[LAB   ] 2026-11-01 18:58:27  GPU=NVIDIA A40  episode=run_0001_20261019_194818  log=/Volumes/KIOXIA/r2r2r-data/lab/Log18  
[MODEL ] --model corr: 3999 から trim2_corr_v3 で続きを学習した 1499 (依頼 49)
         PixelstoMotors/pi05-mecharm-trim-corr-lora-v1 → /workspace/ckpt/corr_v1_1499  設定 pi05_mecharm_trim_corr_lora  assets local/mecharm_redblock_box_teach_v1_trim2_corr_v3

=== 1. Pod を作る
[POD   ] 作った: id v7w5nerpf0hh1y  GPU=NVIDIA A40  1時間 0.59 ドル  (記録 /Volumes/KIOXIA/r2r2r-data/lab/Log18/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: 7fe17fd7a61d
NVIDIA A40, 46068 MiB
    (41 秒)

=== 3a. スクリプトを送る
    (65 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
    (14 秒)

=== 3c. モデルを取る (hf download PixelstoMotors/pi05-mecharm-trim-corr-lora-v1)

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✓ Downloaded
  path: /workspace/ckpt/corr_v1_1499
6.0G	/workspace/ckpt/corr_v1_1499
    (18 秒)

=== 3d. openpi を取る (215abfb)
215abfb docs(droid): fix config search instruction (#1023)
    (22 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)
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      Built evdev==1.9.2
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    Updated https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
   Building lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
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Prepared 240 packages in 14.14s
Installed 240 packages in 1.63s
 + 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
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 + orbax-checkpoint==0.11.13
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 + packaging==25.0
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 + pexpect==4.9.0
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 + pillow==11.2.1
 + platformdirs==4.3.8
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 + pre-commit==4.2.0
 + prompt-toolkit==3.0.51
 + propcache==0.3.1
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 + psutil==7.0.0
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 + pure-eval==0.2.3
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 + pyasn1==0.6.1
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 + pycparser==2.22
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 + 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
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 + 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 (pi05_mecharm_trim_corr_lora)
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)
installed: pi05_mecharm_trim_corr_lora (repo_id=local/mecharm_redblock_box_teach_v1_trim2_corr_v3, 1500 steps, init=/workspace/ckpt/3999/params)
    (4 秒)

=== 4. サーバーの起動
[SERVE ] --model corr: --policy.config=pi05_mecharm_trim_corr_lora --policy.dir=/workspace/ckpt/corr_v1_1499
INFO:websockets.server:server listening on 0.0.0.0:8000
    (55 秒)

=== 5. Mac の 8000 番へのトンネル
[TUNNEL] localhost:8000 → Pod の 8000 番 (pid 24113. このスクリプトが終わると閉じる)
    (4 秒)

