[LAB   ] 2026-10-30 21:04:35  GPU=NVIDIA A40  episode=run_0001_20261019_194818  log=/Volumes/KIOXIA/r2r2r-data/lab/Log17  

=== 1. Pod を作る
[POD   ] 作った: id m8is5nqx61gofi  GPU=NVIDIA A40  1時間 0.59 ドル  (記録 /Volumes/KIOXIA/r2r2r-data/lab/Log17/pod/lab_pod.json)
    (3 秒)

=== 2. Pod が立ち上がるまで待つ
[POD   ] SSH の IP とポートを API から受け取った (<POD_IP>:<SSH_PORT>)
[POD   ] 入れた: 15f5e69fe17f
NVIDIA A40, 46068 MiB
    (38 秒)

=== 3a. スクリプトを送る
    (32 秒)

=== 3b. huggingface_hub を入れ, 鍵を渡す
WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager, possibly rendering your system unusable. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv. Use the --root-user-action option if you know what you are doing and want to suppress this warning.
Hint: The `hf-cli` skill is not installed. Run `hf skills add -g` to teach your AI agents how to use the `hf` CLI.
✓ Logged in
  user: PixelstoMotors
    (10 秒)

=== 3c. モデルを取る (hf download)

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✓ Downloaded
  path: /workspace/ckpt/3999
6.0G	/workspace/ckpt/3999
    (8 秒)

=== 3d. openpi を取る (215abfb)
215abfb docs(droid): fix config search instruction (#1023)
    (24 秒)

