==0.19.11
 + wcwidth==0.2.13
 + websockets==15.0.1
 + werkzeug==3.1.3
 + widgetsnbextension==4.0.14
 + wrapt==1.14.1
 + xxhash==3.5.0
 + yarl==1.20.0
 + zarr==3.0.8
 + zipp==3.22.0
root@f2787ffca4f4:/workspace/openpi#
```

```
python3 /workspace/r2r2r/pi05/openpi_addon/install_addon.py /workspace/openpi
python3 /workspace/r2r2r/add_trim_config.py /workspace/openpi
mkdir -p assets/pi05_mecharm_trim_lora/local && cp -r /workspace/ckpt/3999/assets/local/mecharm_redblock_box_teach_v1_trim2 assets/pi05_mecharm_trim_lora/local/
uv run scripts/serve_policy.py policy:checkpoint --policy.config=pi05_mecharm_trim_lora --policy.dir=/workspace/ckpt/3999 2>&1 | tee /workspace/logs/serve.log
```

Mac からは、Pod の 8000 番を手元の 8000 番へつなぐ SSH のトンネルを張りました。アームを動かすクライアントは `ws://localhost:8000` に問い合わせます。

```
ssh -N -L 8000:localhost:8000 -p <SSH_PORT> -i ~/.ssh/id_ed25519 root@<POD_IP>
```


### サーバーのログ serve.log（KIOXIA の lab/Log14/serve.log）

モデルの読み込みは 5.41 秒でした。`Connection from … opened` が、クライアントを1回起動するごとに1組出ています。

```
INFO:root:Loading model...
INFO:2026-10-29 02:51:41,645:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig'
INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig'
INFO:2026-10-29 02:51:41,648:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory
INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory
INFO:absl:orbax-checkpoint version: 0.11.13
INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store=<orbax.checkpoint._src.metadata.array_metadata_store.Store object at 0x7f981f8068d0>
INFO:absl:Restoring checkpoint from /workspace/ckpt/3999/params.
INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID.
INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 1.2 GiB/s (total bytes: 6.3 GiB) (time elapsed: 5 seconds) (per-host)
INFO:absl:Finished restoring checkpoint in 5.41 seconds from /workspace/ckpt/3999/params.
INFO:openpi.shared.download:Downloading gs://big_vision/paligemma_tokenizer.model to /root/.cache/openpi/big_vision/paligemma_tokenizer.model
INFO:tqdm_loggable.tqdm_logging:Progress on: -/4264023 rate:- remaining:? elapsed:00:00 postfix:-
INFO:tqdm_loggable.tqdm_logging:Progress on: 4.07MiB/4.07MiB rate:4,258,152.0iB/s remaining:00:00 elapsed:00:01 postfix:-
INFO:root:Loaded norm stats from /workspace/openpi/assets/pi05_mecharm_trim_lora/local/mecharm_redblock_box_teach_v1_trim2
INFO:root:Loaded norm stats from /workspace/ckpt/3999/assets/local/mecharm_redblock_box_teach_v1_trim2
INFO:root:Creating server (host: f2787ffca4f4, ip: 172.16.48.2)
INFO:websockets.server:server listening on 0.0.0.0:8000
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 49068) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 49068) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 55904) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 55904) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 42126) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 42126) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 59302) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 59302) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40378) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40378) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 36198) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 36198) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 55546) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 55546) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 59470) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 59470) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54356) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54356) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 57766) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 57766) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 42198) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 42198) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35290) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35290) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 58180) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 58180) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54728) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54728) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34964) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34964) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 59402) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 59402) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 55262) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 55262) closed
```


## 位置C：5回とも箱に入った

アームは、電源を入れてデーモン（アームの中の Raspberry Pi で、角度の指令を受け取って関節へ送るプログラム。5555番で待ち受ける）を起動し、HOME の姿勢（全関節がほぼ 0°）に戻してから始めました。手首 j4 は −0.17° で、前の回の最後に起きた手首のずれは残っていません。

AI は、1回問い合わせるごとに、次の1秒分の関節の角度を10ステップぶん返します。この1回分の答えを、この記事ではチャンクと呼びます。チャンク04 なら、5回目の問い合わせの答えです（00 から数えます）。

1回ごとの流れは次のとおりです。爪を開き、上のカメラの映像にお手本の最初のコマを重ねる `camera_align.py` でブロックをお手本と同じ位置に置き、横からの動画を撮り始めてから、AI に動かさせます。オプションは前の回と同じです。

```
cd ~/r2r2r-scripts
RAW=/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes
python3 dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py
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
```

`--via-stride 3` は、1秒分の答えのうち途中の姿勢も3ステップおきに送るもの、`--state-from-target` は、AI に渡すいまの関節の角度を、直前にアームへ送った目標の角度にするものです（どちらも LOG361 で足したもの）。AI が答えを1回返すたびに、ターミナルで Enter を押して送っています。箱に入れて HOME 近くまで戻ったら、`h`（HOME に戻して終了）で終えます。


### 上カメラの写り方の確認で、12回止まった

クライアントは、動かし始める前に、上カメラのいまの映像を、お手本を撮った日の1枚（10/19 18:34 のお手本の最初のコマ）と比べます。似かたの強さ（response）が 0.2 を下回ると「測れない」として、アームに何も送らずに止まります。C の1回目に入る前と2回目の前で、この確認で合わせて12回止まりました（アームは動いていません。回ごとの値は後ろの「回ごとの集計」の表）。

止まった理由は2つありました。

1つ目は、上カメラの左下の角に、横のカメラの台か椅子の脚のような黒いものが写っていたことです。お手本の日の映像にはありません。これをよけてから、`camera_align.py` の画面では response が 0.38〜0.46 に上がりました。

【画像】LOG401_01_C1_topcam.jpg 上のカメラのコマ。左上がお手本を撮った日の基準のコマ、右上が C の1回目の最初のコマ（左下の角に黒い丸いものが写っている）、左下がブロックを箱の上で離すところ、右下が最後のコマで、箱の中に赤いブロックがある

2つ目は、比べている基準のコマが1枚だけだったことです。`camera_align.py` は位置C のお手本と比べて 0.46 でしたが、クライアントはどの位置でも同じ1枚（ブロックが別の場所にあるお手本）と比べていて、0.17〜0.21 を行ったり来たりしていました。ずれ（dy −8.3・dx +3.3）は毎回ほぼ同じで、カメラが動いたのではありません。また、`camera_align.py` を閉じた直後にクライアントを動かすと、カメラの最初のコマが整っていないようで、response が 0.003 や 0.035 になることがありました。

`camera_align.py` で位置ごとのお手本と比べて OK を見たうえで、C の2回目からは、クライアントの確認を外すオプション `--ignore-framing` を付けました。付けても、写り方の値は記録（log.jsonl）に残ります。

- ねらい：写り方は合っているのに、基準のコマの違いで止まり続けるのを避ける
- 変わったこと：位置ごとのお手本で `camera_align.py` の OK を見てから、クライアントの確認を外して動かした
- 見込める効果：付ける前は、写り方の確認で12回止まり、動いたのは1回だった。付けたあとに動かした回は、写り方では1回も止まっていない（記録から数えた値）。カメラの最初のコマを数枚捨ててから確認する直しと、位置ごとの基準で比べる直しは、まだしていない


### 位置C の5回の結果

| 回 | 記録 | 写り方の response | 閉じたチャンク | 離したチャンク | 結果 |
|---|---|---|---|---|---|
| 1 | pi05_20261029_115823 | 0.212 | 04 | 10 | 入った。持ち上げて箱の上で離した |
| 2 | pi05_20261029_120644 | 0.183（外した） | 04 | 10 | 入った。離す前に爪から抜け、箱の中に落ちた |
| 3 | pi05_20261029_121202 | 0.049（外した） | 03 | 08 | 入った |
| 4 | pi05_20261029_121650 | 0.051（外した） | 04 | 10 | 入った |
| 5 | pi05_20261029_122156 | 0.212（外した） | 04 | 11 | 入った。つかむときブロックが爪に引っかかった |

5回とも、爪を閉じたのはチャンク03〜04、離したのはチャンク08〜11でした。3回目と4回目は、クライアントの確認の response が 0.05 前後でしたが（`camera_align.py` を閉じた直後の最初のコマ）、そのまま箱に入っています。


## 位置D：5回中1回。爪の先でつかみ、持ち上げた瞬間に落ちた

位置D はアームの左で、つかむとき土台 j0 を約 −61° まで回し、腕を低く長く伸ばします。お手本は5本あり、C（4本）より多い置き場所です。

| 回 | 記録 | 閉じたチャンク | 離したチャンク | 結果 |
|---|---|---|---|---|
| 1 | pi05_20261029_122909 | 04 | なし | 入らなかった。爪がブロックの手前で閉じた |
| 2 | pi05_20261029_123158 | 04 | なし | 入らなかった。爪の先でつかみ、持ち上げた瞬間に手先が跳ね上がって落とした |
| 3 | pi05_20261029_124104 | 04 | なし | 入らなかった。2回目と同じ落ち方 |
| 4 | pi05_20261029_124830 | 04 | 11 | 入った |
| 5 | pi05_20261029_125314 | 04 | なし | 入らなかった。つかみ損ね |
| （6） | pi05_20261029_125528 | 02 | なし | 5回の外なので数に入れない。手首 j4 が目標より 36.7° 手前で止まり、ブロックの上に来る前に閉じたので止めた |


### 1回目は、爪がブロックの手前で閉じた

上カメラのコマでは、爪はブロックのすぐ手前で閉じ、ブロックは爪の先の外に残っています。最初のコマを比べると、ブロックはお手本より少し左（アームから遠い側）にあり、マットの幅から計算するとおよそ 1cm です。`camera_align.py` の画像は横 384 画素で、1画素がマットの上でおよそ 2mm にあたり、1cm のずれは画面のぼやけに隠れます。

【画像】LOG401_02_D1_topcam.jpg 上のカメラのコマ。左上が位置D のお手本の最初のコマ、右上が1回目の最初のコマ、左下が爪を閉じる直前（チャンク04）、右下が閉じたあと（チャンク05）。爪はブロックの手前で閉じ、ブロックは爪の先の外に残っている

2回目からは、重ねた画像の中のマットの方眼の線も目印にして、ブロックの左の端と手前の端を、お手本と同じ線に揃えて置きました。


### 2回目と3回目は、持ち上げた瞬間に手先が跳ね上がって落ちた

横からの動画では、どちらの回も同じ順に進んでいます。爪の先でブロックをつかみ、爪の先がマットに押しつけられたまま数十秒止まり、持ち上げる指令で手先が跳ね上がるように一気に上がり、その勢いでブロックが爪の先から抜けて、つかんだ場所の近くに落ちました。そのあと、空の爪のまま箱の方へ回っています。

【画像】LOG401_03_D2_drop.jpg 位置D の2回目の動画の 118・124・125・127 秒。124 秒まで爪の先がマットに押しつけられ、125 秒で手先が跳ね上がり、127 秒にはブロックがマットの上に落ちている

【画像】LOG401_04_D3_drop.jpg 位置D の3回目の動画の 65・120・128・140 秒。ブロックの上へ下りてきて、爪の先でつかんだまま押しつけられ、持ち上げたあとはブロックがマットに残っている

2回目の作業中には、ログの `未到達. j4 の発熱などを確認してください` を見て、手首が熱で緩んで落としたと見ていました。動画を見ると、落ちたのは持ち上げた瞬間で、手首の 15.4° の未到達が出たのは、そのあと空の爪で箱の方へ回っていたときでした。2回とも同じ所で同じ落ち方をしているので、熱で緩んだのではないと見ています。


### AI が送った目標は、お手本とほぼ同じ姿勢だった

作業中は、AI がお手本より低い所を狙っていて、爪の先がマットに当たるのではないかと考えていました。そこで、爪を閉じるまでに送った目標の関節の角度を、お手本と1つずつ並べました（スクリプトと全部の出力は、後ろの「回ごとの集計」の節）。

| | 肩 j1 | ひじ j2 | 手首 j4 |
|---|---|---|---|
| お手本5本の、閉じた瞬間 | +62.3〜+62.5 | +13.9〜+14.8 | −60.8〜−58.0 |
| 実機5回の、閉じる直前に送った目標 | +62.2〜+63.5 | +12.6〜+14.5 | −61.1〜−57.2 |
| お手本5本の、閉じる前に手首をいちばん下へ曲げた所 | +55.3 | +22.5〜+22.6 | −76.6〜−76.2 |

目標は、お手本からほとんど外れていません。違いが出たのは、目標まで動けたかどうかです。3回目と5回目は、閉じる直前のチャンク03で、手首 j4 が目標まで動けずに止まっています。

| 回 | 中継点 | 送った目標の j4 | 着いたあとの j4 | 差 |
|---|---|---|---|---|
| 3（落とした） | チャンク03 の5ステップ目 | −71.5 | −60.1 | 11.4° 上で止まった |
| 4（入った） | チャンク03 の5ステップ目 | −74.2 | −75.8 | 目標まで動けた |
| 5（つかみ損ね） | チャンク03 の2ステップ目 | −76.4 | −69.0 | 7.4° 上で止まった |

手首を下へ曲げきれずに上で止まったのは、爪の先がマットかブロックに当たって押し返されたからだと見ています（見込み。3回目の動画では、このとき爪の先がマットに当たっています）。2回目は、ログでは手首が目標まで動けていますが、動画では爪の先がマットに押しつけられていました。

位置D は、お手本でも爪の先でつかんでいる場所です（LOG363）。腕を伸ばしきった低い姿勢なので、ブロックの置き方が 1cm ずれるだけで、爪の奥まで入らずに先だけがかかり、爪の先がマットに当たります。肩・ひじ・手首の角度がお手本と同じでも、つかみ方に余裕がない、というのが記録から言えることです。

【図解】LOG401_fifteen_runs.html


### 5回のあとに1回足した回では、手首が 36.7° 手前で止まった

5回目のあと、もう1回だけ動かしました（5回の数には入れていません）。チャンク01（まだブロックへ向かっている途中）で、手首 j4 が目標 −49.8° に対して −13.1° で止まり、そのあとブロックの上に来る前に爪を閉じたので止めました。マットに当たる高さではないので、手首そのものが動かなくなっています。12:33 に 15.4°、12:55 に 36.7° と、アームを続けて動かすうちに手首の止まり方が大きくなっていたので、ここで休ませました。

休ませたのは約1時間50分です。アームの電源は入れたまま HOME に置き、Pod はつけたままにしました（借り直すと openpi を入れ直すのに10分ほどかかるため）。


### 再開の前に、デーモンとトンネルを確かめた

再開するとき、デーモンを起動するコマンドは `Address already in use` で止まりました。電源を入れたままだったので、デーモンはすでに動いていました。HOME には 2.0 秒で着いています。

```
_server_sock.bind((DAEMON_HOST, DAEMON_PORT))
 
OSError: [Errno 98] Address already in use
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: [-0.17, 1.31, 1.75, 0.26, -0.26, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=2.0s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [-0.17, 1.31, 1.75, 0.26, -0.26, -30.23]
  [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
```

トンネルは、張り直そうとすると 8000 番がまだ使われていました。前に張ったトンネルが、8000 番を押さえたまま、中身の接続だけ切れていた状態です。クライアントが `サーバー待ち` のまま進まなかったので、古いトンネルを止めてから張り直しました。

```
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % ssh -N -L 8000:localhost:8000 -p <SSH_PORT> -i ~/.ssh/id_ed25519 root@<POD_IP>
bind [::1]:8000: Address already in use
channel_setup_fwd_listener_tcpip: cannot listen to port: 8000
Could not request local forwarding.
```

```
pkill -f "ssh -N -L 8000"
ssh -N -L 8000:localhost:8000 -p <SSH_PORT> -i ~/.ssh/id_ed25519 root@<POD_IP>
```


## 位置E：5回中3回。失敗の2回は爪がブロックの奥側に下りた

位置E はアームの前の手前側で、上のカメラから見ると、ブロックが爪の真下に隠れます。`camera_align.py` では、重ねた画像の爪のすき間から見える赤い部分を目印に置きました。

| 回 | 記録 | 写り方の response | 閉じたチャンク | 離したチャンク | 結果 |
|---|---|---|---|---|---|
| 1 | pi05_20261029_145207 | 0.547 | 04 | 09 | 入った |
| 2 | pi05_20261029_145641 | 0.558 | 04 | なし | 入らなかった。爪がブロックの奥側に下りて閉じ、ブロックは爪の手前に残った |
| 3 | pi05_20261029_145851 | 0.566 | 04 | 09 | 入った |
| 4 | pi05_20261029_150534 | 0.550 | 04 | 09 | 入った |
| 5 | pi05_20261029_150950 | 0.543 | 04 | なし | 入らなかった。2回目と同じ |

4回目は、動かしていたときには入らなかったと見ていましたが、横からの動画で、箱の上で離して箱の中に入っているのを確かめ、入ったに数えています。位置E の失敗の2回は、どちらもつかむところで外れていて、持ったあとに落とした回はありません。前の回で心配した、箱の手前の縁にぶつかる回もありませんでした。

【画像】LOG401_05_E2_miss.jpg 位置E の2回目の動画の 24・48・66・78 秒。爪がブロックの奥側に下りて閉じ、ブロックは爪の手前に押し出されている

【画像】LOG401_06_E4_success.jpg 位置E の4回目の動画の 96・126・150・205 秒。ブロックをつかんで持ち上げ、箱の上まで運んで離し、最後は箱の中に赤いブロックが見える


## 15回のまとめ：C 5/5・D 1/5・E 3/5、合わせて15回中9回

| 位置 | お手本の本数 | LOG363 で動かした回 | LOG363 で入った回 | この回に動かした回 | この回に入った回 |
|---|---|---|---|---|---|
| C | 4本 | 7回 | 1回 | 5回 | 5回 |
| D | 5本 | 1回 | 1回 | 5回 | 1回 |
| E | 4本 | 2回 | 1回 | 5回 | 3回 |

LOG363 の位置C の7回のうち、3回は途中で手で止め、1回は動画がなく入ったか分からず、2回がつかみ損ねでした。この回の C の5回は、どれも最後まで動かしています。止め方が違うので、7回中1回と5回中5回を、そのまま比べることはしていません。

お手本の本数は、D がいちばん多い5本です。それでも D がいちばん入りませんでした。19本と少ないお手本の中では、置き場所ごとの本数の差よりも、その場所がアームにとってどれだけ余裕のない姿勢かのほうが効いていると見ています（見込み）。5回ずつでは割合の数字としてはまだ粗く、回数を増やせば多少は動きます。

AI に問い合わせてから答えが返るまで（推論）の時間は、195回の問い合わせの中央値が 632ミリ秒、いちばん短いのが 417ミリ秒、いちばん長いのが 2,344ミリ秒で、1秒を超えたのは53回でした（A40・Pod から Mac までの往復を含む）。


## Pod の費用は2.87ドル（約453円）で、そのうち約1.1ドルは休憩の待ちだった

| 項目 | 値 |
|---|---|
| GPU | A40 × 1（Runpod） |
| 料金 | 1時間 0.62ドル（約98円） |
| 残高 | 借りる前 3.82ドル（LOG363 の終わりの値。その後 Runpod は使っていない）、途中で 10ドル足して、消したあと 10.95ドル |
| 費用 | 2.87ドル（約453円） |
| 借りた時間 | 費用を料金で割ると約4時間38分（11:37 ごろ〜16:15 ごろ） |
| そのうち休憩の待ち | 約1時間50分（約1.1ドル・約180円） |
| モデルを取ってくる時間 | 13.19 秒 |
| サーバーの起動 | モデルの読み込み 5.41 秒 |
| 実機の回 | 位置C 5回・D 5回（ほかに数に入れない1回）・E 5回 |

Pod を消す前に、サーバーのログを Mac の KIOXIA へ持ち帰りました。