=== 6. デーモンの状態
--- process
511 /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: [-0.35, 92.37, 1.31, 11.60, -95.71, -27.86]
[SEND] HOME へ移動指令
[WAIT] t=2.2s  max_err=10.37°
[WAIT] t=2.7s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [-0.26, 1.31, 1.75, 0.70, 1.31, -29.35]
  [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=  +0.1  dx=  -4.5  response=0.766  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (72 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_20261101_190347
[MODEL ] corr (PixelstoMotors/pi05-mecharm-trim-corr-lora-v1)
[CAMERA] 写り方 dy=-5.7 dx=+2.4 response=0.634 → 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_20261101_190347/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 54609ms  10ステップ先  Δ= +2.9 +17.9 +11.0  -2.3 -24.5  +1.8
       [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 > 
[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) [  +0.16,   +6.77,   +4.54,   -0.04,   -6.66,  -29.70]  speed=20 wait=0.0s  (pre max|Δ|=6.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +5.5  +2.8  -0.3  -6.7  +0.0  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.04,  +11.91,   +7.98,   -0.64,  -14.20,  -29.17]  speed=20 wait=0.0s  (pre max|Δ|=7.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  +4.3  +2.4  -0.8  -8.0  +0.5  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.32,  +17.45,  +11.66,   -1.76,  -22.23,  -28.19]  speed=20 wait=0.0s  (pre max|Δ|=8.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  +4.5  +2.7  -1.3  -8.4  +1.4  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +2.64,  +19.21,  +12.76,   -2.07,  -24.43,  -27.90]  speed=20 wait=0.0s  (pre max|Δ|=2.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  +0.8  +0.3  -0.2  -2.4  +1.2  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 808ms  10ステップ先  Δ= +4.5 +15.5  +8.9  -0.7 -23.0  +1.6
       [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 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +3.67,  +23.95,  +15.65,   -2.38,  -31.13,  -27.39]  speed=20 wait=0.0s  (pre max|Δ|=6.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.5  +3.8  +2.1  -0.5  -6.4  +1.0  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +5.05,  +28.45,  +18.47,   -2.43,  -37.86,  -27.16]  speed=20 wait=0.0s  (pre max|Δ|=6.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.8  +3.6  +2.0  +0.3  -6.9  +0.5  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +6.43,  +33.65,  +21.60,   -2.60,  -45.23,  -27.00]  speed=20 wait=0.0s  (pre max|Δ|=7.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.8  +4.2  +2.4  +0.5  -7.8  +0.4  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +6.65,  +35.62,  +22.41,   -2.60,  -47.67,  -26.93]  speed=20 wait=0.0s  (pre max|Δ|=2.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  +1.1  +0.3  +0.6  -2.4  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.94°（関節 j1）
[002] 推論 2296ms  10ステップ先  Δ= +2.2  +8.8  +5.6  +0.5 -13.2  +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) [  +7.50,  +38.53,  +24.15,   -2.39,  -52.01,  -27.02]  speed=20 wait=0.0s  (pre max|Δ|=4.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +1.9  +2.0  +0.6  -4.6  +0.1  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +8.42,  +42.15,  +26.01,   -2.42,  -56.64,  -27.01]  speed=20 wait=0.0s  (pre max|Δ|=4.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  +2.6  +1.4  +0.1  -5.0  +0.1  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +8.92,  +45.38,  +27.74,   -2.55,  -60.24,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=3.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +2.2  +1.3  -0.2  -3.1  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +8.91,  +45.40,  +27.76,   -2.60,  -60.61,  -26.95]  speed=20 wait=0.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -1.0  -0.2  -0.3  -0.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.00°（関節 j1）
[003] 推論 958ms  10ステップ先  Δ= +1.7  +4.4  -0.3  -0.7  -3.3  +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 > c
[CORR  ] 補正 1 に入りました (推論 3 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=+8.3 j1=+46.4 j2=+27.9 j3=-2.3 j4=-60.5 j5=-27.1  グリッパー 開
[SEND] pi05_corr01_000: send_angles (single) [  +7.34,  +46.40,  +27.94,   -2.28,  -60.46,  -27.15]  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 +7.3 / 実測 +7.3, ずれ 0.05° ≤ 0.50°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+7.3 j1=+46.4 j2=+27.9 j3=-2.3 j4=-60.5 j5=-27.1  グリッパー 開