=== 3e. uv sync
downloading uv 0.13.6 x86_64-unknown-linux-gnu
WARN: The following commands are shadowed by other commands in your PATH: uv uvx
Using CPython 3.11.13 interpreter at: /usr/bin/python3.11
Creating virtual environment at: .venv
Resolved 279 packages in 3ms
   Building openpi-client @ file:///workspace/openpi/packages/openpi-client
   Building openpi @ file:///workspace/openpi
   Updating https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
Downloading sympy (6.0MiB)
Downloading hf-transfer (3.4MiB)
Downloading dm-control (37.5MiB)
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Downloading lxml (4.7MiB)
Downloading jax-cuda12-pjrt (99.8MiB)
Downloading nvidia-cuda-cupti-cu12 (8.5MiB)
Downloading pillow (4.4MiB)
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Downloading nvidia-nvjitlink-cu12 (18.8MiB)
Downloading tensorstore (17.5MiB)
Downloading transformers (10.3MiB)
Downloading fonttools (4.7MiB)
Downloading torchvision (7.1MiB)
Downloading nvidia-cuda-nvcc-cu12 (38.7MiB)
Downloading av (34.7MiB)
Downloading polars (34.6MiB)
Downloading diffusers (3.4MiB)
Downloading h5py (4.3MiB)
Downloading mujoco (4.4MiB)
Downloading nvidia-curand-cu12 (53.7MiB)
Downloading numpy (17.4MiB)
Downloading pandas (12.5MiB)
Downloading matplotlib (8.2MiB)
Downloading nvidia-cudnn-cu12 (544.5MiB)
Downloading ruff (11.0MiB)
Downloading pyarrow (40.3MiB)
Downloading wandb (20.4MiB)
Downloading torch (783.1MiB)
Downloading nvidia-cuda-nvrtc-cu12 (22.6MiB)
Downloading jax-cuda12-plugin (15.9MiB)
Downloading nvidia-cusparse-cu12 (206.5MiB)
Downloading nvidia-nccl-cu12 (192.0MiB)
Downloading nvidia-cusolver-cu12 (150.9MiB)
Downloading llvmlite (40.4MiB)
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Downloading imageio-ffmpeg (28.1MiB)
Downloading triton (148.5MiB)
Downloading nvidia-cublas-cu12 (374.9MiB)
Downloading jaxlib (100.2MiB)
Downloading nvidia-cusparselt-cu12 (149.5MiB)
Downloading numba (3.7MiB)
Downloading opencv-python-headless (47.7MiB)
Downloading nvidia-cufft-cu12 (190.9MiB)
Downloading rerun-sdk (68.1MiB)
 Downloaded pyopengl
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Downloading setuptools (1.1MiB)
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 Downloaded pygments
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 Downloaded nvidia-cufile-cu12
 Downloaded setuptools
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 Downloaded numcodecs
   Building evdev==1.9.2
 Downloaded transformers
 Downloaded ruff
   Building antlr4-python3-runtime==4.9.3
 Downloaded pandas
 Downloaded jax-cuda12-plugin
 Downloaded tensorstore
 Downloaded numpy
 Downloaded nvidia-nvjitlink-cu12
      Built openpi @ file:///workspace/openpi
      Built openpi-client @ file:///workspace/openpi/packages/openpi-client
 Downloaded wandb
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      Built antlr4-python3-runtime==4.9.3
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      Built evdev==1.9.2
    Updated https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
   Building lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
 Downloaded jaxlib
 Downloaded jax-cuda12-pjrt
      Built lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
 Downloaded nvidia-cusparselt-cu12
 Downloaded triton
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 Downloaded nvidia-nccl-cu12
 Downloaded nvidia-cufft-cu12
 Downloaded nvidia-cusparse-cu12
 Downloaded nvidia-cublas-cu12
 Downloaded nvidia-cudnn-cu12
 Downloaded torch
Prepared 240 packages in 15.33s
Installed 240 packages in 1.25s
 + absl-py==2.3.0
 + aiohappyeyeballs==2.6.1
 + aiohttp==3.12.4
 + aiosignal==1.3.2
 + annotated-types==0.7.0
 + antlr4-python3-runtime==4.9.3
 + asttokens==3.0.0
 + attrs==25.3.0
 + augmax==0.4.1
 + av==17.0.0
 + beartype==0.19.0
 + beautifulsoup4==4.13.4
 + blinker==1.9.0
 + cachetools==5.5.2
 + certifi==2025.4.26
 + cffi==1.17.1
 + cfgv==3.4.0
 + charset-normalizer==3.4.2
 + chex==0.1.90
 + click==8.2.1
 + cloudpickle==3.1.1
 + cmake==4.0.2
 + comm==0.2.2
 + contourpy==1.3.2
 + crc32c==2.7.1
 + cycler==0.12.1
 + datasets==3.6.0
 + debugpy==1.8.14
 + decorator==5.2.1
 + deepdiff==8.5.0
 + diffusers==0.33.1
 + dill==0.3.8
 + distlib==0.3.9
 + dm-control==1.0.14
 + dm-env==1.6