```
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % mkdir -p /Volumes/KIOXIA/r2r2r-data/lab/Log14
 
scp -P <SSH_PORT> -i ~/.ssh/id_ed25519 root@<POD_IP>:/workspace/logs/serve.log /Volumes/KIOXIA/r2r2r-data/lab/Log14/serve.log
serve.log                                                                  100% 5732    11.8KB/s   00:00    
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts %
```

そのあと、Runpod の画面で Stop → Terminate を押して Pod を消しました。ターミナルの出力・serve.log・横からの動画7本は KIOXIA の `lab/Log14/` に、上カメラのコマと log.jsonl は `runs/pi05_policy/` に置いています。


## 次は位置D のつかみ方と、上カメラの確認の直し方を決める

この回で、置き場所によって入る割合が大きく違うことが分かりました。次に考えていることは3つです。

- 位置D のお手本を、ブロックを爪の奥までつかむ形で撮り直すか。撮り直すと学習のやり直しになるので、費用と合わせて決める
- 上カメラの写り方の確認を、位置ごとのお手本と比べる形にし、カメラを開いた直後の数コマを捨ててから確かめる形にする（アームを動かすプログラムの直しなので、Claude Code に頼む）
- 照明を変えたときに入るかどうか。お手本の19本は、すべて 10/19 の夕方に同じ部屋の明かりで撮ったものです。この回は昼の12時台と15時台で、C は5回とも入っています。照明を変えて試すのは、この回の結果を基準にして、1つずつ変える別の回にします


## 回ごとの集計と、すべてのチャンクの記録

この回の数字は、すべて KIOXIA の `runs/pi05_policy/pi05_20261029_*/log.jsonl` から次の3つのスクリプトで出しています。どれも読むだけで、ファイルには何も書きません。Mac につないだ作業環境で `R2R2R_DATA` を KIOXIA の場所にして動かしました。


### 回ごとの1行の表を作るスクリプト run_summary.py

結果（入った・入らなかった）は、目で見た結果と横からの動画を、スクリプトの中に書き写しています。

```python
"""LOG401: 2026-10-29 の π0.5 実機の回をすべて 1 行ずつの表にする (読むだけ).
runs/pi05_policy/pi05_20261029_*/log.jsonl を読み, 回ごとに
 写り方の確認 (response と, 確認を外したか) / 動かしたチャンク数 / 閉じる指令・開く指令のチャンク /
 推論時間 (中央値・最大) / 中継点の未到達 (8 秒以内に着かなかった数) /
 閉じる前と閉じたあとの, 手首 j4 の目標と実測の差の最大
を出す. 結果 (入った・入らなかった) は, 目で見た結果をここに書き写したもの.
"""
import json, glob, os
import numpy as np
ROOT = os.environ.get("R2R2R_DATA", "/Volumes/KIOXIA/r2r2r-data")
RUNS = ROOT + "/runs/pi05_policy"
# 目で見た結果 (エイイチの報告と横からの動画). 位置と何回目か, 結果, ひとこと
SEEN = {
    "115823": ("C", 1, "入った", "持ち上げて箱の上で離した"),
    "120644": ("C", 2, "入った", "離す前に爪から抜け, 箱の中に落ちた"),
    "121202": ("C", 3, "入った", "箱の上で離した"),
    "121650": ("C", 4, "入った", "箱の上で離した"),
    "122156": ("C", 5, "入った", "つかむときブロックが爪に引っかかったが, 箱に入れた"),
    "122909": ("D", 1, "入らなかった", "爪がブロックの手前で閉じた"),
    "123158": ("D", 2, "入らなかった", "爪の先でつかみ, 持ち上げた瞬間に手先が跳ね上がって落とした"),
    "124104": ("D", 3, "入らなかった", "爪の先でつかみ, 持ち上げた瞬間に手先が跳ね上がって落とした"),
    "124830": ("D", 4, "入った", "箱の上で離した"),
    "125314": ("D", 5, "入らなかった", "つかみ損ね"),
    "125528": ("D", 6, "数に入れない", "5 回の外. 手首 j4 が 36.5 度手前で止まり, ブロックの上に来る前に閉じたので止めた"),
    "145207": ("E", 1, "入った", "箱の上で離した"),
    "145641": ("E", 2, "入らなかった", "爪がブロックの奥側に下りて閉じた"),
    "145851": ("E", 3, "入った", "箱の上で離した"),
    "150534": ("E", 4, "入った", "箱の上で離した"),
    "150950": ("E", 5, "入らなかった", "爪がブロックの奥側に下りて閉じた"),
}
def vias_of(c):
    return [v for v in (c.get("vias") or []) if v.get("called")]
print("run       位置 回 結果          写り方(resp/外した) chunk 閉 開  推論ms(中央/最大) 未到達 j4差(閉じる前/後) ひとこと")
for d in sorted(glob.glob(RUNS + "/pi05_20261029_*")):
    stem = os.path.basename(d)[-6:]
    L = [json.loads(l) for l in open(d + "/log.jsonl")]
    fr = [l for l in L if l.get("type") == "framing"]
    ch = [l for l in L if "chunk" in l]
    ex = [c for c in ch if c.get("executed")]
    resp = f"{fr[0]['response']:.3f}/{'外した' if fr[0].get('ignored') else '-'}" if fr else "-"
    if not fr or (not fr[0]["ok"] and not fr[0].get("ignored")):
        why = "写り方の確認で止まった (アームは動いていない)" if fr else "記録なし"
    elif not ch:
        why = "最初のチャンクを送る前に止めた (アームは動いていない)"
    else:
        why = ""
    close = [c["chunk"] for c in ch if c.get("grip_cmd") == 1]
    opn = [c["chunk"] for c in ch if c.get("grip_cmd") == 0]
    lat = [c["latency_s"] * 1000 for c in ch if "latency_s" in c]
    miss = sum(1 for c in ex for v in vias_of(c) if not v.get("success"))
    c0 = close[0] if close else 10**9
    pre = [abs(v["actual_after"][4] - v["target"][4]) for c in ex if c["chunk"] <= c0 for v in vias_of(c) if v.get("actual_after")]
    post = [abs(v["actual_after"][4] - v["target"][4]) for c in ex if c["chunk"] > c0 for v in vias_of(c) if v.get("actual_after")]
    pos, n, res, note = SEEN.get(stem, ("-", "-", "-", why))
    lat_s = f"{np.median(lat):5.0f}/{max(lat):5.0f}" if lat else "    -/    -"
    print(f"{stem}   {pos}   {n}  {res:12s}  {resp:18s} {len(ex):3d}  {str(close[0]) if close else '-':>2s} {str(opn[0]) if opn else '-':>2s}  {lat_s}       {miss}     "
          f"{(max(pre) if pre else 0):5.1f}/{(max(post) if post else 0):5.1f}   {note}")
print()
print("位置ごとのまとめ (数に入れない回を除く)")
for p in "CDE":
    rs = [v for v in SEEN.values() if v[0] == p and v[2] != "数に入れない"]
    print(f"  位置{p}: {sum(1 for v in rs if v[2] == '入った')}/{len(rs)}")
allr = [v for v in SEEN.values() if v[2] != "数に入れない"]
print(f"  合計: {sum(1 for v in allr if v[2] == '入った')}/{len(allr)}")
```


### run_summary.py の出力 out_run_summary.txt

```
run       位置 回 結果          写り方(resp/外した) chunk 閉 開  推論ms(中央/最大) 未到達 j4差(閉じる前/後) ひとこと
115543   -   -  -             0.035/-              0   -  -      -/    -       0       0.0/  0.0   写り方の確認で止まった (アームは動いていない)
115631   -   -  -             0.317/-              0   -  -      -/    -       0       0.0/  0.0   最初のチャンクを送る前に止めた (アームは動いていない)
115718   -   -  -             0.199/-              0   -  -      -/    -       0       0.0/  0.0   写り方の確認で止まった (アームは動いていない)
115733   -   -  -             0.194/-              0   -  -      -/    -       0       0.0/  0.0   写り方の確認で止まった (アームは動いていない)
115823   C   1  入った           0.212/-             15   4 10    609/ 1730       0       1.3/  1.6   持ち上げて箱の上で離した
120216   -   -  -             0.176/-              0   -  -      -/    -       0       0.0/  0.0   写り方の確認で止まった (アームは動いていない)
120221   -   -  -             0.094/-              0   -  -      -/    -       0       0.0/  0.0   写り方の確認で止まった (アームは動いていない)
120236   -   -  -             0.178/-              0   -  -      -/    -       0       0.0/  0.0   写り方の確認で止まった (アームは動いていない)
120242   -   -  -             0.173/-              0   -  -      -/    -       0       0.0/  0.0   写り方の確認で止まった (アームは動いていない)
120254   -   -  -             0.175/-              0   -  -      -/    -       0       0.0/  0.0   写り方の確認で止まった (アームは動いていない)
120304   -   -  -             0.177/-              0   -  -      -/    -       0       0.0/  0.0   写り方の確認で止まった (アームは動いていない)
120455   -   -  -             0.177/-              0   -  -      -/    -       0       0.0/  0.0   写り方の確認で止まった (アームは動いていない)
120557   -   -  -             0.003/-              0   -  -      -/    -       0       0.0/  0.0   写り方の確認で止まった (アームは動いていない)
120615   -   -  -             0.184/-              0   -  -      -/    -       0       0.0/  0.0   写り方の確認で止まった (アームは動いていない)
120644   C   2  入った           0.183/外した           16   4 10    621/ 1559       0       1.4/  1.8   離す前に爪から抜け, 箱の中に落ちた
121202   C   3  入った           0.049/外した           13   3  8    818/ 2344       0       1.1/  1.7   箱の上で離した
121650   C   4  入った           0.051/外した           15   4 10    736/ 1602       0       1.4/  1.8   箱の上で離した
122156   C   5  入った           0.212/外した           16   4 11    662/ 1732       0       2.1/  1.8   つかむときブロックが爪に引っかかったが, 箱に入れた
122909   D   1  入らなかった        0.541/外した            7   4  -    676/ 1706       0       1.4/  2.4   爪がブロックの手前で閉じた
123158   D   2  入らなかった        0.437/外した            9   4  -    614/ 1518       1       2.0/ 15.4   爪の先でつかみ, 持ち上げた瞬間に手先が跳ね上がって落とした
124104   D   3  入らなかった        0.512/外した            9   4  -    604/ 1545       2      11.4/ 12.7   爪の先でつかみ, 持ち上げた瞬間に手先が跳ね上がって落とした
124830   D   4  入った           0.524/外した           16   4 11    680/ 1792       1       1.8/  2.3   箱の上で離した
125314   D   5  入らなかった        0.420/外した            6   4  -    651/ 1558       2       7.4/  5.7   つかみ損ね
125528   D   6  数に入れない        0.032/外した            3   3  -    556/  608       1      36.7/  0.0   5 回の外. 手首 j4 が 36.5 度手前で止まり, ブロックの上に来る前に閉じたので止めた
145115   -   -  -             0.532/外した            0   -  -      -/    -       0       0.0/  0.0   最初のチャンクを送る前に止めた (アームは動いていない)
145207   E   1  入った           0.547/外した           14   4  9    572/ 1708       0       1.5/  2.1   箱の上で離した
145641   E   2  入らなかった        0.558/外した            6   4  -    588/ 1720       0       1.4/  2.3   爪がブロックの奥側に下りて閉じた
145851   E   3  入った           0.566/外した           14   4  9    736/ 1754       0       1.4/  2.1   箱の上で離した
150534   E   4  入った           0.550/外した           14   4  9    624/ 1557       0       1.0/  2.3   箱の上で離した
150950   E   5  入らなかった        0.543/外した            6   4  -    613/ 1542       0       1.3/  1.8   爪がブロックの奥側に下りて閉じた

位置ごとのまとめ (数に入れない回を除く)
  位置C: 5/5
  位置D: 1/5
  位置E: 3/5
  合計: 9/15
```


### つかむまでをお手本と比べるスクリプト approach_vs_demo.py

```python
"""LOG401: ブロックへ下りていくところ (爪を閉じるまで) を, お手本と 2026-10-29 の実機の回で比べる (読むだけ).
 お手本 (10Hz): 爪を閉じるまでの手首 j4 の最小 (いちばん下へ曲げた所) と, そのときの j0 j1 j2. 閉じた瞬間の関節角
 実機: 閉じる指令のチャンクまでの中継点ごとに, 送った目標 (target) と 着いたあとの実測 (actual_after).
       手首 j4 の 目標−実測 (− は目標まで曲がりきらずに止まった) と, 8 秒以内に着いたか
"""
import os, json
import numpy as np
ROOT = os.environ.get("R2R2R_DATA", "/Volumes/KIOXIA/r2r2r-data"); os.chdir(ROOT)
RAW = "datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes"
DEMO = {"C": ["192343", "192438", "192539", "192633"],
        "D": ["193404", "193459", "193617", "193825", "193932"],
        "E": ["194818", "194913", "195023", "195120"]}
RUNS = {"C": [("115823", "入った"), ("120644", "入った"), ("121202", "入った"), ("121650", "入った"), ("122156", "入った")],
        "D": [("122909", "入らなかった"), ("123158", "入らなかった"), ("124104", "入らなかった"), ("124830", "入った"), ("125314", "入らなかった"), ("125528", "数に入れない")],
        "E": [("145207", "入った"), ("145641", "入らなかった"), ("145851", "入った"), ("150534", "入った"), ("150950", "入らなかった")]}
def p(v, n=6):
    return " ".join(f"{x:+6.1f}" for x in v[:n])
for pos in "CDE":
    print(f"\n######## 位置{pos}")
    print("== お手本: 閉じるまでの j4 の最小 / 閉じた瞬間 (j0..j5)")
    for e in DEMO[pos]:
        S = np.load(f"{RAW}/run_0001_20261019_{e}/episode.npz")["state"]
        c = int(np.argmax(S[:, 6] > 0.5))
        k = int(np.argmin(S[:c + 1, 4]))
        print(f"  demo {e}  j4最小 {S[k,4]:+6.1f} (閉じる {(c-k)/10:.1f} 秒前, j0 {S[k,0]:+6.1f} j1 {S[k,1]:+6.1f} j2 {S[k,2]:+6.1f})  閉じた瞬間 [{p(S[c])}]")
    print("== 実機: 閉じるまでの中継点 (チャンク.ステップ  目標 j0 j1 j2 j3 j4 j5 | 実測 j4 | j4 目標−実測 | 着いた)")
    for stem, res in RUNS[pos]:
        L = [json.loads(l) for l in open(f"runs/pi05_policy/pi05_20261029_{stem}/log.jsonl")]
        ch = [x for x in L if "chunk" in x and x.get("executed")]
        cl = [x["chunk"] for x in ch if x.get("grip_cmd") == 1]
        c0 = cl[0] if cl else ch[-1]["chunk"]
        print(f"  -- {stem} {res}  閉じる指令 チャンク{c0:02d}")
        for x in ch:
            if x["chunk"] > c0:
                break
            for v in x.get("vias") or []:
                if not v.get("called"):
                    continue
                t, a = v["target"], v["actual_after"]
                mark = "" if v.get("success") else "  ← 未到達"
                print(f"     {x['chunk']:02d}.{v['step']}  [{p(t)}] | {a[4]:+6.1f} | {t[4]-a[4]:+6.1f} | {v.get('success')}{mark}")
```


### approach_vs_demo.py の出力 out_approach_vs_demo.txt