[SEND] pi05_corr01_001: send_angles (single) [  +8.34,  +46.40,  +27.94,   -2.28,  -60.46,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=1.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
  [補正] j0 着いた (目標 +8.3 / 実測 +8.4, ずれ 0.09° ≤ 0.50°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+8.3 j1=+46.4 j2=+27.9 j3=-2.3 j4=-60.5 j5=-27.1  グリッパー 開
  [補正] 関節 j0  刻み 2.0°  補正目標 j0=+8.3 j1=+46.4 j2=+27.9 j3=-2.3 j4=-60.5 j5=-27.1  グリッパー 開
[SEND] pi05_corr01_002: send_angles (single) [ +10.34,  +46.40,  +27.94,   -2.28,  -60.46,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=1.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
  [補正] j0 着いた (目標 +10.3 / 実測 +10.2, ずれ 0.15° ≤ 1.00°)
  [補正] 関節 j0  刻み 2.0°  補正目標 j0=+10.3 j1=+46.4 j2=+27.9 j3=-2.3 j4=-60.5 j5=-27.1  グリッパー 開
[SEND] pi05_corr01_003: send_angles (single) [ +12.34,  +46.40,  +27.94,   -2.28,  -60.46,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=2.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
  [補正] j0 着いた (目標 +12.3 / 実測 +12.3, ずれ 0.04° ≤ 1.00°)
  [補正] 関節 j0  刻み 2.0°  補正目標 j0=+12.3 j1=+46.4 j2=+27.9 j3=-2.3 j4=-60.5 j5=-27.1  グリッパー 開
[SEND] pi05_corr01_004: send_angles (single) [ +14.34,  +46.40,  +27.94,   -2.28,  -60.46,  -27.15]  speed=20 wait=0.0s  (pre max|Δ|=2.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
  [補正] j0 着いた (目標 +14.3 / 実測 +14.4, ずれ 0.07° ≤ 1.00°)
  [補正] 関節 j0  刻み 2.0°  補正目標 j0=+14.3 j1=+46.4 j2=+27.9 j3=-2.3 j4=-60.5 j5=-27.1  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)
[004] 推論 941ms  10ステップ先  Δ= +0.5 +13.6  -9.1  -0.6  -0.7  -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 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ +14.28,  +52.37,  +25.99,   -2.03,  -62.79,  -27.09]  speed=20 wait=0.0s  (pre max|Δ|=5.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  +5.0  -2.0  -0.1  -2.1  -0.0  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +14.73,  +56.38,  +22.66,   -2.13,  -62.35,  -27.25]  speed=20 wait=0.0s  (pre max|Δ|=4.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  +3.1  -4.5  -0.2  +0.3  -0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +14.85,  +60.05,  +19.54,   -2.52,  -61.64,  -27.44]  speed=20 wait=0.0s  (pre max|Δ|=4.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  +2.8  -4.0  -0.6  +1.2  -0.4  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +14.95,  +60.98,  +18.82,   -2.57,  -61.48,  -27.50]  speed=20 wait=0.0s  (pre max|Δ|=1.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  +0.2  -1.3  -0.6  +1.9  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.06°（関節 j4）
[005] 推論 2327ms  1ステップ先  Δ= +0.0  +0.0  +0.0  +0.0  +0.0  +0.0  グリッパー→閉
       [VIA   ] 中継点 1 点: step 0
       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 > 
       [VIA   ] step  0  Δ= +0.0  +0.0  +0.0  +0.2  -0.4  +0.1  送らず (0.5° 以下)
  [Pi] GRIPPER: VALUE=20 speed=100 result= -1
[STATE ] 実測を渡す (直前に送った目標がない)
[006] 推論 861ms  10ステップ先  Δ= +1.2 -12.8 +11.0  -0.2  -3.2  +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_chunk006_via02: send_angles (single) [ +14.41,  +57.68,  +21.93,   -2.53,  -63.57,  -27.32]  speed=20 wait=0.0s  (pre max|Δ|=3.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.88° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  -3.8  +3.0  -0.3  -0.5  +0.5  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +14.57,  +53.60,  +25.75,   -2.58,  -64.58,  -27.01]  speed=20 wait=0.0s  (pre max|Δ|=5.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.97° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -5.2  +4.7  -0.0  -2.9  +0.6  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +15.17,  +49.27,  +29.64,   -2.44,  -65.99,  -26.90]  speed=20 wait=0.0s  (pre max|Δ|=5.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.9  -5.7  +4.4  +0.5  -4.4  -0.0  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +15.50,  +48.73,  +29.92,   -2.36,  -66.28,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=2.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -2.3  +0.2  +0.4  -2.6  -0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.07°（関節 j1）
[007] 推論 1020ms  10ステップ先  Δ=+15.9  +0.7 -15.7  +4.2  +3.8  -4.5