 + dm-tree==0.1.9
 + docker-pycreds==0.4.0
 + docstring-parser==0.16
 + donfig==0.8.1.post1
 + draccus==0.10.0
 + einops==0.8.1
 + equinox==0.12.2
 + etils==1.12.2
 + evdev==1.9.2
 + executing==2.2.0
 + farama-notifications==0.0.4
 + filelock==3.18.0
 + flask==3.1.1
 + flatbuffers==25.2.10
 + flax==0.10.2
 + fonttools==4.58.1
 + frozenlist==1.6.0
 + fsspec==2025.3.0
 + gcsfs==2025.3.0
 + gdown==5.2.0
 + gitdb==4.0.12
 + gitpython==3.1.44
 + glfw==2.9.0
 + google-api-core==2.24.2
 + google-auth==2.40.2
 + google-auth-oauthlib==1.2.2
 + google-cloud-core==2.4.3
 + google-cloud-storage==3.1.0
 + google-crc32c==1.7.1
 + google-resumable-media==2.7.2
 + googleapis-common-protos==1.70.0
 + gym-aloha==0.1.1
 + gymnasium==0.29.1
 + h5py==3.13.0
 + hf-transfer==0.1.9
 + hf-xet==1.1.2
 + huggingface-hub==0.32.3
 + humanize==4.12.3
 + identify==2.6.12
 + idna==3.10
 + imageio==2.37.0
 + imageio-ffmpeg==0.6.0
 + importlib-metadata==8.7.0
 + importlib-resources==6.5.2
 + iniconfig==2.1.0
 + inquirerpy==0.3.4
 + ipykernel==6.29.5
 + ipython==9.2.0
 + ipython-pygments-lexers==1.1.1
 + ipywidgets==8.1.7
 + itsdangerous==2.2.0
 + jax==0.5.3
 + jax-cuda12-pjrt==0.5.3
 + jax-cuda12-plugin==0.5.3
 + jaxlib==0.5.3
 + jaxtyping==0.2.36
 + jedi==0.19.2
 + jinja2==3.1.6
 + jsonlines==4.0.0
 + jupyter-client==8.6.3
 + jupyter-core==5.8.1
 + jupyterlab-widgets==3.0.15
 + kiwisolver==1.4.8
 + labmaze==1.0.6
 + lerobot==0.1.0 (from git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
 + llvmlite==0.44.0
 + lxml==5.4.0
 + markdown-it-py==3.0.0
 + markupsafe==3.0.2
 + matplotlib==3.10.3
 + matplotlib-inline==0.1.7
 + mdurl==0.1.2
 + mergedeep==1.3.4
 + ml-collections==1.0.0
 + ml-dtypes==0.4.1
 + mpmath==1.3.0
 + msgpack==1.1.0
 + mujoco==2.3.7
 + multidict==6.4.4
 + multiprocess==0.70.16
 + mypy-extensions==1.1.0
 + nest-asyncio==1.6.0
 + networkx==3.5
 + nodeenv==1.9.1
 + numba==0.61.2
 + numcodecs==0.16.1
 + numpy==1.26.4
 + numpydantic==1.6.9
 + nvidia-cublas-cu12==12.6.4.1
 + nvidia-cuda-cupti-cu12==12.6.80
 + nvidia-cuda-nvcc-cu12==12.9.41
 + nvidia-cuda-nvrtc-cu12==12.6.77
 + nvidia-cuda-runtime-cu12==12.6.77
 + nvidia-cudnn-cu12==9.5.1.17
 + nvidia-cufft-cu12==11.3.0.4
 + nvidia-cufile-cu12==1.11.1.6
 + nvidia-curand-cu12==10.3.7.77
 + nvidia-cusolver-cu12==11.7.1.2
 + nvidia-cusparse-cu12==12.5.4.2
 + nvidia-cusparselt-cu12==0.6.3
 + nvidia-ml-py==12.575.51
 + nvidia-nccl-cu12==2.26.2
 + nvidia-nvjitlink-cu12==12.6.85
 + nvidia-nvtx-cu12==12.6.77
 + oauthlib==3.2.2
 + omegaconf==2.3.0
 + opencv-python==4.11.0.86
 + opencv-python-headless==4.11.0.86
 + openpi==0.1.0 (from file:///workspace/openpi)
 + openpi-client==0.1.0 (from file:///workspace/openpi/packages/openpi-client)
 + opt-einsum==3.4.0
 + optax==0.2.4
 + orbax-checkpoint==0.11.13
 + orderly-set==5.4.1
 + packaging==25.0
 + pandas==2.2.3
 + parso==0.8.4
 + pexpect==4.9.0
 + pfzy==0.3.4
 + pillow==11.2.1
 + platformdirs==4.3.8
 + pluggy==1.6.0
 + polars==1.30.0
 + pre-commit==4.2.0
 + prompt-toolkit==3.0.51
 + propcache==0.3.1
 + proto-plus==1.26.1
 + protobuf==4.25.8
 + psutil==7.0.0
 + ptyprocess==0.7.0
 + pure-eval==0.2.3
 + pyarrow==20.0.0
 + pyasn1==0.6.1
 + pyasn1-modules==0.4.2
 + pycparser==2.22
 + pydantic==2.11.5
 + pydantic-core==2.33.2
 + pygments==2.19.1
 + pymunk==7.0.0
 + pynput==1.8.1
 + pynvml==12.0.0
 + pyopengl==3.1.9
 + pyparsing==3.2.3
 + pysocks==1.7.1
 + pytest==8.3.5
 + python-dateutil==2.9.0.post0
 + python-xlib==0.33
 + pytz==2025.2
 + pyyaml==6.0.2
 + pyyaml-include==1.4.1
 + pyzmq==26.4.0
 + regex==2024.11.6
 + requests==2.32.3
 + requests-oauthlib==2.0.0
 + rerun-sdk==0.23.1
 + rich==14.0.0
 + rsa==4.9.1
 + ruff==0.11.12
 + safetensors==0.5.3
 + scipy==1.15.3
 + sentencepiece==0.2.0
 + sentry-sdk==2.29.1
 + setproctitle==1.3.6
 + setuptools==80.9.0
 + shtab==1.7.2
 + simplejson==3.20.1
 + six==1.17.0
 + smmap==5.0.2
 + soupsieve==2.7
 + stack-data==0.6.3
 + sympy==1.14.0
 + tensorstore==0.1.74
 + termcolor==3.1.0
 + tokenizers==0.21.1
 + toml==0.10.2
 + toolz==1.0.0
 + torch==2.7.1
 + torchcodec==0.4.0
 + torchvision==0.22.1
 + tornado==6.5.1
 + tqdm==4.67.1
 + tqdm-loggable==0.2
 + traitlets==5.14.3
 + transformers==4.53.2
 + treescope==0.1.9
 + triton==3.3.1
 + 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
    (20 秒)