```

######## 位置C
== お手本: 閉じるまでの j4 の最小 / 閉じた瞬間 (j0..j5)
  demo 192343  j4最小  -70.3 (閉じる 1.4 秒前, j0  -27.6 j1  +58.1 j2  +19.7)  閉じた瞬間 [ -27.7  +63.7  +14.1   -7.6  -61.2  -27.9]
  demo 192438  j4最小  -70.6 (閉じる 1.4 秒前, j0  -27.8 j1  +58.1 j2  +19.6)  閉じた瞬間 [ -27.8  +63.7  +14.1   -7.7  -61.4  -27.3]
  demo 192539  j4最小  -70.3 (閉じる 1.4 秒前, j0  -28.4 j1  +58.1 j2  +19.7)  閉じた瞬間 [ -27.2  +63.7  +14.1   -7.7  -61.4  -27.3]
  demo 192633  j4最小  -70.4 (閉じる 1.4 秒前, j0  -28.2 j1  +58.1 j2  +19.7)  閉じた瞬間 [ -27.4  +63.7  +14.1   -7.6  -61.4  -27.2]
== 実機: 閉じるまでの中継点 (チャンク.ステップ  目標 j0 j1 j2 j3 j4 j5 | 実測 j4 | j4 目標−実測 | 着いた)
  -- 115823 入った  閉じる指令 チャンク04
     00.2  [  -1.8   +4.8   +0.7   -0.2   -4.0  -29.7] |   -2.7 |   -1.3 | True
     00.5  [  -4.8  +11.7   +2.2   -1.0  -12.2  -29.2] |  -11.2 |   -0.9 | True
     00.8  [  -8.1  +18.5   +4.3   -2.0  -20.7  -28.7] |  -20.3 |   -0.4 | True
     00.9  [  -9.2  +21.0   +4.9   -2.2  -23.4  -28.5] |  -23.3 |   -0.1 | True
     01.2  [ -12.7  +27.7   +6.5   -2.7  -30.5  -28.2] |  -30.2 |   -0.3 | True
     01.5  [ -16.2  +34.7   +8.6   -2.7  -39.1  -28.1] |  -38.8 |   -0.4 | True
     01.8  [ -19.7  +41.8  +10.8   -2.5  -47.6  -28.1] |  -47.3 |   -0.3 | True
     01.9  [ -20.5  +43.6  +11.2   -2.5  -49.9  -28.1] |  -50.0 |   +0.1 | True
     02.2  [ -23.9  +50.6  +13.2   -2.9  -59.3  -28.0] |  -58.9 |   -0.5 | True
     02.5  [ -26.6  +56.4  +15.3   -2.8  -66.2  -28.0] |  -65.8 |   -0.4 | True
     02.8  [ -27.6  +58.3  +16.4   -2.4  -68.2  -27.9] |  -68.6 |   +0.5 | True
     02.9  [ -27.7  +58.4  +16.4   -2.3  -68.4  -27.9] |  -68.6 |   +0.2 | True
     03.2  [ -27.9  +60.5  +17.1   -2.1  -70.1  -27.9] |  -70.4 |   +0.3 | True
     03.5  [ -27.6  +61.1  +16.6   -2.7  -69.5  -27.8] |  -70.4 |   +0.9 | True
     03.8  [ -27.8  +62.6  +14.3   -4.6  -66.4  -27.7] |  -67.6 |   +1.2 | True
     03.9  [ -27.8  +63.0  +13.7   -4.9  -65.7  -27.7] |  -66.3 |   +0.7 | True
     04.2  [ -27.6  +64.9  +11.8   -6.3  -63.2  -27.7] |  -63.6 |   +0.5 | True
     04.5  [ -27.7  +65.4  +11.4   -6.8  -62.4  -27.7] |  -63.4 |   +1.0 | True
     04.6  [ -27.7  +65.4  +11.4   -6.8  -62.4  -27.7] |  -63.2 |   +0.8 | True
  -- 120644 入った  閉じる指令 チャンク04
     00.2  [  -2.4   +5.8   +2.8   -0.4   -5.3  -29.6] |   -4.3 |   -1.0 | True
     00.5  [  -5.5  +12.7   +4.8   -1.4  -13.6  -28.8] |  -12.5 |   -1.1 | True
     00.8  [  -8.6  +19.3   +6.7   -2.4  -21.5  -27.9] |  -21.2 |   -0.4 | True
     00.9  [  -9.7  +21.5   +7.2   -2.7  -24.1  -27.7] |  -24.0 |   -0.1 | True
     01.2  [ -13.8  +28.4   +9.2   -3.4  -32.3  -27.4] |  -32.0 |   -0.3 | True
     01.5  [ -17.5  +35.5  +11.5   -3.2  -41.7  -27.3] |  -41.3 |   -0.4 | True
     01.8  [ -21.1  +43.0  +13.7   -2.8  -51.4  -27.2] |  -51.1 |   -0.3 | True
     01.9  [ -22.1  +45.1  +14.2   -2.7  -54.0  -27.2] |  -54.2 |   +0.2 | True
     02.2  [ -25.2  +52.2  +16.1   -3.2  -63.1  -27.2] |  -62.7 |   -0.4 | True
     02.5  [ -27.4  +56.7  +17.8   -3.0  -68.1  -27.2] |  -68.0 |   -0.1 | True
     02.8  [ -28.4  +58.5  +18.6   -2.5  -69.3  -27.1] |  -69.2 |   -0.2 | True
     02.9  [ -28.2  +58.5  +18.5   -2.4  -69.1  -27.2] |  -69.2 |   +0.0 | True
     03.2  [ -28.2  +59.5  +18.7   -2.5  -69.8  -27.1] |  -69.5 |   -0.3 | True
     03.5  [ -27.9  +60.3  +17.9   -3.3  -69.1  -27.1] |  -69.6 |   +0.5 | True
     03.8  [ -28.0  +61.5  +16.1   -4.6  -66.6  -27.1] |  -67.9 |   +1.4 | True
     03.9  [ -28.1  +62.0  +15.5   -5.0  -65.8  -27.1] |  -66.6 |   +0.8 | True
     04.2  [ -27.9  +63.5  +13.8   -6.2  -63.5  -27.1] |  -64.0 |   +0.5 | True
     04.5  [ -27.8  +63.9  +13.2   -6.8  -62.6  -27.1] |  -63.4 |   +0.8 | True
     04.6  [ -27.8  +63.9  +13.2   -6.8  -62.6  -27.1] |  -63.3 |   +0.7 | True
  -- 121202 入った  閉じる指令 チャンク03
     00.2  [  -2.6   +5.5   +2.9   -0.5   -4.9  -29.8] |   -4.2 |   -0.7 | True
     00.5  [  -5.5  +11.6   +4.6   -1.3  -12.1  -29.1] |  -11.2 |   -1.0 | True
     00.8  [  -8.8  +17.8   +6.6   -2.1  -19.9  -28.4] |  -19.3 |   -0.5 | True
     00.9  [  -9.8  +19.6   +7.1   -2.3  -21.6  -28.2] |  -22.1 |   +0.5 | True
     01.2  [ -13.3  +26.5   +9.0   -3.0  -29.7  -27.8] |  -29.3 |   -0.4 | True
     01.5  [ -17.1  +33.5  +11.2   -3.1  -38.5  -27.7] |  -38.2 |   -0.3 | True
     01.8  [ -20.4  +40.3  +13.3   -3.0  -47.8  -27.6] |  -47.1 |   -0.6 | True
     01.9  [ -21.6  +42.6  +13.9   -3.0  -50.7  -27.6] |  -50.9 |   +0.2 | True
     02.2  [ -24.9  +49.1  +15.8   -3.4  -59.4  -27.5] |  -58.9 |   -0.5 | True
     02.5  [ -27.4  +54.4  +17.7   -3.2  -64.9  -27.5] |  -65.2 |   +0.3 | True
     02.8  [ -28.4  +56.1  +18.9   -2.6  -66.5  -27.4] |  -66.9 |   +0.4 | True
     02.9  [ -28.4  +56.2  +18.9   -2.6  -66.5  -27.4] |  -66.9 |   +0.4 | True
     03.2  [ -29.0  +57.5  +19.6   -2.4  -67.9  -27.4] |  -67.8 |   -0.1 | True
     03.8  [ -28.7  +59.6  +17.7   -3.9  -66.7  -27.4] |  -67.8 |   +1.1 | True
     03.9  [ -28.7  +59.6  +17.7   -3.9  -66.7  -27.4] |  -67.8 |   +1.1 | True
  -- 121650 入った  閉じる指令 チャンク04
     00.2  [  -2.5   +5.7   +3.0   -0.3   -5.5  -29.7] |   -4.7 |   -0.8 | True
     00.5  [  -5.8  +12.3   +5.0   -1.4  -13.5  -28.9] |  -12.5 |   -1.0 | True
     00.8  [  -9.0  +18.5   +7.1   -2.3  -21.2  -28.2] |  -20.7 |   -0.5 | True
     00.9  [ -10.0  +20.3   +7.7   -2.5  -23.4  -28.0] |  -23.7 |   +0.4 | True
     01.2  [ -13.8  +27.4   +9.6   -3.2  -31.7  -27.6] |  -31.1 |   -0.6 | True
     01.5  [ -17.5  +34.5  +11.8   -3.1  -40.9  -27.6] |  -40.7 |   -0.2 | True
     01.8  [ -21.2  +42.2  +14.1   -2.9  -50.5  -27.5] |  -50.1 |   -0.4 | True
     01.9  [ -22.4  +44.6  +14.6   -2.9  -53.3  -27.4] |  -53.7 |   +0.4 | True
     02.2  [ -25.4  +51.4  +16.4   -3.2  -61.7  -27.4] |  -61.2 |   -0.5 | True
     02.5  [ -27.7  +56.5  +18.3   -3.1  -67.0  -27.4] |  -67.1 |   +0.0 | True
     02.8  [ -28.4  +57.9  +19.2   -2.6  -68.7  -27.3] |  -68.5 |   -0.2 | True
     02.9  [ -28.6  +57.9  +19.4   -2.5  -68.7  -27.3] |  -68.5 |   -0.2 | True
     03.2  [ -28.7  +58.6  +19.7   -2.4  -69.6  -27.3] |  -69.4 |   -0.2 | True
     03.5  [ -28.3  +59.3  +18.9   -3.0  -69.1  -27.3] |  -69.4 |   +0.4 | True
     03.8  [ -28.3  +60.7  +17.3   -4.3  -67.1  -27.3] |  -68.5 |   +1.4 | True
     03.9  [ -28.2  +61.3  +16.6   -4.7  -66.2  -27.3] |  -67.1 |   +0.8 | True
     04.2  [ -27.9  +62.7  +14.9   -6.1  -63.9  -27.3] |  -64.2 |   +0.3 | True
     04.5  [ -27.8  +63.7  +13.6   -7.0  -62.0  -27.3] |  -62.8 |   +0.8 | True
     04.8  [ -27.7  +63.7  +13.5   -7.2  -61.9  -27.3] |  -62.7 |   +0.8 | True
  -- 122156 入った  閉じる指令 チャンク04
     00.2  [  -2.7   +6.3   +2.7   -0.2   -5.9  -29.6] |   -4.6 |   -1.4 | True
     00.5  [  -5.7  +12.8   +4.6   -1.1  -13.5  -28.8] |  -12.6 |   -1.0 | True
     00.8  [  -8.9  +19.5   +6.7   -2.0  -21.7  -27.8] |  -21.3 |   -0.4 | True
     00.9  [ -10.1  +21.6   +7.2   -2.3  -24.1  -27.5] |  -24.0 |   -0.1 | True
     01.2  [ -13.9  +28.4   +9.2   -2.9  -32.1  -27.2] |  -31.9 |   -0.2 | True
     01.5  [ -17.7  +35.6  +11.5   -2.7  -41.6  -27.2] |  -41.1 |   -0.5 | True
     01.8  [ -21.3  +42.7  +13.4   -2.6  -50.7  -27.2] |  -50.2 |   -0.5 | True
     01.9  [ -22.5  +45.0  +14.0   -2.6  -53.2  -27.1] |  -53.6 |   +0.4 | True
     02.2  [ -25.6  +51.9  +15.7   -3.0  -62.0  -27.1] |  -61.4 |   -0.6 | True
     02.5  [ -28.4  +57.3  +17.5   -2.8  -67.8  -27.1] |  -67.5 |   -0.3 | True
     02.8  [ -29.5  +59.0  +18.5   -2.3  -69.7  -27.0] |  -69.8 |   +0.1 | True
     02.9  [ -29.6  +59.1  +18.4   -2.2  -69.7  -27.0] |  -69.8 |   +0.1 | True
     03.2  [ -29.4  +59.6  +18.0   -2.6  -69.3  -27.0] |  -70.3 |   +1.0 | True
     03.5  [ -29.1  +60.6  +16.6   -3.7  -67.4  -27.0] |  -69.5 |   +2.1 | True
     03.8  [ -29.0  +62.3  +14.7   -5.0  -65.0  -27.0] |  -65.0 |   +0.0 | True
     03.9  [ -28.9  +62.7  +14.3   -5.3  -64.4  -27.0] |  -65.0 |   +0.6 | True
     04.2  [ -28.9  +64.0  +12.9   -6.2  -62.6  -27.0] |  -63.0 |   +0.4 | True
     04.5  [ -28.9  +64.0  +12.7   -6.4  -62.5  -27.0] |  -62.9 |   +0.4 | True

