[LAB   ] 2026-10-31 17:52:04  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 kay1uafshbx7dj  GPU=NVIDIA A40  1時間 0.59 ドル  (記録 /Volumes/KIOXIA/r2r2r-data/lab/Log17/pod/lab_pod.json)
    (2 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: 4a09da64d8fb
NVIDIA A40, 46068 MiB
    (17 秒)

=== 3a. スクリプトを送る
    (31 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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  path: /workspace/ckpt/3999

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6.0G	/workspace/ckpt/3999
    (11 秒)

=== 3d. openpi を取る (215abfb)
215abfb docs(droid): fix config search instruction (#1023)
    (14 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 4ms
   Building openpi-client @ file:///workspace/openpi/packages/openpi-client
   Building openpi @ file:///workspace/openpi
   Updating https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
Downloading pandas (12.5MiB)
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Downloading ruff (11.0MiB)
Downloading llvmlite (40.4MiB)
Downloading transformers (10.3MiB)
Downloading pillow (4.4MiB)
Downloading matplotlib (8.2MiB)
Downloading torchvision (7.1MiB)
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Downloading nvidia-cufft-cu12 (190.9MiB)
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Downloading cmake (26.6MiB)
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Downloading torch (783.1MiB)
Downloading nvidia-nccl-cu12 (192.0MiB)
Downloading nvidia-cublas-cu12 (374.9MiB)
Downloading polars (34.6MiB)
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Downloading rerun-sdk (68.1MiB)
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Downloading pymunk (1.0MiB)
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   Building evdev==1.9.2
 Downloaded transformers
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   Building antlr4-python3-runtime==4.9.3
 Downloaded pandas
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      Built openpi-client @ file:///workspace/openpi/packages/openpi-client
      Built openpi @ file:///workspace/openpi
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      Built evdev==1.9.2
 Downloaded jax-cuda12-pjrt
    Updated https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
   Building lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
 Downloaded jaxlib
 Downloaded nvidia-cusparselt-cu12
 Downloaded triton
 Downloaded nvidia-cusolver-cu12
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      Built lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
 Downloaded nvidia-cusparse-cu12
 Downloaded nvidia-cublas-cu12
 Downloaded nvidia-cudnn-cu12
 Downloaded torch
Prepared 240 packages in 14.92s
Installed 240 packages in 1.40s
 + 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 58023. 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
521 /usr/bin/python3 -u /home/ubuntu/mecharm_daemon.py
--- 5555
LISTEN   0         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: [4.83, 92.37, 1.84, 10.81, -96.59, -27.94]
[SEND] HOME へ移動指令
[WAIT] t=2.2s  max_err=11.16°
[WAIT] t=2.7s  max_err=1.84°
[DONE] HOME 到達 max_err=1.84°
[POST] 最終姿勢: [0.35, 1.23, 1.84, 0.61, 1.31, -29.44]
  [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=  -4.1  dx=  +8.4  response=0.846  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -2.0  dx=  +4.4  response=0.919  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -4.2  dx= +10.3  response=0.854  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -5.3  dx= +15.7  response=0.839  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -3.9  dx= +18.0  response=0.315  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -5.5  dx= +15.3  response=0.761  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -3.3  dx= +14.4  response=0.816  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -0.8  dx= +10.9  response=0.771  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +0.4  dx=  +9.2  response=0.832  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +2.3  dx=  +2.8  response=0.733  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +3.5  dx=  +2.7  response=0.692  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -0.8  dx=  +2.2  response=0.841  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -3.5  dx=  +2.2  response=0.885  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -2.3  dx=  -0.5  response=0.915  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -0.7  dx=  -2.6  response=0.788  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +0.3  dx=  -1.6  response=0.729  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (51 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_20261031_175527
[CAMERA] 写り方 dy=-6.5 dx=+4.9 response=0.636 → 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_20261031_175527/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 58074ms  10ステップ先  Δ= +3.3 +17.6 +11.2  -2.2 -26.5  +2.4
       [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 / r=爪の締め直し / 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,   +6.09,   +4.32,   -0.33,   -7.08,  -29.24]  speed=20 wait=0.0s  (pre max|Δ|=7.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  +4.9  +2.5  -0.6  -7.3  +0.5  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.61,  +11.53,   +7.94,   -1.02,  -15.67,  -28.43]  speed=20 wait=0.0s  (pre max|Δ|=8.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.6  +4.5  +2.6  -0.9  -8.8  +1.3  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.92,  +17.11,  +11.95,   -1.82,  -24.10,  -27.49]  speed=20 wait=0.0s  (pre max|Δ|=8.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.8  +4.6  +3.1  -1.0  -8.9  +1.8  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.26,  +18.80,  +13.08,   -1.97,  -26.31,  -27.26]  speed=20 wait=0.0s  (pre max|Δ|=2.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  +0.8  +0.3  +0.1  -2.5  +0.9  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.97°（関節 j1）
[001] 推論 593ms  10ステップ先  Δ= +6.3 +18.5 +11.7  +0.0 -28.2  +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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +4.66,  +24.30,  +16.65,   -2.24,  -34.70,  -26.92]  speed=20 wait=0.0s  (pre max|Δ|=8.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  +4.5  +2.9  -0.1  -8.2  +0.8  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +6.65,  +30.29,  +20.63,   -2.10,  -43.78,  -26.86]  speed=20 wait=0.0s  (pre max|Δ|=9.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.4  +5.1  +3.2  +0.6  -9.5  +0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +8.59,  +36.25,  +24.56,   -2.16,  -52.16,  -26.86]  speed=20 wait=0.0s  (pre max|Δ|=8.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.4  +5.1  +3.4  +0.7  -8.8  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +9.33,  +38.26,  +25.44,   -2.08,  -54.70,  -26.81]  speed=20 wait=0.0s  (pre max|Δ|=2.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.2  +1.0  +0.5  +0.5  -2.9  +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 563ms  10ステップ先  Δ= +1.7  +6.9  +4.7  -0.1  -8.3  +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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 1 に入りました (推論 2 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=+9.2 j1=+39.2 j2=+25.3 j3=-2.4 j4=-54.9 j5=-27.0  グリッパー 開
  [補正] 関節 j0  刻み 2.0°  補正目標 j0=+9.2 j1=+39.2 j2=+25.3 j3=-2.4 j4=-54.9 j5=-27.0  グリッパー 開
[SEND] pi05_corr01_000: send_angles (single) [  +7.22,  +39.19,  +25.31,   -2.37,  -54.93,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=2.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
  [補正] j0 着いた (目標 +7.2 / 実測 +7.1, ずれ 0.11° ≤ 1.00°)