=== 3f. addon・設定・assets
installed: policies/mecharm_policy.py + config.py (pi05_mecharm_lora)
installed: pi05_mecharm_trim_lora (repo_id=local/mecharm_redblock_box_teach_v1_trim2, 4,000 steps)
    (2 秒)

=== 4. サーバーの起動
INFO:websockets.server:server listening on 0.0.0.0:8000
    (40 秒)

=== 5. Mac の 8000 番へのトンネル
[TUNNEL] localhost:8000 → Pod の 8000 番 (pid 28427. このスクリプトが終わると閉じる)
    (3 秒)

=== 6. デーモンの状態
--- process
3979 /usr/bin/python3 -u /home/ubuntu/mecharm_daemon.py
--- 5555
LISTEN0      1                                 0.0.0.0:5555        0.0.0.0:*    
--- systemd
enabled: enabled
active:  active
    (2 秒)

=== 7. HOME → 爪を開く → 位置合わせ (1 回目)
[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: [-0.35, 1.14, 0.79, -0.17, -89.82, -29.70]
[SEND] HOME へ移動指令
[WAIT] t=2.6s  max_err=1.14°
[DONE] HOME 到達 max_err=1.14°
[POST] 最終姿勢: [-0.35, 1.14, 0.79, -0.17, -0.70, -29.70]
  [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
  [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=  +1.6  dx=  +3.3  response=0.887  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
q
[DONE  ] 終了 (何も書いていません)
    (43 秒)

=== 8. 実機推論 (1 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[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_20261030_210821
[CAMERA] 写り方 dy=-4.7 dx=+10.2 response=0.561 → 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={}
[RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_210821/recording
[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 52330ms  10ステップ先  Δ= +4.0 +17.2 +11.1  -2.4 -25.9  +2.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > [RECORD] 記録終了 コマ 456 (8.681 fps) 実測角 525 回 (9.99 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_210821/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > [DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_210821
[CLIENT] run_policy_client.py が終わった (終了コード 0)
    (57 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (2 回目)
[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: [-0.35, 1.14, 0.79, -0.17, -0.26, -29.70]
[SEND] HOME へ移動指令
[WAIT] t=2.0s  max_err=1.14°
[DONE] HOME 到達 max_err=1.14°
[POST] 最終姿勢: [-0.35, 1.14, 0.79, -0.17, -0.26, -29.70]
  [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
  [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=  +1.7  dx=  +3.3  response=0.890  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (23 秒)