######## 位置D
== お手本: 閉じるまでの j4 の最小 / 閉じた瞬間 (j0..j5)
  demo 193404  j4最小  -76.2 (閉じる 1.4 秒前, j0  -59.9 j1  +55.3 j2  +22.6)  閉じた瞬間 [ -61.6  +62.5  +14.8   +1.5  -60.7  -32.4]
  demo 193459  j4最小  -76.6 (閉じる 1.5 秒前, j0  -59.9 j1  +55.3 j2  +22.5)  閉じた瞬間 [ -61.6  +62.4  +14.8   +1.1  -60.8  -31.7]
  demo 193617  j4最小  -76.6 (閉じる 1.5 秒前, j0  -60.1 j1  +55.3 j2  +22.5)  閉じた瞬間 [ -61.7  +62.4  +14.8   +1.1  -60.8  -31.7]
  demo 193825  j4最小  -76.3 (閉じる 2.0 秒前, j0  -59.9 j1  +55.3 j2  +22.5)  閉じた瞬間 [ -61.5  +62.3  +13.9   +1.3  -58.0  -32.4]
  demo 193932  j4最小  -76.2 (閉じる 1.4 秒前, j0  -59.9 j1  +55.3 j2  +22.5)  閉じた瞬間 [ -61.6  +62.5  +14.8   +1.2  -60.7  -31.6]
== 実機: 閉じるまでの中継点 (チャンク.ステップ  目標 j0 j1 j2 j3 j4 j5 | 実測 j4 | j4 目標−実測 | 着いた)
  -- 122909 入らなかった  閉じる指令 チャンク04
     00.2  [  -4.6   +5.4   +3.0   +0.4   -5.7  -30.4] |   -4.7 |   -1.0 | True
     00.5  [ -10.9  +11.4   +4.8   +0.4  -13.5  -30.7] |  -12.4 |   -1.1 | True
     00.8  [ -17.6  +17.5   +6.7   +0.4  -21.4  -31.0] |  -21.2 |   -0.2 | True
     00.9  [ -19.8  +19.6   +7.5   +0.4  -24.0  -31.1] |  -24.0 |   -0.0 | True
     01.2  [ -25.7  +25.5   +9.8   +0.9  -32.5  -31.2] |  -31.8 |   -0.7 | True
     01.5  [ -32.8  +31.6  +12.2   +0.9  -41.3  -31.2] |  -40.8 |   -0.5 | True
     01.8  [ -39.9  +38.2  +14.5   +0.8  -50.7  -31.2] |  -50.4 |   -0.3 | True
     01.9  [ -41.7  +40.3  +15.1   +0.8  -53.5  -31.2] |  -54.2 |   +0.7 | True
     02.2  [ -48.8  +46.1  +16.9   +1.4  -62.6  -31.3] |  -61.4 |   -1.1 | True
     02.5  [ -55.2  +51.9  +19.2   +1.7  -70.5  -31.3] |  -69.6 |   -0.9 | True
     02.8  [ -59.3  +55.5  +21.3   +1.9  -74.8  -31.3] |  -75.1 |   +0.4 | True
     02.9  [ -59.6  +55.6  +21.6   +1.9  -74.7  -31.4] |  -75.1 |   +0.5 | True
     03.2  [ -59.9  +57.1  +20.7   +1.9  -74.2  -31.4] |  -75.1 |   +0.9 | True
     03.5  [ -59.9  +59.3  +18.2   +1.6  -70.1  -31.4] |  -71.5 |   +1.4 | True
     03.8  [ -60.1  +61.3  +16.2   +1.2  -66.0  -31.4] |  -64.7 |   -1.4 | True
     03.9  [ -60.2  +61.7  +15.7   +1.2  -65.2  -31.4] |  -64.5 |   -0.7 | True
     04.2  [ -60.4  +63.0  +14.5   +1.2  -62.0  -31.5] |  -62.8 |   +0.7 | True
     04.5  [ -60.4  +62.7  +14.5   +1.2  -61.1  -31.5] |  -62.4 |   +1.3 | True
  -- 123158 入らなかった  閉じる指令 チャンク04
     00.2  [  -3.3   +4.1   +2.6   +0.3   -4.0  -30.4] |   -2.6 |   -1.4 | True
     00.5  [  -9.4   +9.4   +4.3   +0.4  -11.4  -30.7] |  -10.8 |   -0.6 | True
     00.8  [ -15.6  +15.2   +6.1   +0.4  -19.4  -31.0] |  -18.7 |   -0.7 | True
     00.9  [ -17.6  +17.1   +6.7   +0.4  -21.7  -31.1] |  -22.4 |   +0.7 | True
     01.2  [ -23.5  +22.7   +8.8   +0.9  -29.8  -31.4] |  -27.8 |   -2.0 | True
     01.5  [ -30.2  +28.4  +11.1   +1.0  -38.0  -31.5] |  -36.9 |   -1.1 | True
     01.8  [ -36.6  +34.8  +13.2   +0.9  -46.9  -31.4] |  -46.6 |   -0.4 | True
     01.9  [ -37.8  +36.7  +13.6   +1.0  -49.5  -31.5] |  -49.6 |   +0.1 | True
     02.2  [ -45.5  +42.6  +15.8   +1.1  -58.5  -31.5] |  -58.2 |   -0.3 | True
     02.5  [ -52.8  +49.0  +17.9   +1.6  -67.5  -31.5] |  -66.8 |   -0.7 | True
     02.8  [ -58.2  +53.8  +19.9   +1.8  -73.6  -31.5] |  -73.2 |   -0.4 | True
     02.9  [ -58.9  +54.5  +20.2   +1.8  -74.1  -31.5] |  -74.1 |   -0.0 | True
     03.2  [ -59.5  +55.6  +21.0   +1.9  -74.1  -31.6] |  -74.6 |   +0.5 | True
     03.5  [ -59.8  +57.1  +19.5   +1.8  -71.2  -31.6] |  -72.9 |   +1.6 | True
     03.8  [ -60.1  +59.8  +16.6   +1.4  -66.3  -31.7] |  -67.2 |   +1.0 | True
     03.9  [ -60.1  +60.4  +15.8   +1.4  -65.1  -31.7] |  -65.7 |   +0.5 | True
     04.2  [ -60.6  +62.2  +14.0   +1.3  -61.9  -31.7] |  -62.5 |   +0.6 | True
     04.5  [ -60.5  +62.4  +13.9   +1.3  -60.9  -31.7] |  -61.4 |   +0.5 | True
     04.6  [ -60.5  +62.4  +13.9   +1.3  -60.9  -31.7] |  -61.3 |   +0.5 | True
  -- 124104 入らなかった  閉じる指令 チャンク04
     00.2  [  -3.8   +4.7   +3.0   +0.3   -4.7  -30.4] |   -4.0 |   -0.8 | True
     00.5  [ -10.1  +10.3   +5.0   +0.3  -12.4  -30.7] |  -11.7 |   -0.7 | True
     00.8  [ -16.4  +16.0   +6.8   +0.3  -20.1  -31.0] |  -19.7 |   -0.4 | True
     00.9  [ -18.3  +17.7   +7.5   +0.3  -22.6  -31.1] |  -22.8 |   +0.1 | True
     01.2  [ -24.4  +23.4   +9.7   +0.8  -31.1  -31.2] |  -30.5 |   -0.6 | True
     01.5  [ -31.4  +29.2  +12.1   +0.9  -39.8  -31.3] |  -39.3 |   -0.5 | True
     01.8  [ -38.0  +35.4  +14.3   +0.8  -49.3  -31.3] |  -48.9 |   -0.4 | True
     01.9  [ -40.0  +37.6  +14.9   +0.7  -52.6  -31.3] |  -53.1 |   +0.5 | True
     02.2  [ -47.5  +43.6  +17.1   +1.1  -61.7  -31.4] |  -61.3 |   -0.4 | True
     02.5  [ -54.5  +49.5  +19.5   +1.6  -70.4  -31.4] |  -69.4 |   -0.9 | True
     02.8  [ -59.3  +53.8  +21.9   +1.8  -76.2  -31.4] |  -76.1 |   -0.1 | True
     02.9  [ -60.0  +54.3  +22.4   +1.8  -76.8  -31.4] |  -76.2 |   -0.6 | True
     03.2  [ -60.1  +55.1  +21.7   +1.6  -75.5  -31.5] |  -76.7 |   +1.2 | True
     03.5  [ -60.3  +57.3  +19.2   +1.2  -71.5  -31.6] |  -60.1 |  -11.4 | False  ← 未到達
     03.8  [ -60.8  +59.5  +17.1   +1.1  -67.5  -31.6] |  -68.5 |   +1.0 | True
     03.9  [ -60.9  +60.0  +16.6   +1.1  -66.5  -31.6] |  -67.1 |   +0.6 | True
     04.2  [ -61.4  +61.9  +14.6   +1.1  -62.1  -31.6] |  -62.6 |   +0.5 | True
     04.5  [ -61.5  +62.4  +14.1   +1.2  -59.7  -31.7] |  -61.0 |   +1.3 | True
     04.7  [ -61.5  +62.2  +14.3   +1.2  -59.6  -31.7] |  -60.8 |   +1.2 | True
  -- 124830 入った  閉じる指令 チャンク04
     00.2  [  -2.9   +3.7   +2.7   +0.3   -3.5  -30.3] |   -1.8 |   -1.8 | True
     00.5  [  -9.4   +9.3   +4.3   +0.3  -11.5  -30.6] |  -10.5 |   -1.0 | True
     00.8  [ -16.0  +15.0   +6.0   +0.4  -19.2  -30.8] |  -18.7 |   -0.5 | True
     00.9  [ -18.4  +16.9   +6.6   +0.5  -21.7  -30.9] |  -22.1 |   +0.4 | True
     01.2  [ -24.5  +22.8   +8.8   +0.8  -30.1  -31.0] |  -29.5 |   -0.5 | True
     01.5  [ -31.5  +29.0  +11.2   +0.9  -38.7  -31.1] |  -38.3 |   -0.4 | True
     01.8  [ -38.2  +35.6  +13.4   +0.7  -48.1  -31.1] |  -47.6 |   -0.5 | True
     01.9  [ -40.1  +38.0  +13.9   +0.6  -51.2  -31.1] |  -51.7 |   +0.5 | True
     02.2  [ -47.5  +43.6  +16.0   +1.0  -60.1  -31.1] |  -59.3 |   -0.8 | True
     02.5  [ -54.3  +49.5  +18.0   +1.4  -68.6  -31.2] |  -68.0 |   -0.6 | True
     02.8  [ -59.1  +54.2  +20.1   +1.6  -74.8  -31.2] |  -74.9 |   +0.1 | True
     02.9  [ -60.0  +54.8  +20.5   +1.6  -75.3  -31.2] |  -75.4 |   +0.1 | True
     03.2  [ -60.3  +55.5  +20.9   +1.7  -75.9  -31.3] |  -75.8 |   -0.1 | True
     03.5  [ -60.5  +57.0  +19.5   +1.5  -74.2  -31.3] |  -75.8 |   +1.7 | True
     03.8  [ -60.7  +59.3  +17.0   +1.2  -69.6  -31.4] |  -71.0 |   +1.4 | True
     03.9  [ -60.8  +60.0  +16.3   +1.1  -68.4  -31.4] |  -69.2 |   +0.8 | True
     04.2  [ -61.1  +62.0  +13.7   +0.8  -63.9  -31.4] |  -64.1 |   +0.1 | True
     04.5  [ -61.2  +62.9  +12.6   +0.7  -60.6  -31.5] |  -61.1 |   +0.4 | True
     04.8  [ -61.5  +62.7  +12.6   +0.8  -60.0  -31.5] |  -60.6 |   +0.7 | True
  -- 125314 入らなかった  閉じる指令 チャンク04
     00.2  [  -3.9   +4.9   +2.8   +0.2   -5.1  -30.4] |   -3.9 |   -1.3 | True
     00.5  [ -10.2  +10.7   +4.6   +0.2  -12.6  -30.7] |  -11.5 |   -1.1 | True
     00.8  [ -16.8  +16.7   +6.5   +0.2  -20.4  -30.9] |  -20.0 |   -0.4 | True
     00.9  [ -19.0  +18.7   +7.1   +0.2  -23.0  -31.0] |  -22.9 |   -0.1 | True
     01.2  [ -24.8  +24.6   +9.2   +0.7  -31.3  -31.1] |  -30.7 |   -0.6 | True
     01.5  [ -31.5  +30.8  +11.3   +0.7  -40.0  -31.2] |  -39.5 |   -0.4 | True
     01.8  [ -37.9  +37.4  +13.5   +0.4  -49.3  -31.1] |  -49.0 |   -0.3 | True
     01.9  [ -40.4  +39.8  +14.2   +0.3  -52.4  -31.1] |  -52.7 |   +0.3 | True
     02.2  [ -47.4  +45.5  +16.2   +0.8  -61.5  -31.2] |  -61.2 |   -0.3 | True
     02.5  [ -54.2  +51.5  +18.2   +1.1  -69.6  -31.2] |  -69.1 |   -0.5 | True
     02.8  [ -59.0  +56.0  +20.4   +1.3  -75.0  -31.2] |  -75.1 |   +0.1 | True
     02.9  [ -59.4  +56.5  +20.7   +1.3  -75.5  -31.2] |  -75.1 |   -0.4 | True
     03.2  [ -59.8  +57.8  +20.3   +1.3  -76.4  -31.3] |  -69.0 |   -7.4 | False  ← 未到達
     03.5  [ -59.6  +59.8  +18.3   +0.9  -73.9  -31.4] |  -72.6 |   -1.3 | True
     03.8  [ -60.0  +61.4  +16.3   +0.6  -69.4  -31.5] |  -70.4 |   +1.0 | True
     03.9  [ -60.1  +61.9  +15.9   +0.5  -68.2  -31.5] |  -68.9 |   +0.7 | True
     04.2  [ -60.2  +63.3  +13.8   +0.3  -63.4  -31.5] |  -63.9 |   +0.5 | True
     04.5  [ -60.5  +63.8  +12.9   +0.5  -59.7  -31.7] |  -61.4 |   +1.7 | True
     04.8  [ -60.6  +63.5  +12.6   +1.1  -57.2  -32.0] |  -59.6 |   +2.3 | True
     04.9  [ -60.6  +63.5  +12.6   +1.1  -57.2  -32.0] |  -59.5 |   +2.3 | True
  -- 125528 数に入れない  閉じる指令 チャンク02
     00.2  [  -3.7   +5.0   +3.0   +0.2   -5.1  -30.3] |   -4.0 |   -1.2 | True
     00.5  [  -9.6  +10.8   +4.8   +0.2  -12.8  -30.5] |  -11.9 |   -0.9 | True
     00.8  [ -15.8  +17.0   +6.9   +0.2  -20.7  -30.7] |  -20.1 |   -0.5 | True
     00.9  [ -17.5  +19.0   +7.5   +0.3  -23.1  -30.8] |  -23.0 |   -0.1 | True
     01.2  [ -23.7  +25.1   +9.7   +0.6  -31.5  -30.9] |  -30.8 |   -0.8 | True
     01.5  [ -30.7  +31.2  +11.8   +0.7  -40.4  -30.8] |  -40.1 |   -0.4 | True
     01.8  [ -37.3  +37.6  +14.0   +0.6  -49.8  -30.9] |  -13.1 |  -36.7 | False  ← 未到達
     01.9  [ -39.0  +39.6  +14.6   +0.5  -33.1  -30.8] |  -33.6 |   +0.5 | True
     02.2  [ -45.7  +45.3  +16.4   +1.1  -42.6  -30.9] |  -42.1 |   -0.6 | True
     02.5  [ -52.2  +51.4  +18.5   +1.2  -51.8  -30.9] |  -50.4 |   -1.3 | True
     02.8  [ -57.3  +57.1  +20.4   +1.2  -59.3  -30.9] |  -59.1 |   -0.1 | True
     02.9  [ -58.0  +58.1  +20.8   +1.2  -60.5  -30.9] |  -60.9 |   +0.4 | True

######## 位置E
== お手本: 閉じるまでの j4 の最小 / 閉じた瞬間 (j0..j5)
  demo 194818  j4最小  -65.4 (閉じる 1.3 秒前, j0  +12.4 j1  +46.2 j2  +30.3)  閉じた瞬間 [ +13.2  +60.0  +19.5   -2.5  -61.5  -26.7]
  demo 194913  j4最小  -65.7 (閉じる 1.4 秒前, j0  +12.3 j1  +45.5 j2  +30.9)  閉じた瞬間 [ +12.8  +60.0  +19.4   -3.6  -61.6  -26.7]
  demo 195023  j4最小  -65.4 (閉じる 1.4 秒前, j0  +12.9 j1  +45.3 j2  +31.1)  閉じた瞬間 [ +12.8  +60.0  +19.4   -3.4  -61.5  -26.7]
  demo 195120  j4最小  -65.2 (閉じる 1.4 秒前, j0  +12.9 j1  +45.3 j2  +31.1)  閉じた瞬間 [ +12.9  +60.0  +19.4   -3.1  -61.5  -26.7]
== 実機: 閉じるまでの中継点 (チャンク.ステップ  目標 j0 j1 j2 j3 j4 j5 | 実測 j4 | j4 目標−実測 | 着いた)
  -- 145207 入った  閉じる指令 チャンク04
     00.2  [  +0.7   +5.5   +4.4   -0.6   -6.3  -29.6] |   -4.8 |   -1.5 | True
     00.5  [  +2.0  +10.5   +7.9   -1.5  -13.2  -28.7] |  -12.3 |   -0.9 | True
     00.8  [  +3.6  +15.8  +12.0   -2.6  -20.6  -27.7] |  -20.0 |   -0.6 | True
     00.9  [  +4.4  +17.7  +13.1   -2.9  -23.4  -27.4] |  -23.2 |   -0.2 | True
     01.2  [  +5.9  +23.6  +16.9   -3.4  -32.1  -26.9] |  -31.5 |   -0.6 | True
     01.5  [  +7.7  +29.6  +20.9   -3.5  -41.2  -26.8] |  -41.0 |   -0.3 | True
     01.8  [  +9.0  +35.3  +24.8   -3.7  -49.6  -26.7] |  -49.2 |   -0.4 | True
     01.9  [  +9.3  +36.8  +25.3   -3.6  -51.5  -26.7] |  -51.9 |   +0.4 | True
     02.2  [ +10.4  +42.8  +29.2   -4.0  -60.0  -26.6] |  -58.7 |   -1.3 | True
     02.5  [ +11.0  +46.4  +31.1   -4.0  -63.8  -26.6] |  -63.9 |   +0.1 | True
     02.8  [ +10.9  +46.6  +30.9   -3.9  -64.0  -26.6] |  -63.9 |   -0.1 | True
     02.9  [ +11.0  +46.6  +30.5   -3.8  -63.9  -26.6] |  -63.9 |   +0.0 | True
     03.2  [ +11.1  +48.6  +30.0   -3.7  -64.2  -26.6] |  -64.0 |   -0.3 | True
     03.5  [ +11.3  +51.9  +27.3   -3.8  -63.6  -26.7] |  -64.0 |   +0.3 | True
     03.8  [ +11.4  +55.4  +23.9   -3.8  -62.4  -26.7] |  -63.8 |   +1.4 | True
     03.9  [ +11.6  +56.2  +23.2   -3.7  -62.2  -26.7] |  -63.1 |   +0.9 | True
     04.2  [ +11.8  +59.7  +20.4   -3.7  -61.6  -26.8] |  -62.6 |   +1.0 | True
     04.5  [ +11.9  +59.8  +20.3   -3.7  -61.4  -26.8] |  -62.6 |   +1.1 | True
  -- 145641 入らなかった  閉じる指令 チャンク04
     00.2  [  +0.5   +5.9   +4.8   -0.3   -6.9  -29.4] |   -5.5 |   -1.4 | True
     00.5  [  +1.6  +11.2   +8.3   -0.9  -14.3  -28.6] |  -13.4 |   -0.9 | True
     00.8  [  +2.9  +16.5  +12.2   -1.5  -21.5  -27.6] |  -21.2 |   -0.3 | True
     00.9  [  +3.3  +18.0  +13.1   -1.7  -23.2  -27.4] |  -23.0 |   -0.2 | True
     01.2  [  +4.8  +23.9  +16.6   -2.2  -31.6  -26.9] |  -31.1 |   -0.5 | True
     01.5  [  +6.6  +30.0  +20.5   -2.1  -41.1  -26.8] |  -40.7 |   -0.4 | True
     01.8  [  +8.2  +35.9  +24.2   -2.2  -50.2  -26.8] |  -49.8 |   -0.3 | True
     01.9  [  +8.8  +37.8  +25.2   -2.3  -52.7  -26.8] |  -52.6 |   -0.0 | True
     02.2  [  +9.7  +43.5  +29.0   -2.7  -60.7  -26.7] |  -59.9 |   -0.7 | True
     02.5  [ +10.2  +46.8  +31.1   -2.7  -63.8  -26.7] |  -65.1 |   +1.4 | True
     02.8  [ +10.2  +47.5  +31.3   -2.5  -64.2  -26.7] |  -65.1 |   +0.9 | True
     02.9  [ +10.2  +47.5  +31.1   -2.5  -64.3  -26.7] |  -65.1 |   +0.8 | True
     03.2  [ +10.5  +51.4  +28.5   -2.4  -64.2  -26.7] |  -64.8 |   +0.5 | True
     03.5  [ +10.9  +55.4  +25.3   -2.5  -63.5  -26.7] |  -63.9 |   +0.4 | True
     03.8  [ +10.8  +58.6  +22.4   -2.5  -62.8  -26.8] |  -63.7 |   +0.9 | True
     03.9  [ +10.8  +59.2  +21.6   -2.5  -62.7  -26.8] |  -63.7 |   +1.0 | True
     04.2  [ +10.8  +60.6  +20.5   -2.5  -62.4  -26.8] |  -63.5 |   +1.0 | True
     04.3  [ +10.8  +60.6  +20.5   -2.5  -62.4  -26.8] |  -63.5 |   +1.0 | True
  -- 145851 入った  閉じる指令 チャンク04
     00.2  [  +0.6   +5.2   +4.2   -0.5   -6.2  -29.3] |   -4.7 |   -1.4 | True
     00.5  [  +1.9  +11.0   +8.5   -1.4  -15.2  -28.5] |  -14.1 |   -1.2 | True
     00.8  [  +3.3  +16.6  +12.6   -2.2  -23.7  -27.5] |  -23.0 |   -0.6 | True
     00.9  [  +3.9  +18.6  +14.0   -2.5  -26.5  -27.2] |  -27.1 |   +0.6 | True
     01.2  [  +5.3  +23.9  +17.6   -2.9  -34.8  -26.9] |  -34.2 |   -0.6 | True
     01.5  [  +7.2  +29.7  +21.6   -3.0  -44.1  -26.8] |  -43.5 |   -0.6 | True
     01.8  [  +8.9  +35.8  +25.6   -3.2  -54.1  -26.7] |  -53.8 |   -0.3 | True
     01.9  [  +9.3  +37.7  +26.7   -3.2  -56.9  -26.6] |  -57.2 |   +0.3 | True
     02.2  [ +10.3  +42.9  +29.9   -3.4  -63.8  -26.6] |  -63.5 |   -0.4 | True
     02.5  [ +10.8  +45.1  +30.9   -3.3  -65.5  -26.6] |  -66.2 |   +0.7 | True
     02.8  [ +10.7  +45.1  +30.3   -3.2  -65.1  -26.6] |  -66.2 |   +1.1 | True
     02.9  [ +10.8  +45.2  +29.9   -3.2  -65.1  -26.6] |  -66.2 |   +1.1 | True
     03.2  [ +11.0  +48.6  +27.5   -3.2  -64.3  -26.6] |  -65.0 |   +0.7 | True
     03.5  [ +11.2  +52.4  +24.6   -3.2  -63.2  -26.7] |  -63.6 |   +0.4 | True
     03.8  [ +11.0  +56.0  +21.8   -3.3  -62.4  -26.7] |  -62.8 |   +0.3 | True
     03.9  [ +11.0  +57.0  +20.9   -3.3  -62.2  -26.7] |  -62.5 |   +0.3 | True
     04.2  [ +11.1  +59.8  +18.6   -3.3  -61.7  -26.7] |  -62.3 |   +0.6 | True
     04.4  [ +11.1  +59.9  +18.6   -3.3  -61.6  -26.7] |  -62.1 |   +0.6 | True
  -- 150534 入った  閉じる指令 チャンク04
     00.2  [  +0.4   +6.6   +4.8   -0.2   -8.2  -29.4] |   -7.5 |   -0.8 | True
     00.5  [  +1.4  +12.5   +8.6   -0.8  -16.7  -28.6] |  -15.8 |   -0.9 | True
     00.8  [  +2.6  +17.9  +12.3   -1.3  -24.0  -27.6] |  -23.5 |   -0.6 | True
     00.9  [  +3.3  +19.6  +13.5   -1.4  -26.1  -27.3] |  -26.6 |   +0.6 | True
     01.2  [  +4.7  +25.6  +17.1   -2.1  -34.3  -26.9] |  -33.8 |   -0.6 | True
     01.5  [  +6.7  +32.0  +21.2   -2.1  -44.1  -26.9] |  -43.5 |   -0.6 | True
     01.8  [  +8.5  +38.1  +25.1   -2.1  -52.9  -26.9] |  -52.5 |   -0.4 | True
     01.9  [  +9.0  +39.6  +26.0   -2.1  -55.3  -26.8] |  -55.8 |   +0.5 | True
     02.2  [  +9.5  +44.9  +29.2   -2.5  -62.1  -26.8] |  -61.1 |   -1.0 | True
     02.5  [  +9.8  +46.3  +30.2   -2.5  -63.2  -26.8] |  -62.9 |   -0.3 | True
     02.8  [  +9.8  +46.7  +29.8   -2.5  -63.1  -26.8] |  -62.9 |   -0.2 | True
     02.9  [  +9.9  +47.0  +29.4   -2.5  -63.1  -26.8] |  -62.9 |   -0.2 | True
     03.2  [ +10.1  +51.2  +26.1   -2.5  -63.0  -26.8] |  -62.9 |   -0.1 | True
     03.5  [ +10.6  +54.7  +23.2   -2.5  -62.4  -26.8] |  -62.9 |   +0.6 | True
     03.8  [ +10.7  +57.4  +20.8   -2.6  -61.9  -26.9] |  -62.9 |   +1.0 | True
     03.9  [ +10.7  +58.0  +20.3   -2.5  -61.9  -26.8] |  -62.8 |   +1.0 | True
     04.2  [ +10.7  +59.8  +19.1   -2.6  -61.6  -26.9] |  -62.4 |   +0.8 | True
     04.4  [ +10.7  +59.6  +19.2   -2.6  -61.7  -26.9] |  -62.4 |   +0.7 | True
  -- 150950 入らなかった  閉じる指令 チャンク04
     00.2  [  +0.8   +5.9   +4.6   -0.3   -6.9  -29.5] |   -5.5 |   -1.3 | True
     00.5  [  +1.8  +11.9   +8.3   -1.1  -14.8  -28.4] |  -13.8 |   -1.0 | True
     00.8  [  +3.2  +17.1  +12.1   -1.8  -21.4  -27.4] |  -21.2 |   -0.2 | True
     00.9  [  +3.8  +18.6  +13.0   -1.9  -23.5  -27.2] |  -23.5 |   -0.0 | True
     01.2  [  +5.1  +23.9  +16.6   -2.6  -31.3  -26.6] |  -30.7 |   -0.6 | True
     01.5  [  +6.7  +29.8  +20.6   -2.8  -41.0  -26.5] |  -40.7 |   -0.3 | True
     01.8  [  +7.8  +35.6  +24.6   -2.8  -50.3  -26.5] |  -50.0 |   -0.3 | True
     01.9  [  +8.0  +36.7  +25.4   -2.7  -52.0  -26.4] |  -52.1 |   +0.1 | True
     02.2  [  +8.9  +42.6  +29.1   -2.9  -60.2  -26.5] |  -59.9 |   -0.3 | True
     02.5  [  +9.5  +45.6  +30.9   -2.8  -63.6  -26.5] |  -64.3 |   +0.7 | True
     02.8  [  +9.3  +45.8  +30.6   -2.6  -63.2  -26.4] |  -64.3 |   +1.1 | True
     02.9  [  +9.4  +45.7  +30.3   -2.6  -62.9  -26.4] |  -63.9 |   +1.0 | True
     03.2  [  +9.5  +47.8  +28.9   -2.5  -63.5  -26.4] |  -63.5 |   +0.1 | True
     03.5  [  +9.8  +51.6  +25.5   -2.5  -62.9  -26.5] |  -63.5 |   +0.6 | True
     03.8  [  +9.8  +55.3  +22.3   -2.5  -62.1  -26.6] |  -62.3 |   +0.2 | True
     03.9  [  +9.8  +56.0  +21.5   -2.5  -61.9  -26.6] |  -62.3 |   +0.4 | True
     04.2  [  +9.9  +59.0  +19.4   -2.6  -61.6  -26.6] |  -62.0 |   +0.5 | True
     04.4  [  +9.8  +59.0  +19.4   -2.6  -61.6  -26.6] |  -62.0 |   +0.3 | True
```


### すべてのチャンクの表を作るスクリプト run_chunk_tables.py