  [補正] 関節 j0  刻み 2.0°  補正目標 j0=+7.2 j1=+39.2 j2=+25.3 j3=-2.4 j4=-54.9 j5=-27.0  グリッパー 開
[SEND] pi05_corr01_001: send_angles (single) [  +9.22,  +39.19,  +25.31,   -2.37,  -54.93,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=2.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
  [補正] j0 着いた (目標 +9.2 / 実測 +9.1, ずれ 0.17° ≤ 1.00°)
  [補正] 関節 j0  刻み 2.0°  補正目標 j0=+9.2 j1=+39.2 j2=+25.3 j3=-2.4 j4=-54.9 j5=-27.0  グリッパー 開
[SEND] pi05_corr01_002: send_angles (single) [ +11.22,  +39.19,  +25.31,   -2.37,  -54.93,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=2.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
  [補正] j0 着いた (目標 +11.2 / 実測 +11.1, ずれ 0.15° ≤ 1.00°)
  [補正] 関節 j0  刻み 2.0°  補正目標 j0=+11.2 j1=+39.2 j2=+25.3 j3=-2.4 j4=-54.9 j5=-27.0  グリッパー 開
[SEND] pi05_corr01_003: send_angles (single) [ +13.22,  +39.19,  +25.31,   -2.37,  -54.93,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=2.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
  [補正] j0 着いた (目標 +13.2 / 実測 +13.3, ずれ 0.05° ≤ 1.00°)
  [補正] 関節 j0  刻み 2.0°  補正目標 j0=+13.2 j1=+39.2 j2=+25.3 j3=-2.4 j4=-54.9 j5=-27.0  グリッパー 開
[CORR  ] 補正 1 を終えました (4 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)
[003] 推論 1584ms  10ステップ先  Δ= +1.6  +7.7  +4.4  -0.3  -8.7  +0.1
       [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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ +14.33,  +45.41,  +29.13,   -2.81,  -62.68,  -26.94]  speed=20 wait=0.0s  (pre max|Δ|=7.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +5.3  +3.8  -0.4  -7.5  +0.0  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +14.72,  +47.34,  +30.51,   -2.64,  -64.16,  -26.93]  speed=20 wait=0.0s  (pre max|Δ|=1.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  +0.9  +1.4  -0.5  -1.6  -0.0  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +14.83,  +47.57,  +30.05,   -2.65,  -63.89,  -26.92]  speed=20 wait=0.0s  (pre max|Δ|=0.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -0.8  -0.8  -0.5  +1.0  -0.0  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +14.84,  +47.77,  +29.68,   -2.67,  -63.94,  -26.91]  speed=20 wait=0.0s  (pre max|Δ|=1.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -0.6  -1.2  -0.5  +0.9  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.08°（関節 j2）
[004] 推論 635ms  10ステップ先  Δ= +0.8 +10.2 -10.1  -0.6  +2.0  -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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ +14.95,  +52.52,  +26.13,   -2.67,  -63.77,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=4.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +3.9  -4.6  -0.4  +1.0  -0.1  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +15.14,  +56.43,  +23.00,   -2.76,  -63.19,  -27.01]  speed=20 wait=0.0s  (pre max|Δ|=4.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  +3.0  -4.1  -0.4  +1.2  -0.1  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +15.07,  +58.58,  +20.99,   -2.83,  -62.92,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.74° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +1.3  -2.9  -0.4  +0.8  -0.2  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +15.11,  +58.82,  +20.68,   -2.83,  -62.90,  -27.10]  speed=20 wait=0.0s  (pre max|Δ|=0.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.5  -0.9  -0.3  +0.5  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.94°（関節 j2）
[005] 推論 617ms  5ステップ先  Δ= +0.1  +1.4  -2.7  -0.3  +1.0  -0.1  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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ +15.17,  +61.19,  +18.81,   -2.87,  -62.34,  -27.12]  speed=20 wait=0.0s  (pre max|Δ|=2.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +1.8  -2.8  -0.3  +0.9  -0.0  着いた
[SEND] pi05_chunk005_via04: send_angles (single) [ +15.15,  +60.82,  +18.92,   -2.82,  -62.34,  -27.14]  speed=20 wait=0.0s  (pre max|Δ|=1.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  4  Δ= +0.3  -1.0  -0.2  -0.3  +1.4  +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 1.29°（関節 j4）
[006] 推論 614ms  10ステップ先  Δ= +0.3 -10.9  +9.1  -0.3  +0.2  +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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ +15.13,  +59.32,  +20.01,   -2.45,  -62.65,  -27.31]  speed=20 wait=0.0s  (pre max|Δ|=2.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -2.3  +1.5  +0.1  +1.0  +0.2  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +15.07,  +55.81,  +23.38,   -2.64,  -63.11,  -27.14]  speed=20 wait=0.0s  (pre max|Δ|=4.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.12° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -4.4  +4.5  -0.1  -1.5  +0.4  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +15.09,  +51.88,  +26.79,   -2.76,  -63.48,  -26.99]  speed=20 wait=0.0s  (pre max|Δ|=4.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.93° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -5.0  +4.2  +0.2  -2.5  -0.3  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +14.99,  +50.68,  +27.68,   -2.78,  -63.40,  -26.95]  speed=20 wait=0.0s  (pre max|Δ|=2.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.67° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -2.8  +1.4  +0.3  -2.8  -0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.67°（関節 j4）
[007] 推論 1563ms  10ステップ先  Δ=+14.6  -2.7 -13.5  +3.7  +4.3  -4.0
       [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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ +14.89,  +47.78,  +30.33,   -2.80,  -63.75,  -26.82]  speed=20 wait=0.0s  (pre max|Δ|=4.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  -4.7  +2.7  +0.2  -2.2  -0.5  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +20.99,  +48.80,  +23.59,   -1.37,  -61.08,  -28.22]  speed=20 wait=0.0s  (pre max|Δ|=6.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 3.0°)
       [VIA   ] step  5  Δ= +6.2  -0.7  -7.0  +1.6  +2.5  -1.9  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +27.62,  +49.50,  +15.95,   +0.17,  -57.79,  -29.84]  speed=20 wait=0.0s  (pre max|Δ|=8.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  8  Δ= +6.8  -0.2  -8.6  +2.0  +4.5  -2.5  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +29.34,  +49.74,  +13.96,   +0.59,  -56.40,  -30.26]  speed=20 wait=0.0s  (pre max|Δ|=3.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.0  -0.6  -3.0  +1.2  +2.3  -1.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.15°（関節 j2）
[008] 推論 560ms  10ステップ先  Δ=+13.1  +7.5 -16.8  +3.7  +1.6  -3.6
       [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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 2 に入りました (推論 8 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=+29.4 j1=+50.8 j2=+15.1 j3=+0.7 j4=-56.7 j5=-29.8  グリッパー 閉
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+29.4 j1=+50.8 j2=+15.1 j3=+0.7 j4=-56.7 j5=-29.8  グリッパー 閉
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+29.4 j1=+50.8 j2=+15.1 j3=+0.7 j4=-56.7 j5=-29.8  グリッパー 閉
[SEND] pi05_corr02_000: send_angles (single) [ +29.44,  +50.80,  +17.11,   +0.70,  -56.68,  -29.79]  speed=20 wait=0.0s  (pre max|Δ|=2.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] j2 着いた (目標 +17.1 / 実測 +17.7, ずれ 0.55° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+29.4 j1=+50.8 j2=+17.1 j3=+0.7 j4=-56.7 j5=-29.8  グリッパー 閉
[SEND] pi05_corr02_001: send_angles (single) [ +29.44,  +50.80,  +15.11,   +0.70,  -56.68,  -29.79]  speed=20 wait=0.0s  (pre max|Δ|=2.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
  [補正] j2 届いていない (目標 +15.1 / 実測 +16.2, ずれ 1.06° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+29.4 j1=+50.8 j2=+15.1 j3=+0.7 j4=-56.7 j5=-29.8  グリッパー 閉
  [補正] 足りなかった 1.1° を足して送る (j2 を -3.1°)