=== 8. 実機推論 (2 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[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_20261030_210954
[CAMERA] 写り方 dy=-4.7 dx=+10.2 response=0.562 → 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={}
[RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_210954/recording
[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 620ms  10ステップ先  Δ= +5.1 +16.6 +10.9  -1.8 -23.5  +2.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / 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) [  +0.70,   +5.01,   +3.03,   -0.23,   -5.81,  -29.41]  speed=20 wait=0.0s  (pre max|Δ|=5.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +3.9  +2.2  -0.1  -5.5  +0.3  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +2.16,  +10.53,   +6.59,   -0.95,  -13.96,  -28.65]  speed=20 wait=0.0s  (pre max|Δ|=10.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.22° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.7  +4.6  +2.6  -0.7 -10.2  +1.0  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +3.83,  +15.79,  +10.54,   -1.84,  -21.40,  -27.79]  speed=20 wait=0.0s  (pre max|Δ|=8.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.2  +4.5  +3.1  -1.1  -8.7  +1.6  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +4.71,  +17.72,  +11.69,   -1.96,  -23.74,  -27.50]  speed=20 wait=0.0s  (pre max|Δ|=3.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.5  +1.0  +0.4  -0.2  -3.3  +1.1  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 594ms  10ステップ先  Δ= +5.0 +17.5 +11.7  -0.3 -26.5  +1.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +6.16,  +23.25,  +15.33,   -2.54,  -31.39,  -27.00]  speed=20 wait=0.0s  (pre max|Δ|=7.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  +4.6  +3.0  +0.0  -7.7  +0.9  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +7.75,  +29.04,  +19.24,   -2.71,  -39.92,  -26.88]  speed=20 wait=0.0s  (pre max|Δ|=9.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.9  +4.8  +3.2  -0.1  -9.4  +0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +9.02,  +34.94,  +23.32,   -2.84,  -48.15,  -26.85]  speed=20 wait=0.0s  (pre max|Δ|=8.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  +4.9  +3.5  -0.3  -9.0  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +9.53,  +36.11,  +23.95,   -2.85,  -50.23,  -26.81]  speed=20 wait=0.0s  (pre max|Δ|=2.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  +0.3  +0.2  -0.2  -2.7  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.97°（関節 j1）
[002] 推論 377ms  10ステップ先  Δ= +2.3  +9.5  +6.2  -0.5 -13.0  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ +11.02,  +42.36,  +28.10,   -3.31,  -59.36,  -26.78]  speed=20 wait=0.0s  (pre max|Δ|=8.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  +5.3  +4.4  -0.7  -8.9  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +11.76,  +46.06,  +30.41,   -3.14,  -63.38,  -26.77]  speed=20 wait=0.0s  (pre max|Δ|=4.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  +2.8  +2.3  -0.2  -4.3  +0.2  着いた
       [VIA   ] step  8  Δ= +0.0  -0.5  -0.4  -0.3  +0.5  +0.2  送らず (0.5° 以下)
[SEND] pi05_chunk002_via09: send_angles (single) [ +11.93,  +46.57,  +29.90,   -3.14,  -63.46,  -26.73]  speed=20 wait=0.0s  (pre max|Δ|=0.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.80° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.4  -0.8  -0.3  +0.5  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.80°（関節 j1）
[003] 推論 374ms  10ステップ先  Δ= +0.3 +10.7 -10.0  -0.3  +1.5  +0.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ +12.03,  +51.35,  +26.68,   -3.07,  -63.83,  -26.75]  speed=20 wait=0.0s  (pre max|Δ|=3.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +4.0  -4.0  -0.3  +0.1  +0.1  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +12.21,  +55.01,  +23.60,   -3.10,  -63.02,  -26.78]  speed=20 wait=0.0s  (pre max|Δ|=3.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.22° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  +3.0  -3.8  -0.1  +2.4  -0.9  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +12.14,  +57.66,  +21.24,   -3.16,  -62.51,  -26.84]  speed=20 wait=0.0s  (pre max|Δ|=3.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +1.6  -3.4  -0.2  +1.7  -0.8  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +12.13,  +58.10,  +20.69,   -3.15,  -62.44,  -26.86]  speed=20 wait=0.0s  (pre max|Δ|=1.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.28° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -0.3  -1.4  -0.2  +1.0  -0.7  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 651ms  5ステップ先  Δ= +0.1  +1.2  -3.0  -0.2  +1.3  -0.4  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 4
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ +12.11,  +60.48,  +18.81,   -3.20,  -61.87,  -26.89]  speed=20 wait=0.0s  (pre max|Δ|=3.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +1.5  -3.2  -0.2  +1.2  -0.3  着いた