```python
"""LOG401: 2026-10-29 の π0.5 実機の回 (C・D・E) を, チャンクごとの表にする (読むだけ).
runs/pi05_policy/pi05_20261029_*/log.jsonl を読み, 1 行 = 1 チャンクで
推論時間 / 使ったステップ / モデルに渡した state / 送った目標 / グリッパー /
送ったか / 着いたか / state の出どころ / 中継点の数と未到達の数 を出す (LOG363 の run_chunk_tables.py と同じ形).
アームが動いていない回 (写り方の確認で止まった回など) は, 写り方の 1 行だけを出す.
"""
import json, glob, os
ROOT = os.environ.get("R2R2R_DATA", "/Volumes/KIOXIA/r2r2r-data") + "/runs/pi05_policy"
def f6(v):
    return "[" + " ".join(f"{x:+6.1f}" for x in v[:6]) + "]" if v else "-"
for d in sorted(glob.glob(ROOT + "/pi05_20261029_*")):
    L = [json.loads(l) for l in open(d + "/log.jsonl")]
    fr = [l for l in L if l.get("type") == "framing"]
    ch = [l for l in L if "chunk" in l]
    print(f"== {os.path.basename(d)}  チャンク {len(ch)}")
    for f in fr:
        print(f"  framing dy={f['dy']} dx={f['dx']} response={f['response']} -> {f['verdict']} ignored={f.get('ignored')}")
    for c in ch:
        src = c.get("state_source", "measured")
        vs = [v for v in (c.get("vias") or []) if v.get("called")]
        miss = sum(1 for v in vs if not v.get("success"))
        print(f"  {c['chunk']:02d} {c['latency_s']*1000:6.0f}ms used={c.get('used_step')} "
              f"state={f6(c['state'])} grip_state={c['state'][6]:.0f} src={src:8s} target={f6(c.get('target'))} "
              f"grip={c.get('grip_cmd')} exec={c.get('executed')} arrived={c.get('arrived')} vias={len(vs)} miss={miss}"
              + (" HOME" if c.get("home_requested") else ""))
        if src == "target" and c.get("measured_state"):
            print(f"       measured={f6(c['measured_state'])}")
```


### run_chunk_tables.py の出力 out_run_chunk_tables.txt