[SEND] pi05_corr02_002: send_angles (single) [ +29.44,  +50.80,  +12.05,   +0.70,  -56.68,  -29.79]  speed=20 wait=0.0s  (pre max|Δ|=4.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
  [補正] j2 届いていない (目標 +12.0 / 実測 +13.1, ずれ 1.04° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+29.4 j1=+50.8 j2=+12.0 j3=+0.7 j4=-56.7 j5=-29.8  グリッパー 閉
  [補正] 足りなかった 1.0° を足して送る (j2 を -3.0°)
[SEND] pi05_corr02_003: send_angles (single) [ +29.44,  +50.80,   +9.01,   +0.70,  -56.68,  -29.79]  speed=20 wait=0.0s  (pre max|Δ|=4.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
  [補正] j2 届いていない (目標 +9.0 / 実測 +10.0, ずれ 1.00° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+29.4 j1=+50.8 j2=+9.0 j3=+0.7 j4=-56.7 j5=-29.8  グリッパー 閉
  [補正] 足りなかった 1.0° を足して送る (j2 を -3.0°)
[SEND] pi05_corr02_004: send_angles (single) [ +29.44,  +50.80,   +6.01,   +0.70,  -56.68,  -29.79]  speed=20 wait=0.0s  (pre max|Δ|=4.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
  [補正] j2 届いていない (目標 +6.0 / 実測 +7.1, ずれ 1.10° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+29.4 j1=+50.8 j2=+6.0 j3=+0.7 j4=-56.7 j5=-29.8  グリッパー 閉
  [補正] 足りなかった 1.1° を足して送る (j2 を -3.1°)
[SEND] pi05_corr02_005: send_angles (single) [ +29.44,  +50.80,   +2.91,   +0.70,  -56.68,  -29.79]  speed=20 wait=0.0s  (pre max|Δ|=4.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
  [補正] j2 届いていない (目標 +2.9 / 実測 +4.0, ずれ 1.04° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+29.4 j1=+50.8 j2=+2.9 j3=+0.7 j4=-56.7 j5=-29.8  グリッパー 閉
  [補正] 足りなかった 1.0° を足して送る (j2 を -3.0°)
[SEND] pi05_corr02_006: send_angles (single) [ +29.44,  +50.80,   -0.13,   +0.70,  -56.68,  -29.79]  speed=20 wait=0.0s  (pre max|Δ|=4.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
  [補正] j2 届いていない (目標 -0.1 / 実測 +1.0, ずれ 1.09° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+29.4 j1=+50.8 j2=-0.1 j3=+0.7 j4=-56.7 j5=-29.8  グリッパー 閉
[CORR  ] 補正 2 を終えました (7 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)
[009] 推論 1954ms  10ステップ先  Δ=+11.3  +5.9  -5.1  +2.1  +1.1  -1.7
       [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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via02: send_angles (single) [ +37.36,  +51.27,   -2.27,   +1.42,  -54.26,  -30.59]  speed=20 wait=0.0s  (pre max|Δ|=7.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.9  -0.5  -3.2  +0.6  +2.4  -0.6  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +41.71,  +52.05,   -4.46,   +2.22,  -52.35,  -31.49]  speed=20 wait=0.0s  (pre max|Δ|=4.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  5  Δ= +4.3  -0.2  -3.7  +1.3  +2.7  -1.1  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +41.20,  +56.40,   -4.36,   +2.82,  -54.60,  -31.69]  speed=20 wait=0.0s  (pre max|Δ|=3.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.61° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.6  +3.2  -1.4  +0.7  -1.9  -0.4  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +40.70,  +57.63,   -4.15,   +2.91,  -55.55,  -31.67]  speed=20 wait=0.0s  (pre max|Δ|=2.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  +0.1  -1.1  +0.6  -2.6  -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）
[010] 推論 950ms  7ステップ先  Δ= -0.3  +4.4  -1.6  +1.2  -5.4  -0.6  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 / b=巻き戻し / c=補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +40.70,  +62.03,   -4.41,   +3.40,  -59.04,  -31.81]  speed=20 wait=0.0s  (pre max|Δ|=4.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.34° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.5  +3.4  -1.3  +0.8  -4.1  -0.4  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +40.91,  +62.99,   -4.62,   +3.71,  -60.29,  -31.97]  speed=20 wait=0.0s  (pre max|Δ|=1.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.3  -0.2  -1.6  +0.6  -1.9  +0.1  着いた
[SEND] pi05_chunk010_via06: send_angles (single) [ +40.91,  +62.99,   -4.62,   +3.71,  -60.29,  -31.97]  speed=20 wait=0.0s  (pre max|Δ|=1.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  6  Δ= -0.3  -1.1  -1.6  +0.2  -0.4  +0.1  着いた
  [Pi] GRIPPER: OPEN result= -1
[STATE ] 目標を渡す  目標と実測の最大差 1.55°（関節 j2）
[011] 推論 896ms  10ステップ先  Δ= -1.2 -16.4  -1.2  -0.4 +16.4  -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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +41.15,  +59.05,   -4.70,   +3.66,  -56.13,  -32.31]  speed=20 wait=0.0s  (pre max|Δ|=5.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  -5.0  -1.6  +0.1  +3.7  -0.2  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +41.55,  +55.12,   -4.75,   +3.67,  -51.66,  -32.49]  speed=20 wait=0.0s  (pre max|Δ|=6.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.09° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -5.9  -1.7  +0.2  +6.3  -0.4  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +41.14,  +49.82,   -4.61,   +3.34,  -45.70,  -32.57]  speed=20 wait=0.0s  (pre max|Δ|=7.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -7.4  -1.5  -0.2  +7.1  -0.4  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +40.06,  +47.64,   -4.25,   +3.13,  -43.46,  -32.54]  speed=20 wait=0.0s  (pre max|Δ|=4.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.10° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.2  -4.4  -1.2  -0.4  +3.0  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.10°（関節 j1）
[012] 推論 565ms  10ステップ先  Δ=-21.3 -29.6  +1.7  -4.3 +25.5  +1.3
       [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 / r=爪の締め直し / 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|=49.74°, post-send timeout 9.5s)
[SEND] arrival OK: max|Δ|=1.40° (tol 2.5°)
[RECORD] 記録終了 コマ 2232 (8.761 fps) 実測角 1758 回 (6.9 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261031_175527/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_20261031_175527
[CLIENT] run_policy_client.py が終わった (終了コード 0)
    (270 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: [-0.17, 1.40, 0.70, 0.26, -0.26, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=2.1s  max_err=1.40°
[DONE] HOME 到達 max_err=1.40°
[POST] 最終姿勢: [-0.17, 1.40, 0.70, 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
  [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=  +0.7  dx=  -2.0  response=0.912  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (20 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_20261031_180023
[CAMERA] 写り方 dy=-5.7 dx=+4.6 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_20261031_180023/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 1664ms  10ステップ先  Δ= +4.5 +15.7 +11.1  -2.6 -23.6  +2.9
       [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 / r=爪の締め直し / 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,   +5.19,   +2.91,   -0.22,   -5.76,  -29.66]  speed=20 wait=0.0s  (pre max|Δ|=5.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +3.8  +2.2  -0.5  -5.5  +0.6  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +2.10,  +10.49,   +6.63,   -1.24,  -13.90,  -28.67]  speed=20 wait=0.0s  (pre max|Δ|=9.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.5  +4.3  +2.8  -1.2  -9.9  +1.2  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +3.76,  +15.42,  +10.69,   -2.24,  -21.50,  -27.61]  speed=20 wait=0.0s  (pre max|Δ|=8.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.0  +4.1  +3.1  -0.9  -8.8  +1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +4.30,  +17.10,  +11.80,   -2.36,  -23.85,  -27.33]  speed=20 wait=0.0s  (pre max|Δ|=3.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  +0.9  +0.3  +0.1  -3.3  +0.5  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 875ms  10ステップ先  Δ= +4.7 +18.0 +12.1  -0.3 -29.2  +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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +5.78,  +22.65,  +15.58,   -2.91,  -32.21,  -26.84]  speed=20 wait=0.0s  (pre max|Δ|=8.