[SEND] pi05_chunk004_via04: send_angles (single) [ +12.07,  +60.19,  +18.94,   -3.17,  -61.95,  -26.90]  speed=20 wait=0.0s  (pre max|Δ|=1.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  4  Δ= +0.1  -1.0  -0.5  -0.1  +1.1  +0.8  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 1738ms  10ステップ先  Δ= +0.6 -10.2  +8.7  -0.3  -0.6  +0.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ +12.26,  +58.75,  +19.98,   -2.53,  -62.34,  -27.20]  speed=20 wait=0.0s  (pre max|Δ|=2.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.36° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  -2.4  +1.2  +0.1  +0.9  +0.2  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +12.07,  +55.71,  +23.03,   -2.76,  -62.98,  -27.04]  speed=20 wait=0.0s  (pre max|Δ|=4.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  -4.4  +4.0  -0.1  -0.6  -0.2  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +12.16,  +52.02,  +26.58,   -2.80,  -63.70,  -26.94]  speed=20 wait=0.0s  (pre max|Δ|=5.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.62° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  -5.2  +4.2  +0.4  -1.9  -0.7  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +12.15,  +50.96,  +27.50,   -2.83,  -63.80,  -26.92]  speed=20 wait=0.0s  (pre max|Δ|=2.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.55° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -2.8  +1.3  +0.2  -2.7  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.55°（関節 j4）
[006] 推論 791ms  10ステップ先  Δ=+13.2  -3.9 -10.7  +3.4  +3.2  -3.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ +11.81,  +47.93,  +30.51,   -2.91,  -64.53,  -26.73]  speed=20 wait=0.0s  (pre max|Δ|=4.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  -4.8  +3.1  +0.2  -3.0  -0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +16.73,  +48.21,  +25.92,   -1.79,  -62.56,  -27.78]  speed=20 wait=0.0s  (pre max|Δ|=4.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.53° (tol 3.0°)
       [VIA   ] step  5  Δ= +4.9  -1.5  -4.7  +1.4  +1.2  -1.4  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +23.39,  +48.76,  +18.56,   -0.22,  -59.34,  -29.37]  speed=20 wait=0.0s  (pre max|Δ|=8.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  8  Δ= +6.7  -1.0  -8.3  +2.0  +4.4  -2.6  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +25.04,  +48.87,  +16.77,   +0.20,  -58.06,  -29.77]  speed=20 wait=0.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.7  -0.9  -2.9  +1.2  +2.1  -1.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.15°（関節 j2）
[007] 推論 622ms  10ステップ先  Δ=+17.1  +5.6 -20.6  +4.7  +6.8  -4.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 1 に入りました (推論 7 のあと)
  [補正] 1〜6=関節を選ぶ (j0〜j5) / + か . = 選んだ関節を +1 刻み / - か , = -1 刻み
         [ ] = 刻みを 0.5° / 1° / 2° で切り替え / g = グリッパー開閉
         r = 爪を開かずに締め直す / R = 爪を開いて閉じ直す (つかみ直し). どちらも閉じているときだけ
         Enter = 補正を終えてモデルの推論に戻る / b = 補正を取り消して始めの姿勢へ戻る
         ? = この一覧
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+25.2 j1=+49.9 j2=+17.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
  [補正] 関節 j1  刻み 1.0°  補正目標 j0=+25.2 j1=+49.9 j2=+17.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+25.2 j1=+49.9 j2=+17.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
[SEND] pi05_corr01_000: send_angles (single) [ +25.22,  +49.92,  +16.92,   -0.17,  -58.44,  -29.35]  speed=20 wait=0.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
  [補正] j2 届いていない (目標 +16.9 / 実測 +17.9, ずれ 1.00° > 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+25.2 j1=+49.9 j2=+16.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
[SEND] pi05_corr01_001: send_angles (single) [ +25.22,  +49.92,  +17.92,   -0.17,  -58.44,  -29.35]  speed=20 wait=0.0s  (pre max|Δ|=1.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
  [補正] j2 着いた (目標 +17.9 / 実測 +18.2, ずれ 0.27° ≤ 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+25.2 j1=+49.9 j2=+17.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
[SEND] pi05_corr01_002: send_angles (single) [ +25.22,  +49.92,  +18.92,   -0.17,  -58.44,  -29.35]  speed=20 wait=0.0s  (pre max|Δ|=1.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
  [補正] j2 着いた (目標 +18.9 / 実測 +19.4, ずれ 0.50° ≤ 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+25.2 j1=+49.9 j2=+18.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
  [補正] 関節 j1  刻み 1.0°  補正目標 j0=+25.2 j1=+49.9 j2=+18.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+25.2 j1=+49.9 j2=+18.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
[SEND] pi05_corr01_003: send_angles (single) [ +25.22,  +51.92,  +18.92,   -0.17,  -58.44,  -29.35]  speed=20 wait=0.0s  (pre max|Δ|=0.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
  [補正] j1 届いていない (目標 +51.9 / 実測 +53.1, ずれ 1.16° > 1.00°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+25.2 j1=+51.9 j2=+18.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
[SEND] pi05_corr01_004: send_angles (single) [ +25.22,  +53.92,  +18.92,   -0.17,  -58.44,  -29.35]  speed=20 wait=0.0s  (pre max|Δ|=0.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.18° (tol 3.0°)
  [補正] j1 届いていない (目標 +53.9 / 実測 +55.1, ずれ 1.18° > 1.00°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+25.2 j1=+53.9 j2=+18.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
[SEND] pi05_corr01_005: send_angles (single) [ +25.22,  +55.92,  +18.92,   -0.17,  -58.44,  -29.35]  speed=20 wait=0.0s  (pre max|Δ|=0.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.85° (tol 3.0°)
  [補正] j1 着いた (目標 +55.9 / 実測 +56.8, ずれ 0.85° ≤ 1.00°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+25.2 j1=+55.9 j2=+18.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
[SEND] pi05_corr01_006: send_angles (single) [ +25.22,  +53.92,  +18.92,   -0.17,  -58.44,  -29.35]  speed=20 wait=0.0s  (pre max|Δ|=2.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.41° (tol 3.0°)
  [補正] j1 届いていない (目標 +53.9 / 実測 +56.3, ずれ 2.41° > 1.00°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+25.2 j1=+53.9 j2=+18.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
  [補正] 足りなかった 2.0° を足して送る (j1 を -4.0°)
[SEND] pi05_corr01_007: send_angles (single) [ +25.22,  +49.92,  +18.92,   -0.17,  -58.44,  -29.35]  speed=20 wait=0.0s  (pre max|Δ|=6.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