```
== pi05_20261029_115543  チャンク 0
  framing dy=-19.0 dx=11.96 response=0.035 -> 測れない ignored=False
== pi05_20261029_115631  チャンク 0
  framing dy=-7.05 dx=4.23 response=0.317 -> OK ignored=False
== pi05_20261029_115718  チャンク 0
  framing dy=-8.06 dx=4.89 response=0.199 -> 測れない ignored=False
== pi05_20261029_115733  チャンク 0
  framing dy=-8.04 dx=4.97 response=0.194 -> 測れない ignored=False
== pi05_20261029_115823  チャンク 16
  framing dy=-8.05 dx=4.87 response=0.212 -> OK ignored=False
  00    617ms used=9 state=[  +0.1   +1.2   +0.6   -0.2   -0.3  -29.8] grip_state=0 src=measured target=[  -9.2  +21.0   +4.9   -2.2  -23.4  -28.5] grip=None exec=True arrived=True vias=4 miss=0
  01   1730ms used=9 state=[  -9.2  +21.0   +4.9   -2.2  -23.4  -28.5] grip_state=0 src=target   target=[ -20.5  +43.6  +11.2   -2.5  -49.9  -28.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  -9.1  +22.0   +5.5   -2.1  -23.3  -28.7]
  02    565ms used=9 state=[ -20.5  +43.6  +11.2   -2.5  -49.9  -28.1] grip_state=0 src=target   target=[ -27.7  +58.4  +16.4   -2.3  -68.4  -27.9] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -20.8  +44.6  +11.4   -2.4  -50.0  -28.2]
  03    761ms used=9 state=[ -27.7  +58.4  +16.4   -2.3  -68.4  -27.9] grip_state=0 src=target   target=[ -27.8  +63.0  +13.7   -4.9  -65.6  -27.7] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -27.9  +59.3  +16.5   -2.2  -68.6  -28.1]
  04   1531ms used=6 state=[ -27.8  +63.0  +13.7   -4.9  -65.6  -27.7] grip_state=0 src=target   target=[ -27.7  +65.4  +11.4   -6.8  -62.4  -27.7] grip=1 exec=True arrived=True vias=3 miss=0
       measured=[ -27.8  +64.0  +15.2   -4.7  -66.3  -27.9]
  05    590ms used=9 state=[ -27.7  +65.4  +11.4   -6.8  -62.4  -27.7] grip_state=1 src=target   target=[ -27.4  +61.3  +16.5   -4.5  -67.0  -27.4] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -27.9  +66.0  +11.9   -6.8  -63.3  -27.8]
  06    601ms used=9 state=[ -27.4  +61.3  +16.5   -4.5  -67.0  -27.4] grip_state=1 src=target   target=[ -17.4  +57.8  +16.0   -1.9  -67.4  -28.7] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -27.3  +63.5  +16.0   -4.7  -65.7  -27.1]
  07    607ms used=9 state=[ -17.4  +57.8  +16.0   -1.9  -67.4  -28.7] grip_state=1 src=target   target=[  +9.5  +50.9   +9.9   +2.1  -61.6  -30.6] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -17.6  +60.2  +17.2   -1.7  -68.0  -28.1]
  08    603ms used=9 state=[  +9.5  +50.9   +9.9   +2.1  -61.6  -30.6] grip_state=1 src=target   target=[ +35.7  +45.7   +3.3   +3.0  -55.2  -30.9] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +9.3  +53.6  +11.8   +2.5  -61.9  -30.3]
  09   1526ms used=9 state=[ +35.7  +45.7   +3.3   +3.0  -55.2  -30.9] grip_state=1 src=target   target=[ +39.9  +58.8   +1.4   +3.7  -64.6  -31.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +36.0  +47.9   +5.1   +3.1  -55.4  -30.6]
  10    552ms used=5 state=[ +39.9  +58.8   +1.4   +3.7  -64.6  -31.0] grip_state=1 src=target   target=[ +39.9  +62.4   +1.4   +4.0  -67.8  -31.0] grip=0 exec=True arrived=True vias=2 miss=0
       measured=[ +39.9  +59.9   +3.3   +3.6  -64.5  -30.8]
  11    611ms used=9 state=[ +39.9  +62.4   +1.4   +4.0  -67.8  -31.0] grip_state=0 src=target   target=[ +39.8  +45.4   +1.5   +3.9  -51.9  -31.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +40.0  +63.6   +3.3   +3.8  -69.1  -31.3]
  12   1727ms used=9 state=[ +39.8  +45.4   +1.5   +3.9  -51.9  -31.8] grip_state=0 src=target   target=[ +19.4  +21.0   +0.9   +0.9  -23.5  -31.3] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +40.3  +47.6   +3.3   +3.9  -52.0  -31.3]
  13    554ms used=9 state=[ +19.4  +21.0   +0.9   +0.9  -23.5  -31.3] grip_state=0 src=target   target=[  +2.7   +3.2   +1.3   +0.5   -3.9  -31.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +19.2  +22.9   +2.7   +0.5  -23.7  -31.4]
  14    554ms used=9 state=[  +2.7   +3.2   +1.3   +0.5   -3.9  -31.1] grip_state=0 src=target   target=[  +1.7   +2.6   +1.2   +0.4   -3.6  -31.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +2.7   +4.6   +2.7   +0.3   -4.2  -31.3]
  15    632ms used=9 state=[  +1.7   +2.6   +1.2   +0.4   -3.6  -31.0] grip_state=0 src=target   target=[  +1.7   +2.9   +1.3   +0.4   -4.0  -30.9] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[  +1.1   +4.1   +2.7   +0.3   -3.9  -31.3]
== pi05_20261029_120216  チャンク 0
  framing dy=-8.25 dx=3.34 response=0.176 -> 測れない ignored=False
== pi05_20261029_120221  チャンク 0
  framing dy=-19.85 dx=10.39 response=0.094 -> 測れない ignored=False
== pi05_20261029_120236  チャンク 0
  framing dy=-8.31 dx=3.4 response=0.178 -> 測れない ignored=False
== pi05_20261029_120242  チャンク 0
  framing dy=-8.36 dx=3.42 response=0.173 -> 測れない ignored=False
== pi05_20261029_120254  チャンク 0
  framing dy=-8.36 dx=3.4 response=0.175 -> 測れない ignored=False
== pi05_20261029_120304  チャンク 0
  framing dy=-8.33 dx=3.47 response=0.177 -> 測れない ignored=False
== pi05_20261029_120455  チャンク 0
  framing dy=-8.57 dx=3.03 response=0.177 -> 測れない ignored=False
== pi05_20261029_120557  チャンク 0
  framing dy=-85.43 dx=60.46 response=0.003 -> 測れない ignored=False
== pi05_20261029_120615  チャンク 0
  framing dy=-8.32 dx=3.28 response=0.184 -> 測れない ignored=False
== pi05_20261029_120644  チャンク 17
  framing dy=-8.49 dx=3.23 response=0.183 -> 測れない ignored=True
  00   1104ms used=9 state=[  -0.3   +1.5   +1.8   +0.3   -0.1  -30.2] grip_state=0 src=measured target=[  -9.7  +21.5   +7.3   -2.7  -24.1  -27.7] grip=None exec=True arrived=True vias=4 miss=0
  01    637ms used=9 state=[  -9.7  +21.5   +7.3   -2.7  -24.1  -27.7] grip_state=0 src=target   target=[ -22.1  +45.1  +14.2   -2.7  -54.0  -27.2] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  -9.6  +22.4   +8.1   -2.9  -24.0  -27.9]
  02    549ms used=9 state=[ -22.1  +45.1  +14.2   -2.7  -54.0  -27.2] grip_state=0 src=target   target=[ -28.2  +58.5  +18.5   -2.4  -69.1  -27.2] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -21.9  +46.0  +14.7   -2.9  -54.2  -27.4]
  03    555ms used=9 state=[ -28.2  +58.5  +18.5   -2.4  -69.1  -27.2] grip_state=0 src=target   target=[ -28.1  +62.0  +15.5   -5.0  -65.8  -27.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -27.9  +59.4  +18.6   -2.4  -69.2  -27.3]
  04   1559ms used=6 state=[ -28.1  +62.0  +15.5   -5.0  -65.8  -27.1] grip_state=0 src=target   target=[ -27.8  +63.9  +13.2   -6.8  -62.6  -27.1] grip=1 exec=True arrived=True vias=3 miss=0
       measured=[ -28.1  +63.0  +16.9   -4.7  -66.6  -27.3]
  05    616ms used=9 state=[ -27.8  +63.9  +13.2   -6.8  -62.6  -27.1] grip_state=1 src=target   target=[ -28.1  +60.7  +18.4   -4.6  -67.8  -27.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -28.2  +64.6  +13.9   -6.6  -63.6  -27.5]
  06    621ms used=9 state=[ -28.1  +60.7  +18.4   -4.6  -67.8  -27.1] grip_state=1 src=target   target=[ -24.8  +59.5  +18.5   -3.6  -69.7  -27.5] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -27.5  +62.8  +17.7   -4.9  -66.3  -26.6]
  07    626ms used=9 state=[ -24.8  +59.5  +18.5   -3.6  -69.7  -27.5] grip_state=1 src=target   target=[  +3.7  +53.4  +12.3   +1.3  -63.5  -30.3] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -25.2  +62.0  +19.4   -3.5  -69.4  -26.8]
  08   1513ms used=9 state=[  +3.7  +53.4  +12.3   +1.3  -63.5  -30.3] grip_state=1 src=target   target=[ +31.6  +46.0   +4.7   +2.8  -55.5  -30.6] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +3.6  +55.6  +14.1   +1.6  -63.9  -30.0]
  09    557ms used=9 state=[ +31.6  +46.0   +4.7   +2.8  -55.5  -30.6] grip_state=1 src=target   target=[ +39.9  +55.7   +0.5   +3.8  -59.0  -30.9] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +31.6  +48.7   +6.3   +2.8  -55.1  -30.2]
  10    556ms used=7 state=[ +39.9  +55.7   +0.5   +3.8  -59.0  -30.9] grip_state=1 src=target   target=[ +39.7  +62.7   +0.6   +4.4  -65.8  -30.9] grip=0 exec=True arrived=True vias=3 miss=0
       measured=[ +40.2  +56.7   +2.0   +3.5  -58.5  -30.6]
  11    631ms used=9 state=[ +39.7  +62.7   +0.6   +4.4  -65.8  -30.9] grip_state=0 src=target   target=[ +40.0  +46.0   +1.2   +4.3  -49.6  -31.7] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +40.3  +64.1   +2.0   +4.2  -65.6  -31.2]
  12   1454ms used=9 state=[ +40.0  +46.0   +1.2   +4.3  -49.6  -31.7] grip_state=0 src=target   target=[ +20.1  +21.3   +0.6   +1.2  -21.5  -31.3] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +40.7  +48.3   +2.0   +4.6  -49.7  -31.5]
  13    554ms used=9 state=[ +20.1  +21.3   +0.6   +1.2  -21.5  -31.3] grip_state=0 src=target   target=[  +3.3   +3.3   +1.0   +0.8   -2.9  -31.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +20.0  +23.3   +2.0   +1.0  -21.8  -31.5]
  14    544ms used=9 state=[  +3.3   +3.3   +1.0   +0.8   -2.9  -31.0] grip_state=0 src=target   target=[  +1.8   +2.5   +1.1   +0.7   -2.5  -31.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +3.2   +4.5   +2.0   +0.7   -2.8  -31.4]
  15   1447ms used=9 state=[  +1.8   +2.5   +1.1   +0.7   -2.5  -31.0] grip_state=0 src=target   target=[  +1.1   +2.4   +0.9   +0.7   -2.4  -31.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +1.9   +4.1   +2.0   +0.7   -2.8  -31.2]
  16    554ms used=9 state=[  +1.1   +2.4   +0.9   +0.7   -2.4  -31.0] grip_state=0 src=target   target=[  +0.2   +2.4   +0.9   +0.6   -3.0  -30.9] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[  +0.8   +4.0   +2.0   +0.7   -2.5  -31.2]
== pi05_20261029_121202  チャンク 14
  framing dy=-18.54 dx=11.17 response=0.049 -> 測れない ignored=True
  00    555ms used=9 state=[  -0.3   +1.3   +1.9   +0.3   +0.2  -30.2] grip_state=0 src=measured target=[  -9.8  +19.6   +7.1   -2.3  -21.6  -28.2] grip=None exec=True arrived=True vias=4 miss=0
  01    887ms used=9 state=[  -9.8  +19.6   +7.1   -2.3  -21.6  -28.2] grip_state=0 src=target   target=[ -21.6  +42.6  +13.9   -2.9  -50.7  -27.6] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -10.0  +20.5   +7.8   -2.6  -22.1  -28.4]
  02   2344ms used=9 state=[ -21.6  +42.6  +13.9   -2.9  -50.7  -27.6] grip_state=0 src=target   target=[ -28.4  +56.2  +19.0   -2.6  -66.5  -27.4] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -21.9  +43.6  +13.9   -3.2  -50.9  -27.8]
  03   1556ms used=9 state=[ -28.4  +56.2  +19.0   -2.6  -66.5  -27.4] grip_state=0 src=target   target=[ -28.7  +59.6  +17.7   -3.9  -66.7  -27.4] grip=1 exec=True arrived=True vias=3 miss=0
       measured=[ -28.8  +57.1  +19.0   -2.6  -66.9  -27.6]
  04    915ms used=9 state=[ -28.7  +59.6  +17.7   -3.9  -66.7  -27.4] grip_state=1 src=target   target=[ -24.4  +58.4  +17.4   -2.5  -68.4  -28.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -28.8  +60.7  +19.1   -3.5  -67.6  -27.6]
  05    737ms used=9 state=[ -24.4  +58.4  +17.4   -2.5  -68.4  -28.1] grip_state=1 src=target   target=[  +4.4  +51.3  +11.0   +2.2  -62.3  -30.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -23.7  +60.6  +19.0   -3.2  -67.8  -27.7]
  06    563ms used=9 state=[  +4.4  +51.3  +11.0   +2.2  -62.3  -30.8] grip_state=1 src=target   target=[ +31.9  +46.5   +3.6   +3.1  -54.4  -31.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +4.4  +53.8  +12.9   +2.4  -62.6  -30.5]
  07    817ms used=9 state=[ +31.9  +46.5   +3.6   +3.1  -54.4  -31.1] grip_state=1 src=target   target=[ +39.4  +57.2   -0.6   +4.7  -59.3  -32.2] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +31.8  +49.0   +5.6   +3.2  -54.6  -30.8]
  08   1477ms used=6 state=[ +39.4  +57.2   -0.6   +4.7  -59.3  -32.2] grip_state=1 src=target   target=[ +39.7  +63.7   -1.4   +5.5  -64.4  -32.4] grip=0 exec=True arrived=True vias=3 miss=0
       measured=[ +39.5  +58.3   +0.7   +4.7  -58.9  -32.0]
  09    595ms used=9 state=[ +39.7  +63.7   -1.4   +5.5  -64.4  -32.4] grip_state=0 src=target   target=[ +40.1  +49.1   +1.1   +5.4  -53.2  -32.9] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +39.8  +64.8   -0.2   +5.3  -64.8  -32.8]
  10    627ms used=9 state=[ +40.1  +49.1   +1.1   +5.4  -53.2  -32.9] grip_state=0 src=target   target=[ +23.2  +26.6   +1.1   +2.0  -28.1  -31.4] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +40.0  +51.5   +1.5   +6.2  -53.3  -32.8]
  11    694ms used=9 state=[ +23.2  +26.6   +1.1   +2.0  -28.1  -31.4] grip_state=0 src=target   target=[  +1.6   +3.0   +1.2   +0.4   -2.7  -30.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +22.9  +28.6   +2.0   +1.7  -28.2  -31.6]
  12   1534ms used=9 state=[  +1.6   +3.0   +1.2   +0.4   -2.7  -30.8] grip_state=0 src=target   target=[  +0.9   +3.4   +1.0   +0.5   -3.3  -30.9] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +1.1   +4.6   +2.0   +0.7   -2.8  -31.0]
  13    819ms used=9 state=[  +0.9   +3.4   +1.0   +0.5   -3.3  -30.9] grip_state=0 src=target   target=[  +0.4   +3.5   +1.0   +0.4   -3.4  -30.9] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[  +1.1   +4.6   +2.0   +0.7   -2.8  -31.0]
== pi05_20261029_121650  チャンク 16
  framing dy=-21.07 dx=10.07 response=0.051 -> 測れない ignored=True
  00   1602ms used=9 state=[  -0.3   +1.2   +2.0   +0.3   -0.3  -30.2] grip_state=0 src=measured target=[ -10.0  +20.3   +7.7   -2.5  -23.4  -28.0] grip=None exec=True arrived=True vias=4 miss=0
  01    735ms used=9 state=[ -10.0  +20.3   +7.7   -2.5  -23.4  -28.0] grip_state=0 src=target   target=[ -22.3  +44.6  +14.6   -2.8  -53.3  -27.4] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -10.2  +21.4   +8.4   -2.7  -23.7  -28.2]
  02    554ms used=9 state=[ -22.3  +44.6  +14.6   -2.8  -53.3  -27.4] grip_state=0 src=target   target=[ -28.6  +57.9  +19.4   -2.5  -68.7  -27.3] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -22.7  +45.5  +15.2   -2.8  -53.7  -27.6]
  03    545ms used=9 state=[ -28.6  +57.9  +19.4   -2.5  -68.7  -27.3] grip_state=0 src=target   target=[ -28.2  +61.3  +16.6   -4.7  -66.3  -27.3] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -28.8  +58.9  +19.2   -2.5  -68.6  -27.5]
  04    683ms used=8 state=[ -28.2  +61.3  +16.6   -4.7  -66.3  -27.3] grip_state=0 src=target   target=[ -27.7  +63.7  +13.5   -7.2  -61.9  -27.3] grip=1 exec=True arrived=True vias=3 miss=0
       measured=[ -28.4  +62.2  +17.9   -4.3  -67.1  -27.5]
  05   1485ms used=9 state=[ -27.7  +63.7  +13.5   -7.2  -61.9  -27.3] grip_state=1 src=target   target=[ -27.0  +60.2  +18.6   -4.7  -67.0  -27.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -28.2  +64.4  +13.8   -6.8  -63.0  -27.7]
  06    541ms used=9 state=[ -27.0  +60.2  +18.6   -4.7  -67.0  -27.1] grip_state=1 src=target   target=[ -21.6  +58.2  +18.4   -3.2  -68.8  -27.6] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -27.4  +62.2  +18.1   -5.1  -65.7  -26.6]
  07    690ms used=9 state=[ -21.6  +58.2  +18.4   -3.2  -68.8  -27.6] grip_state=1 src=target   target=[  +5.9  +51.6  +12.3   +1.5  -63.1  -30.3] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -21.7  +60.6  +19.4   -2.8  -68.0  -26.9]
  08   1502ms used=9 state=[  +5.9  +51.6  +12.3   +1.5  -63.1  -30.3] grip_state=1 src=target   target=[ +34.4  +45.2   +4.9   +2.7  -54.7  -30.5] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +5.8  +54.1  +14.1   +1.7  -63.8  -30.0]
  09    564ms used=9 state=[ +34.4  +45.2   +4.9   +2.7  -54.7  -30.5] grip_state=1 src=target   target=[ +40.3  +57.5   +2.7   +3.4  -62.9  -30.6] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +34.5  +47.8   +6.8   +2.6  -54.8  -30.2]
  10    769ms used=5 state=[ +40.3  +57.5   +2.7   +3.4  -62.9  -30.6] grip_state=1 src=target   target=[ +40.4  +62.7   +2.4   +3.8  -67.9  -30.6] grip=0 exec=True arrived=True vias=2 miss=0
       measured=[ +40.7  +58.5   +4.4   +3.1  -62.9  -30.3]
  11   1526ms used=9 state=[ +40.4  +62.7   +2.4   +3.8  -67.9  -30.6] grip_state=0 src=target   target=[ +40.6  +46.9   +2.3   +3.7  -53.3  -31.4] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +41.0  +63.6   +4.4   +4.1  -67.6  -30.9]
  12    738ms used=9 state=[ +40.6  +46.9   +2.3   +3.7  -53.3  -31.4] grip_state=0 src=target   target=[ +22.7  +23.5   +1.4   +1.0  -26.6  -31.2] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +41.0  +49.3   +4.1   +4.1  -53.6  -30.9]
  13   1575ms used=9 state=[ +22.7  +23.5   +1.4   +1.0  -26.6  -31.2] grip_state=0 src=target   target=[  +2.8   +2.6   +1.3   +0.2   -3.8  -30.9] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +22.7  +25.6   +3.2   +0.7  -26.7  -30.8]
  14    752ms used=9 state=[  +2.8   +2.6   +1.3   +0.2   -3.8  -30.9] grip_state=0 src=target   target=[  +0.8   +2.4   +1.2   +0.2   -3.6  -31.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +3.0   +4.2   +3.2   +0.4   -4.0  -30.7]
  15    622ms used=9 state=[  +0.8   +2.4   +1.2   +0.2   -3.6  -31.0] grip_state=0 src=target   target=[  +0.2   +2.5   +1.3   +0.2   -3.9  -30.9] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[  +0.8   +3.7   +3.2   +0.3   -3.9  -30.7]