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.84° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.7  +4.6  +3.0  -0.0  -8.5  +0.6  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +7.44,  +28.72,  +19.74,   -3.02,  -41.64,  -26.67]  speed=20 wait=0.0s  (pre max|Δ|=10.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.8  +5.3  +3.4  +0.1 -10.3  +0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +8.69,  +34.71,  +23.90,   -3.11,  -50.68,  -26.62]  speed=20 wait=0.0s  (pre max|Δ|=9.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  +5.1  +3.6  -0.2  -9.6  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +8.76,  +36.05,  +24.66,   -3.21,  -52.96,  -26.56]  speed=20 wait=0.0s  (pre max|Δ|=2.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  +0.5  +0.4  -0.2  -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 1696ms  10ステップ先  Δ= +2.1  +7.1  +4.9  -0.3 -10.3  +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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ +10.05,  +42.05,  +28.68,   -3.57,  -61.48,  -26.54]  speed=20 wait=0.0s  (pre max|Δ|=8.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.7  +5.1  +4.1  -0.6  -8.7  +0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +10.42,  +44.47,  +30.28,   -3.34,  -63.90,  -26.52]  speed=20 wait=0.0s  (pre max|Δ|=2.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +1.5  +1.5  -0.4  -2.7  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +10.36,  +43.98,  +29.84,   -3.25,  -63.21,  -26.52]  speed=20 wait=0.0s  (pre max|Δ|=1.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -1.4  -0.8  -0.3  +0.9  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +10.40,  +44.12,  +29.55,   -3.27,  -63.13,  -26.53]  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= +0.6  -1.3  -1.1  -0.3  +1.0  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.31°（関節 j1）
[003] 推論 622ms  10ステップ先  Δ= +1.0  +4.7  -5.1  -0.1  +1.4  +0.1
       [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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ +10.49,  +44.78,  +30.02,   -3.14,  -63.70,  -26.55]  speed=20 wait=0.0s  (pre max|Δ|=0.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.74° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  -0.7  -0.6  -0.2  +0.4  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +10.72,  +45.88,  +29.17,   -3.08,  -63.50,  -26.55]  speed=20 wait=0.0s  (pre max|Δ|=1.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.32° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  +0.4  -1.4  -0.2  +0.6  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +10.79,  +48.95,  +26.52,   -3.07,  -63.01,  -26.60]  speed=20 wait=0.0s  (pre max|Δ|=3.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +2.0  -4.0  -0.2  +1.1  +0.1  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +10.86,  +50.08,  +25.52,   -3.05,  -62.72,  -26.61]  speed=20 wait=0.0s  (pre max|Δ|=1.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.19° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  +0.3  -2.0  -0.1  +0.8  +0.1  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 613ms  9ステップ先  Δ= +1.0  +7.0  -8.1  -0.2  +2.6  -0.1  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 / b=巻き戻し / c=補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 1 に入りました (推論 4 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=+10.6 j1=+51.1 j2=+26.7 j3=-2.8 j4=-63.0 j5=-26.7  グリッパー 開
[SEND] pi05_corr01_000: send_angles (single) [ +11.63,  +51.06,  +26.71,   -2.81,  -63.01,  -26.71]  speed=20 wait=0.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
  [補正] j0 着いた (目標 +11.6 / 実測 +11.6, ずれ 0.03° ≤ 0.50°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+11.6 j1=+51.1 j2=+26.7 j3=-2.8 j4=-63.0 j5=-26.7  グリッパー 開
[SEND] pi05_corr01_001: send_angles (single) [ +12.63,  +51.06,  +26.71,   -2.81,  -63.01,  -26.71]  speed=20 wait=0.0s  (pre max|Δ|=1.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
  [補正] j0 着いた (目標 +12.6 / 実測 +12.6, ずれ 0.07° ≤ 0.50°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+12.6 j1=+51.1 j2=+26.7 j3=-2.8 j4=-63.0 j5=-26.7  グリッパー 開
[SEND] pi05_corr01_002: send_angles (single) [ +13.63,  +51.06,  +26.71,   -2.81,  -63.01,  -26.71]  speed=20 wait=0.0s  (pre max|Δ|=1.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
  [補正] j0 着いた (目標 +13.6 / 実測 +13.4, ずれ 0.19° ≤ 0.50°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+13.6 j1=+51.1 j2=+26.7 j3=-2.8 j4=-63.0 j5=-26.7  グリッパー 開
[CORR  ] 補正 1 を終えました (3 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)
[005] 推論 648ms  9ステップ先  Δ= +0.6  +7.9  -6.6  +0.0  +1.7  -0.1  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 / b=巻き戻し / c=補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ +13.84,  +56.19,  +23.56,   -2.84,  -62.08,  -26.71]  speed=20 wait=0.0s  (pre max|Δ|=4.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.76° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +4.2  -3.2  -0.0  +0.9  +0.0  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +14.00,  +59.36,  +20.84,   -2.85,  -61.33,  -26.76]  speed=20 wait=0.0s  (pre max|Δ|=3.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +2.4  -3.4  -0.1  +1.2  -0.0  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +14.03,  +59.97,  +20.14,   -2.80,  -61.36,  -26.78]  speed=20 wait=0.0s  (pre max|Δ|=1.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +0.1  -1.0  -0.2  +1.5  +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 1.65°（関節 j4）
[006] 推論 1686ms  10ステップ先  Δ= +0.8  -7.9  +7.2  -0.8  -0.3  +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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 2 に入りました (推論 6 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=+13.3 j1=+60.5 j2=+20.0 j3=-2.3 j4=-63.0 j5=-27.1  グリッパー 閉
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+13.3 j1=+60.5 j2=+20.0 j3=-2.3 j4=-63.0 j5=-27.1  グリッパー 閉
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.3 j1=+60.5 j2=+20.0 j3=-2.3 j4=-63.0 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_000: send_angles (single) [ +13.27,  +60.46,  +18.03,   -2.28,  -63.01,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=2.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.81° (tol 3.0°)
  [補正] j2 着いた (目標 +18.0 / 実測 +17.6, ずれ 0.46° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.3 j1=+60.5 j2=+18.0 j3=-2.3 j4=-63.0 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_001: send_angles (single) [ +13.27,  +60.46,  +20.03,   -2.28,  -63.01,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=2.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
  [補正] j2 届いていない (目標 +20.0 / 実測 +18.3, ずれ 1.75° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.3 j1=+60.5 j2=+20.0 j3=-2.3 j4=-63.0 j5=-27.1  グリッパー 閉
  [補正] 足りなかった 1.6° を足して送る (j2 を +3.6°)
[SEND] pi05_corr02_002: send_angles (single) [ +13.27,  +60.46,  +23.61,   -2.28,  -63.01,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=5.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
  [補正] j2 届いていない (目標 +23.6 / 実測 +21.5, ずれ 2.08° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.3 j1=+60.5 j2=+23.6 j3=-2.3 j4=-63.0 j5=-27.1  グリッパー 閉
  [補正] 足りなかった 2.0° を足して送る (j2 を +4.0°)
[SEND] pi05_corr02_003: send_angles (single) [ +13.27,  +60.46,  +27.61,   -2.28,  -63.01,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=6.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.65° (tol 3.0°)
  [補正] j2 届いていない (目標 +27.6 / 実測 +25.0, ずれ 2.65° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.3 j1=+60.5 j2=+27.6 j3=-2.3 j4=-63.0 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_004: send_angles (single) [ +13.27,  +60.46,  +25.61,   -2.28,  -63.01,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=1.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.32° (tol 3.0°)