  [補正] j1 届いていない (目標 +49.9 / 実測 +51.8, ずれ 1.84° > 1.00°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+25.2 j1=+49.9 j2=+18.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
  [補正] 足りなかった 1.8° を足して送る (j1 を -3.8°)
[SEND] pi05_corr01_008: send_angles (single) [ +25.22,  +46.08,  +18.92,   -0.17,  -58.44,  -29.35]  speed=20 wait=0.0s  (pre max|Δ|=5.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
  [補正] j1 届いていない (目標 +46.1 / 実測 +47.8, ずれ 1.73° > 1.00°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+25.2 j1=+46.1 j2=+18.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
  [補正] 足りなかった 1.7° を足して送る (j1 を -3.7°)
[SEND] pi05_corr01_009: send_angles (single) [ +25.22,  +42.35,  +18.92,   -0.17,  -58.44,  -29.35]  speed=20 wait=0.0s  (pre max|Δ|=5.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
  [補正] j1 届いていない (目標 +42.4 / 実測 +44.0, ずれ 1.68° > 1.00°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+25.2 j1=+42.4 j2=+18.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
  [補正] 足りなかった 1.7° を足して送る (j1 を -3.7°)
[SEND] pi05_corr01_010: send_angles (single) [ +25.22,  +38.67,  +18.92,   -0.17,  -58.44,  -29.35]  speed=20 wait=0.0s  (pre max|Δ|=5.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
  [補正] j1 届いていない (目標 +38.7 / 実測 +40.3, ずれ 1.67° > 1.00°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+25.2 j1=+38.7 j2=+18.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
  [補正] 足りなかった 1.7° を足して送る (j1 を -3.7°)
[SEND] pi05_corr01_011: send_angles (single) [ +25.22,  +35.00,  +18.92,   -0.17,  -58.44,  -29.35]  speed=20 wait=0.0s  (pre max|Δ|=5.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
  [補正] j1 届いていない (目標 +35.0 / 実測 +36.7, ずれ 1.73° > 1.00°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+25.2 j1=+35.0 j2=+18.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
  [補正] 足りなかった 1.7° を足して送る (j1 を -3.7°)
[SEND] pi05_corr01_012: send_angles (single) [ +25.22,  +31.27,  +18.92,   -0.17,  -58.44,  -29.35]  speed=20 wait=0.0s  (pre max|Δ|=5.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
  [補正] j1 届いていない (目標 +31.3 / 実測 +33.0, ずれ 1.68° > 1.00°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+25.2 j1=+31.3 j2=+18.9 j3=-0.2 j4=-58.4 j5=-29.4  グリッパー 閉
[CORR  ] 補正 1 を終えました (13 刻み). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[008] 推論 691ms  10ステップ先  Δ=+13.0 +13.7  -8.7  +2.3  -4.5  -0.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > r
[SEND] pi05_chunk008_via02: send_angles (single) [ +32.78,  +33.88,  +16.37,   +0.87,  -56.68,  -29.78]  speed=20 wait=0.0s  (pre max|Δ|=7.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.7  +0.9  -3.1  +0.7  +1.6  -0.2  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +36.46,  +37.89,  +14.22,   +1.58,  -58.30,  -30.03]  speed=20 wait=0.0s  (pre max|Δ|=3.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [VIA   ] step  5  Δ= +3.7  +3.1  -3.9  +0.7  -1.2  -0.5  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +38.00,  +44.79,  +11.56,   +2.33,  -62.13,  -30.31]  speed=20 wait=0.0s  (pre max|Δ|=5.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  +5.9  -4.2  +0.4  -5.0  -0.7  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +37.99,  +46.63,  +10.70,   +2.48,  -62.80,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=2.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.69° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  +0.8  -2.2  +0.4  -2.5  -0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.69°（関節 j2）
[009] 推論 1581ms  10ステップ先  Δ= +2.7 +12.4  -6.8  +1.4  -9.2  -1.2  グリッパー→開
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via02: send_angles (single) [ +39.81,  +52.60,   +7.51,   +3.05,  -64.97,  -30.54]  speed=20 wait=0.0s  (pre max|Δ|=4.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.36° (tol 3.0°)
       [VIA   ] step  2  Δ= +2.1  +4.8  -4.8  +0.8  -2.7  -0.7  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +40.39,  +57.87,   +6.26,   +3.42,  -69.02,  -30.62]  speed=20 wait=0.0s  (pre max|Δ|=4.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +4.2  -2.6  +0.3  -4.8  -0.6  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +40.39,  +60.24,   +5.63,   +3.69,  -71.44,  -30.76]  speed=20 wait=0.0s  (pre max|Δ|=3.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.2  +1.3  -2.1  +0.5  -3.3  -0.5  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +40.39,  +60.24,   +5.63,   +3.69,  -71.44,  -30.76]  speed=20 wait=0.0s  (pre max|Δ|=1.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  -1.1  -1.3  +0.3  +0.0  -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 1.31°（関節 j2）
[010] 推論 562ms  10ステップ先  Δ= -2.6 -19.9  -0.8  -0.2 +19.7  -1.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +40.36,  +54.64,   +5.87,   +3.65,  -66.08,  -30.97]  speed=20 wait=0.0s  (pre max|Δ|=6.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  -6.7  -1.1  +0.2  +5.4  -0.6  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +40.71,  +49.70,   +6.03,   +3.63,  -61.01,  -31.17]  speed=20 wait=0.0s  (pre max|Δ|=7.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  -6.9  -0.9  +0.2  +7.4  -0.5  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +39.55,  +43.66,   +6.07,   +3.39,  -54.35,  -31.40]  speed=20 wait=0.0s  (pre max|Δ|=8.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.0  -8.1  -0.9  -0.0  +8.2  -0.6  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +38.02,  +41.44,   +6.14,   +3.20,  -51.76,  -31.44]  speed=20 wait=0.0s  (pre max|Δ|=4.35°, post-send timeout 8.0s)