== pi05_20261029_122156  チャンク 17
  framing dy=-8.33 dx=3.12 response=0.212 -> OK ignored=True
  00    557ms used=9 state=[  -0.3   +1.5   +1.8   +0.3   -0.2  -30.1] grip_state=0 src=measured target=[ -10.1  +21.6   +7.2   -2.3  -24.1  -27.5] grip=None exec=True arrived=True vias=4 miss=0
  01    622ms used=9 state=[ -10.1  +21.6   +7.2   -2.3  -24.1  -27.5] grip_state=0 src=target   target=[ -22.5  +45.1  +14.0   -2.6  -53.2  -27.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  -9.8  +22.5   +8.1   -2.7  -24.0  -27.8]
  02    631ms used=9 state=[ -22.5  +45.1  +14.0   -2.6  -53.2  -27.1] grip_state=0 src=target   target=[ -29.6  +59.1  +18.4   -2.2  -69.7  -27.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -22.9  +46.0  +14.0   -2.4  -53.6  -27.2]
  03    664ms used=9 state=[ -29.6  +59.1  +18.4   -2.2  -69.7  -27.0] grip_state=0 src=target   target=[ -28.9  +62.7  +14.3   -5.3  -64.4  -27.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -29.9  +59.9  +18.5   -2.3  -69.8  -27.0]
  04   1550ms used=5 state=[ -28.9  +62.7  +14.3   -5.3  -64.4  -27.0] grip_state=0 src=target   target=[ -28.9  +64.0  +12.7   -6.4  -62.5  -27.0] grip=1 exec=True arrived=True vias=2 miss=0
       measured=[ -28.6  +63.6  +15.5   -4.9  -64.9  -26.5]
  05    731ms used=9 state=[ -28.9  +64.0  +12.7   -6.4  -62.5  -27.0] grip_state=1 src=target   target=[ -29.0  +61.5  +17.0   -4.8  -66.9  -27.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -29.3  +64.9  +13.5   -6.1  -64.0  -27.6]
  06    655ms used=9 state=[ -29.0  +61.5  +17.0   -4.8  -66.9  -27.0] grip_state=1 src=target   target=[ -28.4  +61.0  +17.6   -4.5  -69.2  -27.2] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -28.9  +63.5  +16.3   -5.1  -65.8  -26.5]
  07   1560ms used=9 state=[ -28.4  +61.0  +17.6   -4.5  -69.2  -27.2] grip_state=1 src=target   target=[ -11.2  +56.8  +14.7   -0.8  -66.4  -29.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -28.6  +63.0  +18.4   -4.0  -68.3  -26.7]
  08    569ms used=9 state=[ -11.2  +56.8  +14.7   -0.8  -66.4  -29.1] grip_state=1 src=target   target=[ +18.1  +49.9   +7.9   +2.6  -59.4  -30.6] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -11.2  +59.4  +16.5   -0.7  -67.3  -28.6]
  09    662ms used=9 state=[ +18.1  +49.9   +7.9   +2.6  -59.4  -30.6] grip_state=1 src=target   target=[ +40.1  +49.1   +2.4   +3.3  -55.2  -30.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +18.2  +52.5   +9.8   +2.8  -59.6  -30.2]
  10   1469ms used=9 state=[ +40.1  +49.1   +2.4   +3.3  -55.2  -30.8] grip_state=1 src=target   target=[ +40.8  +61.9   +1.8   +4.0  -67.1  -30.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +40.2  +50.4   +3.9   +3.4  -54.5  -30.6]
  11    790ms used=3 state=[ +40.8  +61.9   +1.8   +4.0  -67.1  -30.8] grip_state=1 src=target   target=[ +40.7  +62.7   +1.8   +4.1  -68.4  -30.8] grip=0 exec=True arrived=True vias=2 miss=0
       measured=[ +40.2  +63.2   +3.9   +3.7  -67.1  -31.0]
  12   1732ms used=9 state=[ +40.7  +62.7   +1.8   +4.1  -68.4  -30.8] grip_state=0 src=target   target=[ +41.0  +46.4   +2.2   +4.1  -52.7  -31.6] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +40.3  +63.7   +3.2   +3.9  -68.0  -31.1]
  13    746ms used=9 state=[ +41.0  +46.4   +2.2   +4.1  -52.7  -31.6] grip_state=0 src=target   target=[ +21.4  +22.3   +1.2   +1.1  -24.3  -31.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +41.1  +48.8   +3.2   +4.5  -52.9  -31.1]
  14    581ms used=9 state=[ +21.4  +22.3   +1.2   +1.1  -24.3  -31.1] grip_state=0 src=target   target=[  +2.5   +2.4   +1.4   +0.5   -1.8  -30.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +21.2  +24.4   +3.2   +0.8  -24.5  -31.3]
  15    615ms used=9 state=[  +2.5   +2.4   +1.4   +0.5   -1.8  -30.8] grip_state=0 src=target   target=[  +1.6   +2.2   +1.4   +0.6   -2.1  -30.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +2.7   +3.9   +3.2   +0.8   -2.1  -31.2]
  16    635ms used=9 state=[  +1.6   +2.2   +1.4   +0.6   -2.1  -30.8] grip_state=0 src=target   target=[  +0.8   +2.1   +1.3   +0.5   -2.2  -30.8] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[  +1.5   +3.9   +3.2   +0.8   -2.1  -31.1]
== pi05_20261029_122909  チャンク 8
  framing dy=-7.8 dx=6.56 response=0.541 -> OK ignored=True
  00   1090ms used=9 state=[  -0.4   +1.3   +1.7   +0.3   +0.0  -30.1] grip_state=0 src=measured target=[ -19.8  +19.6   +7.5   +0.4  -24.0  -31.1] grip=None exec=True arrived=True vias=4 miss=0
  01    764ms used=9 state=[ -19.8  +19.6   +7.5   +0.4  -24.0  -31.1] grip_state=0 src=target   target=[ -41.7  +40.3  +15.1   +0.8  -53.5  -31.2] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -20.1  +20.6   +8.3   -0.3  -24.0  -30.6]
  02   1706ms used=9 state=[ -41.7  +40.3  +15.1   +0.8  -53.5  -31.2] grip_state=0 src=target   target=[ -59.6  +55.6  +21.5   +1.9  -74.7  -31.4] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -41.7  +41.2  +15.6   +1.1  -54.2  -30.9]
  03    726ms used=9 state=[ -59.6  +55.6  +21.5   +1.9  -74.7  -31.4] grip_state=0 src=target   target=[ -60.2  +61.7  +15.7   +1.2  -65.2  -31.5] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -59.3  +56.5  +21.5   +1.8  -75.1  -31.0]
  04    549ms used=5 state=[ -60.2  +61.7  +15.7   +1.2  -65.2  -31.5] grip_state=0 src=target   target=[ -60.4  +62.7  +14.5   +1.2  -61.1  -31.5] grip=1 exec=True arrived=True vias=2 miss=0
       measured=[ -60.2  +62.7  +16.6   +1.5  -64.5  -31.9]
  05    627ms used=9 state=[ -60.4  +62.7  +14.5   +1.2  -61.1  -31.5] grip_state=1 src=target   target=[ -59.8  +59.6  +18.2   +1.3  -67.8  -32.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -59.7  +63.6  +14.7   +0.2  -62.3  -30.7]
  06    540ms used=9 state=[ -59.8  +59.6  +18.2   +1.3  -67.8  -32.0] grip_state=1 src=target   target=[ -58.8  +57.1  +21.5   +2.1  -74.6  -32.3] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -59.8  +61.9  +18.2   +1.9  -66.4  -32.3]
  07    433ms used=9 state=[ -58.8  +57.1  +21.5   +2.1  -74.6  -32.3] grip_state=1 src=target   target=[ -33.8  +53.5  +18.5   +5.8  -73.8  -34.8] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[ -59.2  +59.3  +21.4   +2.3  -74.4  -32.3]
== pi05_20261029_123158  チャンク 10
  framing dy=-8.02 dx=7.23 response=0.437 -> OK ignored=True
  00    601ms used=9 state=[  -0.3   +1.5   +1.8   +0.3   -0.3  -30.2] grip_state=0 src=measured target=[ -17.6  +17.1   +6.7   +0.4  -21.7  -31.1] grip=None exec=True arrived=True vias=4 miss=0
  01   1518ms used=9 state=[ -17.6  +17.1   +6.7   +0.4  -21.7  -31.1] grip_state=0 src=target   target=[ -37.8  +36.7  +13.6   +1.0  -49.5  -31.5] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -17.8  +18.0   +7.6   -0.3  -22.4  -30.5]
  02    551ms used=9 state=[ -37.8  +36.7  +13.6   +1.0  -49.5  -31.5] grip_state=0 src=target   target=[ -58.9  +54.5  +20.2   +1.7  -74.1  -31.5] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -37.9  +37.8  +13.9   +1.4  -49.7  -31.4]
  03    595ms used=9 state=[ -58.9  +54.5  +20.2   +1.7  -74.1  -31.5] grip_state=0 src=target   target=[ -60.1  +60.4  +15.8   +1.4  -65.1  -31.7] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -59.2  +55.5  +20.2   +2.0  -74.1  -31.5]
  04   1477ms used=6 state=[ -60.1  +60.4  +15.8   +1.4  -65.1  -31.7] grip_state=0 src=target   target=[ -60.5  +62.4  +13.9   +1.3  -60.9  -31.7] grip=1 exec=True arrived=True vias=3 miss=0
       measured=[ -60.4  +61.3  +17.0   +1.7  -65.7  -31.5]
  05    627ms used=9 state=[ -60.5  +62.4  +13.9   +1.3  -60.9  -31.7] grip_state=1 src=target   target=[ -59.3  +58.7  +18.0   +1.6  -69.3  -32.2] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -59.8  +63.1  +14.8   +0.9  -62.5  -31.3]
  06    642ms used=9 state=[ -59.3  +58.7  +18.0   +1.6  -69.3  -32.2] grip_state=1 src=target   target=[ -57.2  +56.1  +21.1   +2.9  -76.8  -32.9] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -59.6  +61.3  +17.6   +1.6  -67.6  -32.5]
  07    550ms used=9 state=[ -57.2  +56.1  +21.1   +2.9  -76.8  -32.9] grip_state=1 src=target   target=[ -30.7  +52.8  +18.1   +6.8  -74.3  -34.9] grip=None exec=True arrived=True vias=4 miss=1
       measured=[ -57.4  +58.9  +21.2   +2.9  -76.1  -32.5]
  08    587ms used=9 state=[ -30.7  +52.8  +18.1   +6.8  -74.3  -34.9] grip_state=1 src=target   target=[  -1.5  +49.6  +13.0   +7.9  -69.1  -35.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -31.1  +55.1  +19.7   +6.8  -75.4  -34.7]
  09   1437ms used=9 state=[  -1.5  +49.6  +13.0   +7.9  -69.1  -35.1] grip_state=1 src=target   target=[ +24.2  +48.4   +6.6   +8.3  -64.4  -35.4] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[  -1.7  +51.8  +14.9   +8.2  -69.4  -34.8]
== pi05_20261029_124104  チャンク 10
  framing dy=-7.82 dx=6.84 response=0.512 -> OK ignored=True
  00   1103ms used=9 state=[  -0.3   +1.5   +1.8   +0.3   -0.3  -30.2] grip_state=0 src=measured target=[ -18.3  +17.7   +7.5   +0.3  -22.6  -31.1] grip=None exec=True arrived=True vias=4 miss=0
  01    554ms used=9 state=[ -18.3  +17.7   +7.5   +0.3  -22.6  -31.1] grip_state=0 src=target   target=[ -40.0  +37.6  +14.9   +0.7  -52.6  -31.3] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -18.6  +18.6   +8.3   -0.4  -22.8  -30.4]
  02    600ms used=9 state=[ -40.0  +37.6  +14.9   +0.7  -52.6  -31.3] grip_state=0 src=target   target=[ -60.0  +54.3  +22.4   +1.8  -76.8  -31.4] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -40.1  +38.7  +15.5   +0.9  -53.1  -31.3]
  03   1521ms used=9 state=[ -60.0  +54.3  +22.4   +1.8  -76.8  -31.4] grip_state=0 src=target   target=[ -60.9  +60.0  +16.6   +1.2  -66.5  -31.6] grip=None exec=True arrived=True vias=4 miss=1
       measured=[ -60.4  +55.2  +22.2   +2.1  -76.2  -31.3]
  04    563ms used=7 state=[ -60.9  +60.0  +16.6   +1.2  -66.5  -31.6] grip_state=0 src=target   target=[ -61.5  +62.2  +14.3   +1.2  -59.6  -31.7] grip=1 exec=True arrived=True vias=3 miss=0
       measured=[ -60.4  +61.0  +17.9   +1.4  -67.1  -31.3]
  05    636ms used=9 state=[ -61.5  +62.2  +14.3   +1.2  -59.6  -31.7] grip_state=1 src=target   target=[ -60.3  +60.4  +16.8   +0.9  -66.7  -32.2] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -61.2  +63.0  +14.3   +0.3  -60.8  -31.3]
  06    605ms used=9 state=[ -60.3  +60.4  +16.8   +0.9  -66.7  -32.2] grip_state=1 src=target   target=[ -52.6  +56.1  +21.0   +3.2  -75.2  -33.6] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -60.8  +62.1  +16.9   +1.7  -64.5  -32.6]
  07   1545ms used=9 state=[ -52.6  +56.1  +21.0   +3.2  -75.2  -33.6] grip_state=1 src=target   target=[ -24.7  +52.5  +17.3   +7.2  -72.5  -35.4] grip=None exec=True arrived=True vias=4 miss=1
       measured=[ -52.6  +58.9  +21.3   +3.2  -74.8  -33.3]
  08    584ms used=9 state=[ -24.7  +52.5  +17.3   +7.2  -72.5  -35.4] grip_state=1 src=target   target=[  +3.7  +48.4  +12.4   +8.1  -67.1  -35.7] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -25.0  +54.8  +19.0   +7.3  -73.2  -35.1]
  09    602ms used=9 state=[  +3.7  +48.4  +12.4   +8.1  -67.1  -35.7] grip_state=1 src=target   target=[ +29.6  +47.7   +6.9   +8.2  -62.7  -36.0] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[  +3.5  +50.8  +14.2   +8.3  -67.3  -35.3]
== pi05_20261029_124830  チャンク 17
  framing dy=-7.88 dx=6.78 response=0.524 -> OK ignored=True
  00   1157ms used=9 state=[  -0.3   +1.5   +1.9   +0.3   -0.3  -30.2] grip_state=0 src=measured target=[ -18.4  +16.9   +6.6   +0.5  -21.7  -30.9] grip=None exec=True arrived=True vias=4 miss=0
  01    560ms used=9 state=[ -18.4  +16.9   +6.6   +0.5  -21.7  -30.9] grip_state=0 src=target   target=[ -40.2  +38.0  +13.9   +0.6  -51.2  -31.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -18.7  +17.9   +7.2   -0.2  -22.1  -30.4]
  02    557ms used=9 state=[ -40.2  +38.0  +13.9   +0.6  -51.2  -31.1] grip_state=0 src=target   target=[ -60.0  +54.8  +20.5   +1.6  -75.3  -31.2] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -40.1  +39.0  +14.4   +0.6  -51.7  -30.7]
  03    606ms used=9 state=[ -60.0  +54.8  +20.5   +1.6  -75.3  -31.2] grip_state=0 src=target   target=[ -60.7  +60.0  +16.3   +1.1  -68.4  -31.4] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -60.2  +55.8  +20.4   +1.9  -75.4  -30.9]
  04   1462ms used=8 state=[ -60.7  +60.0  +16.3   +1.1  -68.4  -31.4] grip_state=0 src=target   target=[ -61.5  +62.7  +12.6   +0.8  -59.9  -31.5] grip=1 exec=True arrived=True vias=3 miss=0
       measured=[ -60.2  +61.0  +17.9   +1.4  -69.2  -31.2]
  05    617ms used=9 state=[ -61.5  +62.7  +12.6   +0.8  -59.9  -31.5] grip_state=1 src=target   target=[ -60.7  +60.9  +15.7   +0.6  -66.6  -32.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -60.9  +63.6  +13.1   +0.1  -61.4  -31.1]
  06    635ms used=9 state=[ -60.7  +60.9  +15.7   +0.6  -66.6  -32.0] grip_state=1 src=target   target=[ -52.5  +55.3  +20.5   +3.0  -75.3  -33.6] grip=None exec=True arrived=True vias=4 miss=1
       measured=[ -60.8  +63.0  +15.5   +0.3  -64.6  -31.9]
  07    707ms used=9 state=[ -52.5  +55.3  +20.5   +3.0  -75.3  -33.6] grip_state=1 src=target   target=[ -25.6  +52.4  +16.6   +6.8  -73.0  -35.5] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -52.6  +57.9  +21.3   +3.2  -75.9  -33.2]
  08   1537ms used=9 state=[ -25.6  +52.4  +16.6   +6.8  -73.0  -35.5] grip_state=1 src=target   target=[  +4.4  +48.3  +11.3   +8.0  -67.0  -35.6] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -25.8  +54.7  +18.4   +6.8  -73.4  -35.2]
  09    553ms used=9 state=[  +4.4  +48.3  +11.3   +8.0  -67.0  -35.6] grip_state=1 src=target   target=[ +33.6  +47.0   +5.7   +7.8  -61.8  -35.7] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +4.2  +51.1  +13.1   +8.3  -67.1  -35.3]
  10    552ms used=9 state=[ +33.6  +47.0   +5.7   +7.8  -61.8  -35.7] grip_state=1 src=target   target=[ +41.5  +56.4   -2.0   +7.5  -60.3  -35.9] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +33.7  +49.7   +7.7   +8.2  -62.1  -35.4]
  11    680ms used=8 state=[ +41.5  +56.4   -2.0   +7.5  -60.3  -35.9] grip_state=1 src=target   target=[ +42.2  +62.3   -4.7   +7.7  -62.7  -35.9] grip=0 exec=True arrived=True vias=3 miss=0
       measured=[ +41.8  +57.6   -0.3   +7.5  -59.8  -35.6]
  12   1472ms used=9 state=[ +42.2  +62.3   -4.7   +7.7  -62.7  -35.9] grip_state=0 src=target   target=[ +41.4  +46.4   +2.5   +7.8  -56.6  -36.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +41.8  +63.5   -3.2   +7.6  -63.1  -35.7]
  13    819ms used=9 state=[ +41.4  +46.4   +2.5   +7.8  -56.6  -36.0] grip_state=0 src=target   target=[ +23.5  +24.4   +1.8   +4.0  -30.0  -32.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +41.8  +48.8   +3.1   +7.6  -56.8  -35.7]
  14   1792ms used=9 state=[ +23.5  +24.4   +1.8   +4.0  -30.0  -32.8] grip_state=0 src=target   target=[  +1.4   +2.0   +1.7   +0.8   -2.6  -31.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +23.3  +26.5   +3.9   +4.0  -30.2  -33.0]
  15    735ms used=9 state=[  +1.4   +2.0   +1.7   +0.8   -2.6  -31.0] grip_state=0 src=target   target=[  +1.1   +1.9   +1.7   +0.7   -3.0  -31.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +1.0   +3.5   +3.9   +1.0   -2.6  -31.2]
  16    553ms used=9 state=[  +1.1   +1.9   +1.7   +0.7   -3.0  -31.0] grip_state=0 src=target   target=[  +1.0   +1.8   +1.7   +0.7   -2.7  -31.0] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[  +1.0   +3.5   +3.9   +1.0   -2.6  -31.2]
== pi05_20261029_125314  チャンク 7
  framing dy=-8.1 dx=7.21 response=0.42 -> OK ignored=True
  00    606ms used=9 state=[  -0.3   +1.5   +1.7   +0.3   -0.2  -30.2] grip_state=0 src=measured target=[ -19.0  +18.7   +7.1   +0.2  -23.0  -31.0] grip=None exec=True arrived=True vias=4 miss=0
  01   1467ms used=9 state=[ -19.0  +18.7   +7.1   +0.2  -23.0  -31.0] grip_state=0 src=target   target=[ -40.4  +39.8  +14.2   +0.3  -52.4  -31.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -19.3  +19.7   +7.9   -0.5  -22.9  -30.5]
  02    804ms used=9 state=[ -40.4  +39.8  +14.2   +0.3  -52.4  -31.1] grip_state=0 src=target   target=[ -59.4  +56.5  +20.7   +1.3  -75.5  -31.2] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -40.7  +40.9  +14.8   +0.3  -52.7  -31.0]
  03    629ms used=9 state=[ -59.4  +56.5  +20.7   +1.3  -75.5  -31.2] grip_state=0 src=target   target=[ -60.1  +61.9  +15.9   +0.5  -68.2  -31.5] grip=None exec=True arrived=True vias=4 miss=1
       measured=[ -59.1  +57.4  +20.6   +1.6  -75.1  -31.2]
  04    651ms used=9 state=[ -60.1  +61.9  +15.9   +0.5  -68.2  -31.5] grip_state=0 src=target   target=[ -60.6  +63.5  +12.6   +1.1  -57.2  -32.0] grip=1 exec=True arrived=True vias=4 miss=0