  [補正] j2 着いた (目標 +25.6 / 実測 +24.8, ずれ 0.83° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.3 j1=+60.5 j2=+25.6 j3=-2.3 j4=-63.0 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_005: send_angles (single) [ +13.27,  +60.46,  +23.61,   -2.28,  -63.01,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=1.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.61° (tol 3.0°)
  [補正] j2 着いた (目標 +23.6 / 実測 +23.6, ずれ 0.03° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.3 j1=+60.5 j2=+23.6 j3=-2.3 j4=-63.0 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_006: send_angles (single) [ +13.27,  +60.46,  +21.61,   -2.28,  -63.01,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=2.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.32° (tol 3.0°)
  [補正] j2 着いた (目標 +21.6 / 実測 +21.3, ずれ 0.35° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.3 j1=+60.5 j2=+21.6 j3=-2.3 j4=-63.0 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_007: send_angles (single) [ +13.27,  +60.46,  +19.61,   -2.28,  -63.01,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=1.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
  [補正] j2 着いた (目標 +19.6 / 実測 +19.9, ずれ 0.25° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.3 j1=+60.5 j2=+19.6 j3=-2.3 j4=-63.0 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_008: send_angles (single) [ +13.27,  +60.46,  +17.61,   -2.28,  -63.01,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=2.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.32° (tol 3.0°)
  [補正] j2 着いた (目標 +17.6 / 実測 +18.2, ずれ 0.58° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.3 j1=+60.5 j2=+17.6 j3=-2.3 j4=-63.0 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_009: send_angles (single) [ +13.27,  +60.46,  +15.61,   -2.28,  -63.01,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=2.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
  [補正] j2 着いた (目標 +15.6 / 実測 +16.5, ずれ 0.91° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.3 j1=+60.5 j2=+15.6 j3=-2.3 j4=-63.0 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_010: send_angles (single) [ +13.27,  +60.46,  +13.61,   -2.28,  -63.01,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.80° (tol 3.0°)
  [補正] j2 着いた (目標 +13.6 / 実測 +14.4, ずれ 0.80° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.3 j1=+60.5 j2=+13.6 j3=-2.3 j4=-63.0 j5=-27.1  グリッパー 閉
[CORR  ] 補正 2 を終えました (11 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)
[007] 推論 617ms  10ステップ先  Δ= +1.4  -5.2  +3.2  +0.3  -0.9  -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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > r
       爪を締め直します (開かずに閉じる指令をもう一度)
  [Pi] GRIPPER: VALUE=20 speed=100 result= -1
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ +13.60,  +60.93,  +14.52,   -1.85,  -62.57,  -26.97]  speed=20 wait=0.0s  (pre max|Δ|=1.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.59° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  -0.3  +0.1  +0.1  +1.6  -0.1  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +13.50,  +58.88,  +16.46,   -1.82,  -63.24,  -26.80]  speed=20 wait=0.0s  (pre max|Δ|=2.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.41° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.0  -2.7  +2.0  +0.3  +0.9  +0.2  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +13.89,  +56.18,  +17.80,   -1.69,  -63.24,  -26.67]  speed=20 wait=0.0s  (pre max|Δ|=4.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.82° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -4.1  +1.7  +0.4  +0.6  +0.3  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +14.91,  +56.01,  +17.64,   -1.59,  -63.23,  -26.75]  speed=20 wait=0.0s  (pre max|Δ|=1.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.4  -2.0  -0.1  +0.4  -0.7  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.90°（関節 j1）
[008] 推論 604ms  10ステップ先  Δ= +3.2  -8.6  +4.2  +1.0  -1.5  -0.6
       [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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 3 に入りました (推論 8 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=+15.0 j1=+57.9 j2=+17.8 j3=-2.1 j4=-62.5 j5=-27.0  グリッパー 閉
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+15.0 j1=+57.9 j2=+17.8 j3=-2.1 j4=-62.5 j5=-27.0  グリッパー 閉
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+15.0 j1=+57.9 j2=+17.8 j3=-2.1 j4=-62.5 j5=-27.0  グリッパー 閉
[SEND] pi05_corr03_000: send_angles (single) [ +15.02,  +57.91,  +19.84,   -2.10,  -62.49,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=2.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.37° (tol 3.0°)
  [補正] j2 着いた (目標 +19.8 / 実測 +19.4, ずれ 0.42° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+15.0 j1=+57.9 j2=+19.8 j3=-2.1 j4=-62.5 j5=-27.0  グリッパー 閉
[SEND] pi05_corr03_001: send_angles (single) [ +15.02,  +57.91,  +21.84,   -2.10,  -62.49,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=2.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.46° (tol 3.0°)
  [補正] j2 届いていない (目標 +21.8 / 実測 +20.7, ずれ 1.10° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+15.0 j1=+57.9 j2=+21.8 j3=-2.1 j4=-62.5 j5=-27.0  グリッパー 閉
  [補正] 足りなかった 1.1° を足して送る (j2 を +3.1°)
[SEND] pi05_corr03_002: send_angles (single) [ +15.02,  +57.91,  +24.94,   -2.10,  -62.49,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=4.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
  [補正] j2 届いていない (目標 +24.9 / 実測 +23.0, ずれ 1.92° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+15.0 j1=+57.9 j2=+24.9 j3=-2.1 j4=-62.5 j5=-27.0  グリッパー 閉
[SEND] pi05_corr03_003: send_angles (single) [ +15.02,  +57.91,  +26.94,   -2.10,  -62.49,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=2.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
  [補正] j2 届いていない (目標 +26.9 / 実測 +25.2, ずれ 1.72° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+15.0 j1=+57.9 j2=+26.9 j3=-2.1 j4=-62.5 j5=-27.0  グリッパー 閉
[SEND] pi05_corr03_004: send_angles (single) [ +15.02,  +57.91,  +24.94,   -2.10,  -62.49,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=0.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.35° (tol 3.0°)
  [補正] j2 着いた (目標 +24.9 / 実測 +24.9, ずれ 0.07° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+15.0 j1=+57.9 j2=+24.9 j3=-2.1 j4=-62.5 j5=-27.0  グリッパー 閉
[SEND] pi05_corr03_005: send_angles (single) [ +15.02,  +57.91,  +22.94,   -2.10,  -62.49,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=1.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.53° (tol 3.0°)
  [補正] j2 着いた (目標 +22.9 / 実測 +23.3, ずれ 0.35° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+15.0 j1=+57.9 j2=+22.9 j3=-2.1 j4=-62.5 j5=-27.0  グリッパー 閉
[SEND] pi05_corr03_006: send_angles (single) [ +15.02,  +57.91,  +20.94,   -2.10,  -62.49,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=2.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
  [補正] j2 着いた (目標 +20.9 / 実測 +21.4, ずれ 0.50° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+15.0 j1=+57.9 j2=+20.9 j3=-2.1 j4=-62.5 j5=-27.0  グリッパー 閉
[SEND] pi05_corr03_007: send_angles (single) [ +15.02,  +57.91,  +18.94,   -2.10,  -62.49,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=2.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.38° (tol 3.0°)
  [補正] j2 着いた (目標 +18.9 / 実測 +19.7, ずれ 0.74° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+15.0 j1=+57.9 j2=+18.9 j3=-2.1 j4=-62.5 j5=-27.0  グリッパー 閉
[SEND] pi05_corr03_008: send_angles (single) [ +15.02,  +57.91,  +16.94,   -2.10,  -62.49,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=2.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.38° (tol 3.0°)