[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.4  -4.3  -0.8  -0.7  +3.8  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.06°（関節 j1）
[011] 推論 649ms  10ステップ先  Δ=-21.9 -25.4  -2.4  -3.9 +28.5  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk011_via02: send_angles (single) [ +32.25,  +34.81,   +5.62,   +2.35,  -43.90,  -31.34]  speed=20 wait=0.0s  (pre max|Δ|=8.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.7  -8.7  -1.3  -1.6  +8.6  -0.1  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +25.80,  +27.78,   +5.07,   +1.37,  -35.38,  -31.21]  speed=20 wait=0.0s  (pre max|Δ|=9.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.4  -9.0  -1.9  -1.6  +9.2  +0.1  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +18.62,  +20.50,   +4.67,   +0.46,  -26.76,  -31.09]  speed=20 wait=0.0s  (pre max|Δ|=9.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.09° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.6  -9.2  -2.3  -1.4  +9.0  +0.3  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +16.07,  +18.05,   +4.57,   +0.16,  -24.06,  -31.04]  speed=20 wait=0.0s  (pre max|Δ|=4.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.10° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.6  -4.4  -2.2  -0.8  +3.1  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.10°（関節 j2）
[012] 推論 587ms  10ステップ先  Δ=-13.9 -16.1  -3.4  +0.0 +17.1  +0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk012_via02: send_angles (single) [  +9.90,  +10.57,   +3.98,   +0.01,  -15.24,  -30.98]  speed=20 wait=0.0s  (pre max|Δ|=9.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.8  -9.2  -2.7  +0.1  +9.0  +0.4  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [  +3.83,   +4.45,   +3.37,   -0.03,   -8.11,  -30.95]  speed=20 wait=0.0s  (pre max|Δ|=7.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.4  -7.7  -2.3  -0.3  +7.4  +0.4  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [  +1.48,   +3.08,   +3.26,   -0.08,   -6.61,  -30.93]  speed=20 wait=0.0s  (pre max|Δ|=2.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  8  Δ= -2.5  -2.9  -2.3  +0.0  +1.9  +0.4  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [  +1.85,   +3.70,   +3.30,   -0.07,   -7.20,  -30.94]  speed=20 wait=0.0s  (pre max|Δ|=2.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.9  -0.7  -2.2  +0.0  -0.5  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.23°（関節 j2）
[013] 推論 474ms  10ステップ先  Δ= -1.5  -1.5  -2.4  -0.0  +0.7  +0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / 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=0.0s  (pre max|Δ|=6.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 2.5°)
[RECORD] 記録終了 コマ 1708 (8.824 fps) 実測角 996 回 (5.15 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_210954/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > y
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_210954
[CLIENT] run_policy_client.py が終わった (終了コード 0)
    (200 秒)
もう1回やりますか? y=やる / 他=終わる > 

=== かかった時間
  1. Pod を作る                      3 秒
  2. Pod が立ち上がるまで待つ     38 秒
  3a. スクリプトを送る         32 秒
  3b. huggingface_hub を入れ, 鍵を渡す     10 秒
  3c. モデルを取る (hf download)      8 秒
  3d. openpi を取る (215abfb)       24 秒
  3e. uv sync                          20 秒
  3f. addon・設定・assets           2 秒
  4. サーバーの起動             40 秒
  5. Mac の 8000 番へのトンネル      3 秒
  6. デーモンの状態              2 秒
  7. HOME → 爪を開く → 位置合わせ (1 回目)     43 秒
  8. 実機推論 (1 回目)           57 秒
  7. HOME → 爪を開く → 位置合わせ (2 回目)     23 秒
  8. 実機推論 (2 回目)          200 秒

[LAB   ] Pod は残しています (id m8is5nqx61gofi). 片付けは ./lab_stop.sh --log Log17
[TUNNEL] 8000 番のトンネルを閉じました