       measured=[ -59.8  +62.8  +17.4   +0.9  -68.9  -31.0]
  05   1558ms used=9 state=[ -60.6  +63.5  +12.6   +1.1  -57.2  -32.0] grip_state=1 src=target   target=[ -60.1  +59.5  +18.5   +1.3  -68.0  -32.2] grip=None exec=True arrived=True vias=4 miss=1
       measured=[ -60.1  +63.9  +12.2   +0.9  -58.5  -31.5]
  06    556ms used=9 state=[ -60.1  +59.5  +18.5   +1.3  -68.0  -32.2] grip_state=1 src=target   target=[ -50.7  +55.8  +21.5   +3.5  -75.8  -33.4] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[ -60.2  +60.7  +18.7   +1.8  -65.3  -32.5]
== pi05_20261029_125528  チャンク 4
  framing dy=-22.22 dx=14.39 response=0.032 -> 測れない ignored=True
  00    553ms used=9 state=[  -0.3   +1.5   +1.8   +0.3   -0.3  -30.2] grip_state=0 src=measured target=[ -17.5  +19.0   +7.5   +0.3  -23.1  -30.8] grip=None exec=True arrived=True vias=4 miss=0
  01    608ms used=9 state=[ -17.5  +19.0   +7.5   +0.3  -23.1  -30.8] grip_state=0 src=target   target=[ -39.0  +39.6  +14.6   +0.5  -52.8  -30.8] grip=None exec=True arrived=True vias=4 miss=1
       measured=[ -17.8  +20.0   +8.3   -0.4  -23.0  -30.4]
  02    558ms used=9 state=[ -39.0  +39.6  +14.6   +0.5  -33.1  -30.8] grip_state=0 src=target   target=[ -58.0  +58.1  +20.8   +1.2  -60.5  -30.9] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ -38.8  +40.6  +14.9   +1.0  -33.6  -31.0]
  03    417ms used=7 state=[ -58.0  +58.1  +20.8   +1.2  -60.5  -30.9] grip_state=0 src=target   target=[ -58.3  +60.9  +18.4   +1.1  -58.1  -31.0] grip=1 exec=False arrived=None vias=0 miss=0 HOME
       measured=[ -58.4  +59.0  +20.4   +1.6  -60.9  -30.9]
== pi05_20261029_145115  チャンク 0
  framing dy=-7.88 dx=8.24 response=0.532 -> OK ignored=True
== pi05_20261029_145207  チャンク 15
  framing dy=-7.67 dx=8.27 response=0.547 -> OK ignored=True
  00    941ms used=9 state=[  -0.2   +1.3   +1.8   +0.3   -0.3  -30.2] grip_state=0 src=measured target=[  +4.4  +17.7  +13.1   -2.9  -23.4  -27.4] grip=None exec=True arrived=True vias=4 miss=0
  01    555ms used=9 state=[  +4.4  +17.7  +13.1   -2.9  -23.4  -27.4] grip_state=0 src=target   target=[  +9.3  +36.7  +25.3   -3.6  -51.5  -26.7] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +4.0  +18.5  +13.9   -3.3  -23.2  -27.6]
  02    572ms used=9 state=[  +9.3  +36.7  +25.3   -3.6  -51.5  -26.7] grip_state=0 src=target   target=[ +11.0  +46.6  +30.5   -3.8  -63.9  -26.6] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +9.1  +37.7  +25.2   -3.4  -51.9  -26.9]
  03   1708ms used=9 state=[ +11.0  +46.6  +30.5   -3.8  -63.9  -26.6] grip_state=0 src=target   target=[ +11.6  +56.2  +23.2   -3.7  -62.3  -26.7] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +11.2  +47.5  +31.7   -3.6  -63.9  -26.8]
  04    765ms used=5 state=[ +11.6  +56.2  +23.2   -3.7  -62.3  -26.7] grip_state=0 src=target   target=[ +11.9  +59.8  +20.3   -3.7  -61.4  -26.8] grip=1 exec=True arrived=True vias=2 miss=0
       measured=[ +11.2  +57.1  +24.7   -3.5  -63.1  -26.7]
  05    571ms used=9 state=[ +11.9  +59.8  +20.3   -3.7  -61.4  -26.8] grip_state=1 src=target   target=[ +12.0  +52.2  +26.8   -3.0  -63.1  -27.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +11.4  +60.2  +20.3   -3.2  -62.6  -27.1]
  06    638ms used=9 state=[ +12.0  +52.2  +26.8   -3.0  -63.1  -27.0] grip_state=1 src=target   target=[ +22.5  +47.7  +20.4   -0.6  -59.2  -29.3] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +11.5  +54.0  +26.3   -3.4  -61.2  -26.5]
  07   1467ms used=9 state=[ +22.5  +47.7  +20.4   -0.6  -59.2  -29.3] grip_state=1 src=target   target=[ +43.1  +53.9   -3.0   +4.3  -49.4  -33.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +22.3  +49.7  +21.6   -0.8  -60.0  -29.0]
  08    560ms used=9 state=[ +43.1  +53.9   -3.0   +4.3  -49.4  -33.8] grip_state=1 src=target   target=[ +42.8  +66.8   -3.7   +5.8  -59.7  -34.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +42.8  +55.0   -1.3   +4.0  -49.6  -33.5]
  09   1641ms used=3 state=[ +42.8  +66.8   -3.7   +5.8  -59.7  -34.0] grip_state=1 src=target   target=[ +42.5  +67.5   -3.6   +6.2  -60.6  -34.2] grip=0 exec=True arrived=True vias=2 miss=0
       measured=[ +43.3  +66.9   -3.2   +5.4  -61.1  -34.3]
  10    738ms used=9 state=[ +42.5  +67.5   -3.6   +6.2  -60.6  -34.2] grip_state=0 src=target   target=[ +42.5  +56.6   -3.4   +6.2  -51.2  -34.9] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +42.1  +67.9   -4.0   +7.2  -60.0  -33.1]
  11    559ms used=9 state=[ +42.5  +56.6   -3.4   +6.2  -51.2  -34.9] grip_state=0 src=target   target=[ +29.5  +34.4   -0.4   +3.0  -31.2  -33.3] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +42.5  +59.1   -3.0   +5.4  -50.6  -35.7]
  12    565ms used=9 state=[ +29.5  +34.4   -0.4   +3.0  -31.2  -33.3] grip_state=0 src=target   target=[  +6.1   +7.2   +1.6   +0.1   -5.1  -31.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +29.6  +36.6   +0.2   +2.8  -31.5  -33.4]
  13    557ms used=9 state=[  +6.1   +7.2   +1.6   +0.1   -5.1  -31.1] grip_state=0 src=target   target=[  +0.7   +2.7   +1.7   -0.0   -1.5  -31.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +5.9   +8.8   +2.5   +0.3   -5.2  -31.3]
  14    556ms used=9 state=[  +0.7   +2.7   +1.7   -0.0   -1.5  -31.1] grip_state=0 src=target   target=[  -0.1   +2.3   +1.7   -0.1   -1.4  -31.0] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[  +1.0   +3.8   +2.5   +0.3   -1.8  -31.2]
== pi05_20261029_145641  チャンク 7
  framing dy=-8.53 dx=7.98 response=0.558 -> OK ignored=True
  00   1542ms used=9 state=[  -0.3   +1.3   +2.2   +0.3   -0.3  -30.1] grip_state=0 src=measured target=[  +3.3  +18.0  +13.1   -1.7  -23.2  -27.4] grip=None exec=True arrived=True vias=4 miss=0
  01    559ms used=9 state=[  +3.3  +18.0  +13.1   -1.7  -23.2  -27.4] grip_state=0 src=target   target=[  +8.8  +37.8  +25.2   -2.3  -52.7  -26.7] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +3.1  +18.9  +13.8   -2.0  -23.0  -27.7]
  02   1720ms used=9 state=[  +8.8  +37.8  +25.2   -2.3  -52.7  -26.7] grip_state=0 src=target   target=[ +10.2  +47.5  +31.1   -2.5  -64.3  -26.7] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +9.0  +38.8  +25.7   -2.4  -52.6  -27.0]
  03    765ms used=9 state=[ +10.2  +47.5  +31.1   -2.5  -64.3  -26.7] grip_state=0 src=target   target=[ +10.9  +59.2  +21.6   -2.5  -62.7  -26.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +9.8  +48.3  +31.7   -2.3  -65.1  -26.8]
  04    588ms used=3 state=[ +10.9  +59.2  +21.6   -2.5  -62.7  -26.8] grip_state=0 src=target   target=[ +10.8  +60.6  +20.5   -2.5  -62.4  -26.8] grip=1 exec=True arrived=True vias=2 miss=0
       measured=[ +10.7  +59.8  +22.6   -2.2  -63.7  -27.1]
  05    550ms used=9 state=[ +10.8  +60.6  +20.5   -2.5  -62.4  -26.8] grip_state=1 src=target   target=[ +11.2  +52.5  +27.4   -2.7  -63.9  -27.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +10.2  +61.1  +20.5   -1.8  -63.5  -27.0]
  06    542ms used=9 state=[ +11.2  +52.5  +27.4   -2.7  -63.9  -27.0] grip_state=1 src=target   target=[ +24.3  +50.1  +17.7   -0.1  -59.0  -29.7] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[ +10.8  +54.5  +26.6   -3.2  -62.0  -26.5]
== pi05_20261029_145851  チャンク 15
  framing dy=-7.74 dx=7.83 response=0.566 -> OK ignored=True
  00   1436ms used=9 state=[  -0.3   +1.4   +1.8   -0.3   -0.3  -29.7] grip_state=0 src=measured target=[  +3.9  +18.5  +14.0   -2.5  -26.5  -27.2] grip=None exec=True arrived=True vias=4 miss=0
  01    618ms used=9 state=[  +3.9  +18.5  +14.0   -2.5  -26.5  -27.2] grip_state=0 src=target   target=[  +9.3  +37.7  +26.7   -3.2  -56.9  -26.6] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +3.6  +19.5  +14.7   -2.0  -27.1  -27.5]
  02   1500ms used=9 state=[  +9.3  +37.7  +26.7   -3.2  -56.9  -26.6] grip_state=0 src=target   target=[ +10.8  +45.2  +29.9   -3.2  -65.1  -26.6] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +9.5  +38.7  +26.9   -3.2  -57.2  -26.8]
  03    620ms used=9 state=[ +10.8  +45.2  +29.9   -3.2  -65.1  -26.6] grip_state=0 src=target   target=[ +11.0  +56.9  +20.9   -3.3  -62.2  -26.7] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +10.5  +46.0  +31.2   -3.1  -66.2  -26.7]
  04    590ms used=4 state=[ +11.0  +56.9  +20.9   -3.3  -62.2  -26.7] grip_state=0 src=target   target=[ +11.1  +59.9  +18.6   -3.3  -61.6  -26.7] grip=1 exec=True arrived=True vias=2 miss=0
       measured=[ +11.3  +57.9  +22.4   -3.0  -62.5  -26.7]
  05   1455ms used=9 state=[ +11.1  +59.9  +18.6   -3.3  -61.6  -26.7] grip_state=1 src=target   target=[ +11.3  +51.1  +26.8   -2.9  -63.6  -26.9] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +10.9  +60.6  +19.2   -2.9  -63.1  -27.0]
  06    541ms used=9 state=[ +11.3  +51.1  +26.8   -2.9  -63.6  -26.9] grip_state=1 src=target   target=[ +22.8  +47.8  +19.8   -0.6  -59.7  -29.3] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +11.0  +53.2  +26.8   -3.2  -62.6  -26.5]
  07    613ms used=9 state=[ +22.8  +47.8  +19.8   -0.6  -59.7  -29.3] grip_state=1 src=target   target=[ +44.1  +52.9   -2.0   +4.2  -51.1  -34.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +22.9  +49.7  +21.1   -0.9  -60.1  -28.7]
  08    779ms used=9 state=[ +44.1  +52.9   -2.0   +4.2  -51.1  -34.0] grip_state=1 src=target   target=[ +44.3  +66.3   -3.2   +5.8  -61.4  -34.3] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +44.4  +54.0   -0.3   +3.9  -51.0  -33.7]
  09   1550ms used=1 state=[ +44.3  +66.3   -3.2   +5.8  -61.4  -34.3] grip_state=1 src=target   target=[ +44.2  +66.3   -3.2   +5.8  -61.4  -34.4] grip=0 exec=True arrived=True vias=1 miss=0
       measured=[ +44.4  +66.9   -2.3   +5.5  -62.8  -33.8]
  10    789ms used=9 state=[ +44.2  +66.3   -3.2   +5.8  -61.4  -34.4] grip_state=0 src=target   target=[ +44.2  +52.6   -2.5   +6.0  -50.9  -34.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +43.8  +66.9   -2.6   +6.5  -61.5  -34.9]
  11   1754ms used=9 state=[ +44.2  +52.6   -2.5   +6.0  -50.9  -34.8] grip_state=0 src=target   target=[ +24.9  +26.3   +1.2   +2.1  -26.4  -32.5] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +43.9  +54.9   -1.9   +5.5  -51.0  -35.1]
  12    736ms used=9 state=[ +24.9  +26.3   +1.2   +2.1  -26.4  -32.5] grip_state=0 src=target   target=[  +3.4   +2.7   +2.2   +0.1   -1.7  -31.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +24.8  +28.4   +1.5   +1.8  -26.5  -32.5]
  13    729ms used=9 state=[  +3.4   +2.7   +2.2   +0.1   -1.7  -31.0] grip_state=0 src=target   target=[  +0.8   +2.0   +2.2   +0.1   -2.0  -31.0] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +3.1   +4.4   +2.8   +0.3   -1.8  -31.3]
  14    560ms used=9 state=[  +0.8   +2.0   +2.2   +0.1   -2.0  -31.0] grip_state=0 src=target   target=[  -0.3   +2.0   +2.7   -0.0   -3.0  -31.0] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[  +0.9   +3.6   +2.8   +0.3   -1.5  -31.2]
== pi05_20261029_150534  チャンク 15
  framing dy=-7.78 dx=7.9 response=0.55 -> OK ignored=True
  00    555ms used=9 state=[  -0.3   +1.5   +1.8   +0.3   -0.3  -30.1] grip_state=0 src=measured target=[  +3.3  +19.6  +13.5   -1.4  -26.1  -27.3] grip=None exec=True arrived=True vias=4 miss=0
  01    555ms used=9 state=[  +3.3  +19.6  +13.5   -1.4  -26.1  -27.3] grip_state=0 src=target   target=[  +9.0  +39.7  +26.0   -2.1  -55.3  -26.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +3.0  +20.5  +14.2   -1.8  -26.6  -27.6]
  02    548ms used=9 state=[  +9.0  +39.7  +26.0   -2.1  -55.3  -26.8] grip_state=0 src=target   target=[  +9.9  +47.0  +29.4   -2.5  -63.1  -26.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +9.1  +40.6  +25.8   -2.1  -55.8  -27.1]
  03    637ms used=9 state=[  +9.9  +47.0  +29.4   -2.5  -63.1  -26.8] grip_state=0 src=target   target=[ +10.7  +58.0  +20.3   -2.5  -61.9  -26.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +9.8  +47.8  +30.5   -2.3  -62.9  -27.1]
  04    550ms used=4 state=[ +10.7  +58.0  +20.3   -2.5  -61.9  -26.8] grip_state=0 src=target   target=[ +10.7  +59.6  +19.2   -2.6  -61.7  -26.9] grip=1 exec=True arrived=True vias=2 miss=0
       measured=[ +10.8  +58.9  +21.8   -2.3  -62.8  -26.9]
  05   1557ms used=9 state=[ +10.7  +59.6  +19.2   -2.6  -61.7  -26.9] grip_state=1 src=target   target=[ +10.7  +51.2  +27.0   -2.6  -63.9  -26.9] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +10.4  +60.4  +19.8   -2.2  -63.1  -27.2]
  06    550ms used=9 state=[ +10.7  +51.2  +27.0   -2.6  -63.9  -26.9] grip_state=1 src=target   target=[ +21.5  +48.9  +19.4   -0.5  -59.6  -29.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +10.4  +53.6  +26.5   -3.1  -62.6  -26.4]
  07    624ms used=9 state=[ +21.5  +48.9  +19.4   -0.5  -59.6  -29.1] grip_state=1 src=target   target=[ +42.1  +51.8   -1.6   +4.3  -50.7  -33.7] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +21.5  +50.7  +20.7   -1.0  -60.1  -28.7]
  08   1501ms used=9 state=[ +42.1  +51.8   -1.6   +4.3  -50.7  -33.7] grip_state=1 src=target   target=[ +42.5  +64.9   -3.8   +6.1  -59.7  -34.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +42.5  +53.0   +0.0   +4.5  -50.9  -33.5]
  09    569ms used=3 state=[ +42.5  +64.9   -3.8   +6.1  -59.7  -34.1] grip_state=1 src=target   target=[ +42.3  +65.9   -3.7   +6.6  -60.8  -34.4] grip=0 exec=True arrived=True vias=2 miss=0
       measured=[ +42.5  +65.6   -2.7   +5.7  -60.6  -34.5]
  10    741ms used=9 state=[ +42.3  +65.9   -3.7   +6.6  -60.8  -34.4] grip_state=0 src=target   target=[ +42.0  +53.7   -3.3   +6.0  -50.0  -34.7] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +41.8  +66.5   -2.9   +7.4  -60.6  -34.2]
  11   1542ms used=9 state=[ +42.0  +53.7   -3.3   +6.0  -50.0  -34.7] grip_state=0 src=target   target=[ +22.9  +26.8   +0.7   +1.6  -24.2  -32.4] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +42.0  +56.2   -2.8   +5.7  -50.1  -34.5]
  12    620ms used=9 state=[ +22.9  +26.8   +0.7   +1.6  -24.2  -32.4] grip_state=0 src=target   target=[  +1.2   +2.0   +2.0   -0.0   -1.5  -31.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[ +22.8  +28.6   +1.4   +1.3  -24.2  -32.7]
  13    629ms used=9 state=[  +1.2   +2.0   +2.0   -0.0   -1.5  -31.1] grip_state=0 src=target   target=[  -0.2   +1.8   +2.1   -0.1   -2.2  -31.1] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +0.9   +3.6   +2.8   +0.2   -1.8  -31.3]
  14   1548ms used=9 state=[  -0.2   +1.8   +2.1   -0.1   -2.2  -31.1] grip_state=0 src=target   target=[  -0.5   +1.8   +2.3   -0.1   -2.6  -31.0] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[  +0.2   +3.6   +2.8   +0.2   -1.8  -31.3]
== pi05_20261029_150950  チャンク 7
  framing dy=-7.7 dx=8.29 response=0.543 -> OK ignored=True
  00    560ms used=9 state=[  -0.2   +1.5   +1.8   +0.2   -0.3  -30.1] grip_state=0 src=measured target=[  +3.7  +18.5  +13.0   -1.9  -23.5  -27.2] grip=None exec=True arrived=True vias=4 miss=0
  01    688ms used=9 state=[  +3.7  +18.5  +13.0   -1.9  -23.5  -27.2] grip_state=0 src=target   target=[  +8.0  +36.7  +25.4   -2.7  -52.0  -26.4] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +3.6  +19.5  +13.8   -2.5  -23.5  -27.4]
  02   1535ms used=9 state=[  +8.0  +36.7  +25.4   -2.7  -52.0  -26.4] grip_state=0 src=target   target=[  +9.4  +45.7  +30.3   -2.6  -62.9  -26.4] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +7.8  +37.7  +25.0   -2.4  -52.1  -26.6]
  03    613ms used=9 state=[  +9.4  +45.7  +30.3   -2.6  -62.9  -26.4] grip_state=0 src=target   target=[  +9.8  +56.0  +21.5   -2.5  -61.9  -26.6] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +9.2  +46.8  +31.3   -2.3  -63.9  -26.6]
  04    606ms used=4 state=[  +9.8  +56.0  +21.5   -2.5  -61.9  -26.6] grip_state=0 src=target   target=[  +9.8  +59.0  +19.4   -2.6  -61.6  -26.6] grip=1 exec=True arrived=True vias=2 miss=0
       measured=[  +9.2  +57.0  +22.8   -2.2  -62.3  -26.6]
  05    554ms used=9 state=[  +9.8  +59.0  +19.4   -2.6  -61.6  -26.6] grip_state=1 src=target   target=[  +9.8  +51.4  +27.0   -2.5  -64.3  -26.8] grip=None exec=True arrived=True vias=4 miss=0
       measured=[  +9.6  +59.8  +20.1   -2.2  -62.8  -26.9]
  06   1542ms used=9 state=[  +9.8  +51.4  +27.0   -2.5  -64.3  -26.8] grip_state=1 src=target   target=[ +23.1  +49.4  +18.1   +0.3  -60.6  -29.4] grip=None exec=False arrived=None vias=0 miss=0 HOME
       measured=[  +9.6  +53.6  +26.8   -3.0  -63.5  -26.4]
```


## Mac のターミナルの出力

アームを動かした Mac のターミナルの出力を、そのまま載せます。11:39〜12:57 は位置C と位置D、14:49〜15:12 は位置E です。


### ターミナルの出力 terminal_c_d.txt（11:39〜12:57・位置C と位置D）

```
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 % 
```


### ターミナルの出力 terminal_e.txt（14:49〜15:12・位置E）

```
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 % 
```