  [補正] j2 着いた (目標 +16.9 / 実測 +17.8, ずれ 0.90° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+15.0 j1=+57.9 j2=+16.9 j3=-2.1 j4=-62.5 j5=-27.0  グリッパー 閉
[SEND] pi05_corr03_009: send_angles (single) [ +15.02,  +57.91,  +14.94,   -2.10,  -62.49,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=2.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
  [補正] j2 着いた (目標 +14.9 / 実測 +15.8, ずれ 0.88° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+15.0 j1=+57.9 j2=+14.9 j3=-2.1 j4=-62.5 j5=-27.0  グリッパー 閉
[CORR  ] 補正 3 を終えました (10 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)
[009] 推論 1550ms  10ステップ先  Δ= +5.3  -6.0  +1.6  +1.6  -0.5  -1.2
       [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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via02: send_angles (single) [ +15.12,  +57.28,  +16.99,   -1.51,  -63.48,  -26.43]  speed=20 wait=0.0s  (pre max|Δ|=1.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  -1.5  +1.2  +0.2  -0.5  +0.0  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +15.22,  +54.60,  +19.16,   -1.42,  -64.10,  -26.25]  speed=20 wait=0.0s  (pre max|Δ|=4.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.82° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -4.2  +1.8  +0.2  -0.8  +0.2  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +18.66,  +53.17,  +18.26,   -0.49,  -63.85,  -27.16]  speed=20 wait=0.0s  (pre max|Δ|=3.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  8  Δ= +3.7  -3.2  -1.3  +1.2  +0.7  -0.7  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +20.19,  +52.82,  +17.39,   -0.10,  -63.55,  -27.66]  speed=20 wait=0.0s  (pre max|Δ|=2.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.7  -2.2  -2.0  +0.2  +1.0  -1.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.11°（関節 j1）
[010] 推論 753ms  10ステップ先  Δ=+18.8  -3.2 -17.8  +4.6  +9.2  -4.8
       [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 / r=爪の締め直し / 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|=64.51°, post-send timeout 11.7s)
[SEND] arrival OK: max|Δ|=1.58° (tol 2.5°)
[RECORD] 記録終了 コマ 1945 (8.714 fps) 実測角 1418 回 (6.35 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261031_180023/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > n
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261031_180023
[CLIENT] run_policy_client.py が終わった (終了コード 0)
    (232 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 (3 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: [-0.17, 1.49, 1.58, -0.26, -0.26, -29.70]
[SEND] HOME へ移動指令
[WAIT] t=2.0s  max_err=1.58°
[DONE] HOME 到達 max_err=1.58°
[POST] 最終姿勢: [-0.17, 1.49, 1.58, -0.26, -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=  +0.3  dx=  -2.3  response=0.939  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (17 秒)

=== 8. 実機推論 (3 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_20261031_180435
[CAMERA] 写り方 dy=-5.9 dx=+4.1 response=0.611 → 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_20261031_180435/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 796ms  10ステップ先  Δ= +4.9 +18.1 +11.6  -2.5 -26.8  +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 / r=爪の締め直し / 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) [  +0.96,   +6.13,   +4.58,   -0.67,   -7.67,  -29.17]  speed=20 wait=0.0s  (pre max|Δ|=7.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.87° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +4.6  +3.0  -0.4  -7.4  +0.5  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +2.30,  +12.35,   +8.42,   -1.60,  -16.71,  -28.30]  speed=20 wait=0.0s  (pre max|Δ|=10.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.25° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.7  +5.3  +2.9  -1.3 -10.9  +1.3  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +3.98,  +17.98,  +12.21,   -2.54,  -25.01,  -27.33]  speed=20 wait=0.0s  (pre max|Δ|=9.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.6  +4.7  +2.9  -1.8  -9.5  +1.8  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +4.70,  +19.61,  +13.21,   -2.73,  -27.01,  -27.05]  speed=20 wait=0.0s  (pre max|Δ|=3.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  +0.7  +0.3  -0.5  -3.0  +1.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.95°（関節 j1）
[001] 推論 612ms  10ステップ先  Δ= +4.9 +17.6 +12.1  -0.5 -29.6  +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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +6.25,  +25.04,  +17.01,   -2.96,  -35.26,  -26.77]  speed=20 wait=0.0s  (pre max|Δ|=8.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.7  +4.5  +3.0  -0.5  -8.4  +0.7  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +7.92,  +30.81,  +21.05,   -2.96,  -44.70,  -26.71]  speed=20 wait=0.0s  (pre max|Δ|=10.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.83° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.9  +5.0  +3.3  -0.3 -10.4  +0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +9.24,  +36.68,  +25.03,   -2.96,  -54.16,  -26.64]  speed=20 wait=0.0s  (pre max|Δ|=9.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.8  +5.0  +3.4  -0.4  -9.9  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +9.45,  +38.13,  +25.96,   -2.93,  -56.51,  -26.64]  speed=20 wait=0.0s  (pre max|Δ|=2.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.5  +0.6  -0.4  -2.7  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.89°（関節 j1）
[002] 推論 813ms  10ステップ先  Δ= +2.0  +6.8  +3.6  -0.7  -9.0  +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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ +10.35,  +43.72,  +29.44,   -3.34,  -63.89,  -26.62]  speed=20 wait=0.0s  (pre max|Δ|=7.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.5  +4.7  +3.3  -0.9  -7.7  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +10.71,  +45.71,  +30.62,   -3.24,  -65.43,  -26.63]  speed=20 wait=0.0s  (pre max|Δ|=2.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  +1.1  +1.2  -0.4  -2.1  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +10.77,  +45.74,  +30.07,   -3.13,  -65.20,  -26.61]  speed=20 wait=0.0s  (pre max|Δ|=1.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.0  -1.0  -1.0  -0.4  +1.0  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +10.84,  +45.79,  +29.66,   -3.15,  -65.16,  -26.61]  speed=20 wait=0.0s  (pre max|Δ|=1.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.18° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -1.0  -1.4  -0.4  +1.0  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.18°（関節 j2）
[003] 推論 1548ms  10ステップ先  Δ= -0.0 +12.1 -11.4  -0.5  +3.9  +0.1
       [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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ +10.93,  +50.26,  +26.40,   -3.12,  -64.43,  -26.65]  speed=20 wait=0.0s  (pre max|Δ|=4.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +3.5  -4.4  -0.3  +1.7  +0.1  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +11.13,  +54.58,  +22.96,   -3.12,  -63.29,  -26.70]  speed=20 wait=0.0s  (pre max|Δ|=4.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  +3.4  -4.4  -0.3  +2.1  +0.1  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +10.74,  +58.08,  +20.08,   -3.17,  -62.37,  -26.72]  speed=20 wait=0.0s  (pre max|Δ|=3.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.75° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.0  +3.0  -3.4  -0.4  +2.9  -1.4  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +10.69,  +58.83,  +19.43,   -3.17,  -62.32,  -26.73]  speed=20 wait=0.0s  (pre max|Δ|=2.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.80° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  +1.0  -0.7  -0.3  +2.8  -1.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.80°（関節 j4）
[004] 推論 572ms  4ステップ先  Δ= -0.0  +1.2  -0.7  -0.3  +3.2  -0.9  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 3
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 1 に入りました (推論 4 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=+10.7 j1=+58.6 j2=+19.5 j3=-3.0 j4=-64.9 j5=-26.1  グリッパー 開
[SEND] pi05_corr01_000: send_angles (single) [  +9.72,  +58.62,  +19.51,   -2.98,  -64.86,  -26.10]  speed=20 wait=0.0s  (pre max|Δ|=1.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.32° (tol 3.0°)
  [補正] j0 届いていない (目標 +9.7 / 実測 +10.3, ずれ 0.56° > 0.50°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+9.7 j1=+58.6 j2=+19.5 j3=-3.0 j4=-64.9 j5=-26.1  グリッパー 開
  [補正] 足りなかった 0.6° を足して送る (j0 を -1.6°)
[SEND] pi05_corr01_001: send_angles (single) [  +8.16,  +58.62,  +19.51,   -2.98,  -64.86,  -26.10]  speed=20 wait=0.0s  (pre max|Δ|=2.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.32° (tol 3.0°)
  [補正] j0 着いた (目標 +8.2 / 実測 +8.3, ずれ 0.18° ≤ 0.50°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+8.2 j1=+58.6 j2=+19.5 j3=-3.0 j4=-64.9 j5=-26.1  グリッパー 開
[SEND] pi05_corr01_002: send_angles (single) [  +9.16,  +58.62,  +19.51,   -2.98,  -64.86,  -26.10]  speed=20 wait=0.0s  (pre max|Δ|=1.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.32° (tol 3.0°)
  [補正] j0 着いた (目標 +9.2 / 実測 +9.0, ずれ 0.20° ≤ 0.50°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+9.2 j1=+58.6 j2=+19.5 j3=-3.0 j4=-64.9 j5=-26.1  グリッパー 開
  [補正] 関節 j0  刻み 2.0°  補正目標 j0=+9.2 j1=+58.6 j2=+19.5 j3=-3.0 j4=-64.9 j5=-26.1  グリッパー 開
[SEND] pi05_corr01_003: send_angles (single) [ +11.16,  +58.62,  +19.51,   -2.98,  -64.86,  -26.10]  speed=20 wait=0.0s  (pre max|Δ|=2.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.32° (tol 3.0°)
  [補正] j0 着いた (目標 +11.2 / 実測 +11.0, ずれ 0.18° ≤ 1.00°)
  [補正] 関節 j0  刻み 2.0°  補正目標 j0=+11.2 j1=+58.6 j2=+19.5 j3=-3.0 j4=-64.9 j5=-26.1  グリッパー 開
[SEND] pi05_corr01_004: send_angles (single) [ +13.16,  +58.62,  +19.51,   -2.98,  -64.86,  -26.10]  speed=20 wait=0.0s  (pre max|Δ|=2.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.73° (tol 3.0°)
  [補正] j0 着いた (目標 +13.2 / 実測 +13.3, ずれ 0.19° ≤ 1.00°)
  [補正] 関節 j0  刻み 2.0°  補正目標 j0=+13.2 j1=+58.6 j2=+19.5 j3=-3.0 j4=-64.9 j5=-26.1  グリッパー 開
[CORR  ] 補正 1 を終えました (5 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)
[005] 推論 685ms  4ステップ先  Δ= +0.1  +1.0  -1.0  +0.0  +1.0  -0.1  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 3
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ +13.50,  +60.72,  +19.05,   -3.22,  -63.20,  -26.52]  speed=20 wait=0.0s  (pre max|Δ|=1.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  +1.0  -1.0  -0.1  +1.0  -0.1  着いた
[SEND] pi05_chunk005_via03: send_angles (single) [ +13.50,  +60.72,  +19.05,   -3.22,  -63.20,  -26.52]  speed=20 wait=0.0s  (pre max|Δ|=1.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  3  Δ= +0.2  -0.7  -1.0  +0.0  +1.4  +0.0  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 2.63°（関節 j4）
[006] 推論 1637ms  10ステップ先  Δ= +0.2  -9.4  +6.6  -0.7  +1.3  +0.1
       [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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ +13.53,  +59.77,  +19.61,   -2.82,  -63.75,  -26.79]  speed=20 wait=0.0s  (pre max|Δ|=1.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -1.7  -0.3  -0.3  +1.6  +0.1  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +13.39,  +56.90,  +22.45,   -2.90,  -64.08,  -26.65]  speed=20 wait=0.0s  (pre max|Δ|=4.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.12° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -4.0  +2.5  -0.4  +0.5  +0.2  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +13.33,  +52.94,  +25.86,   -2.87,  -64.59,  -26.64]  speed=20 wait=0.0s  (pre max|Δ|=5.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -5.1  +4.2  +0.2  -2.6  +0.1  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +13.27,  +52.03,  +26.52,   -2.84,  -64.57,  -26.75]  speed=20 wait=0.0s  (pre max|Δ|=2.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.70° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -2.5  +1.0  +0.6  -3.0  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.70°（関節 j4）
[007] 推論 789ms  10ステップ先  Δ=+10.5  -5.2  -6.6  +2.8  +0.6  -2.8
       [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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > c
[CORR  ] 補正 2 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=+13.1 j1=+53.9 j2=+26.4 j3=-3.3 j4=-64.1 j5=-26.2  グリッパー 閉
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+13.1 j1=+53.9 j2=+26.4 j3=-3.3 j4=-64.1 j5=-26.2  グリッパー 閉
[SEND] pi05_corr02_000: send_angles (single) [ +13.09,  +53.87,  +25.45,   -3.33,  -64.07,  -26.19]  speed=20 wait=0.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
  [補正] j2 届いていない (目標 +25.4 / 実測 +26.4, ずれ 0.91° > 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+13.1 j1=+53.9 j2=+25.4 j3=-3.3 j4=-64.1 j5=-26.2  グリッパー 閉
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.1 j1=+53.9 j2=+25.4 j3=-3.3 j4=-64.1 j5=-26.2  グリッパー 閉
[SEND] pi05_corr02_001: send_angles (single) [ +13.09,  +53.87,  +23.45,   -3.33,  -64.07,  -26.19]  speed=20 wait=0.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
  [補正] j2 着いた (目標 +23.4 / 実測 +24.3, ずれ 0.89° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.1 j1=+53.9 j2=+23.4 j3=-3.3 j4=-64.1 j5=-26.2  グリッパー 閉
[SEND] pi05_corr02_002: send_angles (single) [ +13.09,  +53.87,  +21.45,   -3.33,  -64.07,  -26.19]  speed=20 wait=0.0s  (pre max|Δ|=2.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] j2 着いた (目標 +21.4 / 実測 +22.4, ずれ 0.96° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.1 j1=+53.9 j2=+21.4 j3=-3.3 j4=-64.1 j5=-26.2  グリッパー 閉
[SEND] pi05_corr02_003: send_angles (single) [ +13.09,  +53.87,  +19.45,   -3.33,  -64.07,  -26.19]  speed=20 wait=0.0s  (pre max|Δ|=2.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
  [補正] j2 着いた (目標 +19.4 / 実測 +20.4, ずれ 0.94° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.1 j1=+53.9 j2=+19.4 j3=-3.3 j4=-64.1 j5=-26.2  グリッパー 閉
[SEND] pi05_corr02_004: send_angles (single) [ +13.09,  +53.87,  +17.45,   -3.33,  -64.07,  -26.19]  speed=20 wait=0.0s  (pre max|Δ|=2.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
  [補正] j2 着いた (目標 +17.4 / 実測 +18.4, ずれ 0.91° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.1 j1=+53.9 j2=+17.4 j3=-3.3 j4=-64.1 j5=-26.2  グリッパー 閉
[SEND] pi05_corr02_005: send_angles (single) [ +13.09,  +53.87,  +15.45,   -3.33,  -64.07,  -26.19]  speed=20 wait=0.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
  [補正] j2 着いた (目標 +15.4 / 実測 +16.4, ずれ 0.98° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.1 j1=+53.9 j2=+15.4 j3=-3.3 j4=-64.1 j5=-26.2  グリッパー 閉
[SEND] pi05_corr02_006: send_angles (single) [ +13.09,  +53.87,  +13.45,   -3.33,  -64.07,  -26.19]  speed=20 wait=0.0s  (pre max|Δ|=2.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
  [補正] j2 届いていない (目標 +13.4 / 実測 +14.6, ずれ 1.13° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.1 j1=+53.9 j2=+13.4 j3=-3.3 j4=-64.1 j5=-26.2  グリッパー 閉
  [補正] 足りなかった 1.1° を足して送る (j2 を -3.1°)
[SEND] pi05_corr02_007: send_angles (single) [ +13.09,  +53.87,  +10.32,   -3.33,  -64.07,  -26.19]  speed=20 wait=0.0s  (pre max|Δ|=4.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
  [補正] j2 届いていない (目標 +10.3 / 実測 +11.3, ずれ 1.01° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.1 j1=+53.9 j2=+10.3 j3=-3.3 j4=-64.1 j5=-26.2  グリッパー 閉
  [補正] 足りなかった 1.0° を足して送る (j2 を -3.0°)
[SEND] pi05_corr02_008: send_angles (single) [ +13.09,  +53.87,   +7.31,   -3.33,  -64.07,  -26.19]  speed=20 wait=0.0s  (pre max|Δ|=4.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
  [補正] j2 届いていない (目標 +7.3 / 実測 +8.3, ずれ 1.03° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.1 j1=+53.9 j2=+7.3 j3=-3.3 j4=-64.1 j5=-26.2  グリッパー 閉
  [補正] 足りなかった 1.0° を足して送る (j2 を -3.0°)
[SEND] pi05_corr02_009: send_angles (single) [ +13.09,  +53.87,   +4.28,   -3.33,  -64.07,  -26.19]  speed=20 wait=0.0s  (pre max|Δ|=4.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
  [補正] j2 届いていない (目標 +4.3 / 実測 +5.4, ずれ 1.08° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.1 j1=+53.9 j2=+4.3 j3=-3.3 j4=-64.1 j5=-26.2  グリッパー 閉
  [補正] 足りなかった 1.1° を足して送る (j2 を -3.1°)
[SEND] pi05_corr02_010: send_angles (single) [ +13.09,  +53.87,   +1.20,   -3.33,  -64.07,  -26.19]  speed=20 wait=0.0s  (pre max|Δ|=4.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
  [補正] j2 届いていない (目標 +1.2 / 実測 +2.3, ずれ 1.08° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.1 j1=+53.9 j2=+1.2 j3=-3.3 j4=-64.1 j5=-26.2  グリッパー 閉
[CORR  ] 補正 2 を終えました (11 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 1754ms  10ステップ先  Δ=+17.0  -5.7  +0.6  +2.9  +2.6  -1.4
       [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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ +14.30,  +52.99,   +3.88,   -2.60,  -65.02,  -25.94]  speed=20 wait=0.0s  (pre max|Δ|=1.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.2  -1.8  +1.6  +0.6  -0.6  +0.3  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +19.78,  +50.92,   +4.12,   -1.73,  -64.22,  -26.00]  speed=20 wait=0.0s  (pre max|Δ|=5.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  5  Δ= +5.6  -3.8  -0.5  +1.2  +0.2  +0.2  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +28.12,  +49.34,   +3.06,   -0.57,  -62.71,  -27.21]  speed=20 wait=0.0s  (pre max|Δ|=8.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.3  -3.6  -1.5  +1.0  +1.7  -1.0  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +30.13,  +49.01,   +2.86,   -0.24,  -61.80,  -27.62]  speed=20 wait=0.0s  (pre max|Δ|=2.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.49° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.2  -2.7  -1.7  +0.5  +1.4  -1.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.49°（関節 j1）
[009] 推論 801ms  10ステップ先  Δ=+10.0  +3.9 -10.0  +2.7  +4.8  -3.1
       [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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via02: send_angles (single) [ +36.28,  +49.09,   -0.70,   +0.74,  -59.41,  -28.50]  speed=20 wait=0.0s  (pre max|Δ|=6.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.41° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.3  -2.4  -5.3  +0.9  +2.6  -1.3  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +39.86,  +50.06,   -3.66,   +1.80,  -56.97,  -29.68]  speed=20 wait=0.0s  (pre max|Δ|=4.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  5  Δ= +3.6  -1.4  -4.3  +0.8  +2.8  -1.6  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +40.11,  +54.13,   -5.05,   +2.43,  -56.92,  -30.28]  speed=20 wait=0.0s  (pre max|Δ|=2.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +2.6  -2.6  +0.3  +0.4  -1.0  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +39.99,  +55.42,   -5.44,   +2.54,  -57.22,  -30.38]  speed=20 wait=0.0s  (pre max|Δ|=2.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  +0.1  -2.1  +0.4  -0.1  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.58°（関節 j2）
[010] 推論 644ms  8ステップ先  Δ= -0.1  +5.4  -1.7  +0.9  -6.3  -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 / b=巻き戻し / c=補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +39.86,  +60.37,   -5.49,   +2.80,  -61.20,  -30.43]  speed=20 wait=0.0s  (pre max|Δ|=4.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.32° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  +3.7  -1.6  +0.5  -4.3  -0.4  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +39.94,  +62.58,   -5.55,   +2.96,  -63.16,  -30.46]  speed=20 wait=0.0s  (pre max|Δ|=4.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.69° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  +1.1  -1.7  +0.4  -4.3  -0.4  着いた
[SEND] pi05_chunk010_via07: send_angles (single) [ +39.90,  +62.10,   -5.54,   +3.05,  -63.19,  -30.46]  speed=20 wait=0.0s  (pre max|Δ|=1.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  7  Δ= -0.1  -1.7  -1.7  +0.3  -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 1.70°（関節 j1）
[011] 推論 761ms  10ステップ先  Δ= -1.1 -19.6  -1.0  -0.4 +17.3  -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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +40.07,  +57.91,   -5.53,   +2.90,  -59.52,  -30.58]  speed=20 wait=0.0s  (pre max|Δ|=5.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  -5.9  -1.7  +0.1  +3.0  -0.4  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +40.58,  +53.11,   -5.59,   +2.84,  -54.39,  -30.84]  speed=20 wait=0.0s  (pre max|Δ|=7.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -6.7  -1.6  +0.0  +7.1  -0.6  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +39.89,  +46.69,   -5.17,   +2.59,  -47.67,  -31.11]  speed=20 wait=0.0s  (pre max|Δ|=8.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -8.5  -1.2  -0.2  +8.1  -0.6  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +38.92,  +44.23,   -4.85,   +2.39,  -45.19,  -31.19]  speed=20 wait=0.0s  (pre max|Δ|=4.63°, post-send timeout 8.0s)

[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.1  -4.6  -0.9  -0.4  +3.5  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.00°（関節 j1）
[012] 推論 1583ms  10ステップ先  Δ=-21.8 -29.3  +0.8  -3.7 +28.6  +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 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk012_via02: send_angles (single) [ +33.80,  +36.84,   -4.51,   +1.55,  -37.59,  -31.11]  speed=20 wait=0.0s  (pre max|Δ|=9.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.4  -9.4  -0.6  -1.6  +8.2  -0.3  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +27.25,  +28.74,   -3.98,   +0.61,  -29.33,  -30.99]  speed=20 wait=0.0s  (pre max|Δ|=10.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.8 -10.1  -0.0  -1.5  +8.7  -0.1  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +19.76,  +19.59,   -3.36,   -0.30,  -20.20,  -30.88]  speed=20 wait=0.0s  (pre max|Δ|=10.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.7 -11.0  -0.0  -1.3  +9.3  +0.1  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +17.42,  +16.88,   -3.14,   -0.53,  -17.48,  -30.82]  speed=20 wait=0.0s  (pre max|Δ|=4.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.57° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.8  -4.4  -0.3  -0.7  +3.0  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.57°（関節 j1）
[013] 推論 577ms  10ステップ先  Δ=-10.0 -13.4  -0.0  -0.1 +11.7  +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 / r=爪の締め直し / 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|=18.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 2.5°)
[RECORD] 記録終了 コマ 1599 (8.713 fps) 実測角 915 回 (4.99 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261031_180435/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_20261031_180435
[CLIENT] run_policy_client.py が終わった (終了コード 0)
    (220 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                      2 秒
  2. Pod が立ち上がるまで待つ     17 秒
  3a. スクリプトを送る         31 秒
  3b. huggingface_hub を入れ, 鍵を渡す     10 秒
  3c. モデルを取る (hf download)     11 秒
  3d. openpi を取る (215abfb)       14 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)     51 秒
  8. 実機推論 (1 回目)          270 秒
  7. HOME → 爪を開く → 位置合わせ (2 回目)     20 秒
  8. 実機推論 (2 回目)          232 秒
  7. HOME → 爪を開く → 位置合わせ (3 回目)     17 秒
  8. 実機推論 (3 回目)          220 秒

[LAB   ] Pod は残しています (id kay1uafshbx7dj). 片付けは ./lab_stop.sh --log Log17
[TUNNEL] 8000 番のトンネルを閉じました