       [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_chunk007_via02: send_angles (single) [ +20.94,  +49.08,  +24.55,   -1.05,  -63.85,  -28.28]  speed=20 wait=0.0s  (pre max|Δ|=5.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  2  Δ= +5.9  -1.7  -5.2  +1.7  +1.9  -1.9  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +26.76,  +50.41,  +17.40,   +0.45,  -61.25,  -29.84]  speed=20 wait=0.0s  (pre max|Δ|=8.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.41° (tol 3.0°)
       [VIA   ] step  5  Δ= +5.8  -0.4  -8.0  +1.5  +4.5  -2.1  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +30.56,  +51.42,  +13.78,   +1.34,  -60.46,  -30.66]  speed=20 wait=0.0s  (pre max|Δ|=4.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  8  Δ= +3.8  +0.1  -4.6  +1.3  +2.2  -1.2  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +30.94,  +51.52,  +13.95,   +1.46,  -60.58,  -30.66]  speed=20 wait=0.0s  (pre max|Δ|=0.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -1.0  -0.8  -0.0  +0.8  -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）
[008] 推論 2227ms  10ステップ先  Δ= +1.4  +3.2  -8.0  +0.8  -1.5  -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 > 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=+30.6 j1=+52.5 j2=+14.8 j3=+1.5 j4=-61.1 j5=-30.4  グリッパー 閉
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+30.6 j1=+52.5 j2=+14.8 j3=+1.5 j4=-61.1 j5=-30.4  グリッパー 閉
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+30.6 j1=+52.5 j2=+14.8 j3=+1.5 j4=-61.1 j5=-30.4  グリッパー 閉
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+30.6 j1=+52.5 j2=+14.8 j3=+1.5 j4=-61.1 j5=-30.4  グリッパー 閉
  [補正] 関節 j1  刻み 1.0°  補正目標 j0=+30.6 j1=+52.5 j2=+14.8 j3=+1.5 j4=-61.1 j5=-30.4  グリッパー 閉
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+30.6 j1=+52.5 j2=+14.8 j3=+1.5 j4=-61.1 j5=-30.4  グリッパー 閉
[SEND] pi05_corr02_000: send_angles (single) [ +30.58,  +52.47,  +13.76,   +1.49,  -61.08,  -30.41]  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 +13.8 / 実測 +14.7, ずれ 0.91° > 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+30.6 j1=+52.5 j2=+13.8 j3=+1.5 j4=-61.1 j5=-30.4  グリッパー 閉
  [補正] 足りなかった 0.9° を足して送る (j2 を -1.9°)
[SEND] pi05_corr02_001: send_angles (single) [ +30.58,  +52.47,  +11.85,   +1.49,  -61.08,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=2.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
  [補正] j2 届いていない (目標 +11.8 / 実測 +13.0, ずれ 1.15° > 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+30.6 j1=+52.5 j2=+11.8 j3=+1.5 j4=-61.1 j5=-30.4  グリッパー 閉
  [補正] 足りなかった 1.0° を足して送る (j2 を -2.0°)
[SEND] pi05_corr02_002: send_angles (single) [ +30.58,  +52.47,   +9.85,   +1.49,  -61.08,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=3.15°, 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 +9.8 / 実測 +11.0, ずれ 1.13° > 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+30.6 j1=+52.5 j2=+9.8 j3=+1.5 j4=-61.1 j5=-30.4  グリッパー 閉
  [補正] 足りなかった 1.0° を足して送る (j2 を -2.0°)
[SEND] pi05_corr02_003: send_angles (single) [ +30.58,  +52.47,   +7.85,   +1.49,  -61.08,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=3.13°, 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 +7.8 / 実測 +9.0, ずれ 1.11° > 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+30.6 j1=+52.5 j2=+7.8 j3=+1.5 j4=-61.1 j5=-30.4  グリッパー 閉
  [補正] 足りなかった 1.0° を足して送る (j2 を -2.0°)
[SEND] pi05_corr02_004: send_angles (single) [ +30.58,  +52.47,   +5.85,   +1.49,  -61.08,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=3.11°, 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 +5.8 / 実測 +6.9, ずれ 1.09° > 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+30.6 j1=+52.5 j2=+5.8 j3=+1.5 j4=-61.1 j5=-30.4  グリッパー 閉
  [補正] 足りなかった 1.0° を足して送る (j2 を -2.0°)
[SEND] pi05_corr02_005: send_angles (single) [ +30.58,  +52.47,   +3.85,   +1.49,  -61.08,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=3.09°, 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 +3.8 / 実測 +4.9, ずれ 1.07° > 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+30.6 j1=+52.5 j2=+3.8 j3=+1.5 j4=-61.1 j5=-30.4  グリッパー 閉
  [補正] 足りなかった 1.0° を足して送る (j2 を -2.0°)
[SEND] pi05_corr02_006: send_angles (single) [ +30.58,  +52.47,   +1.85,   +1.49,  -61.08,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=3.07°, 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 +1.8 / 実測 +3.0, ずれ 1.13° > 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+30.6 j1=+52.5 j2=+1.8 j3=+1.5 j4=-61.1 j5=-30.4  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 918ms  10ステップ先  Δ=+10.0  +3.5  -3.0  +1.4  +1.4  -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) [ +36.10,  +52.16,   +2.01,   +2.05,  -58.90,  -31.01]  speed=20 wait=0.0s  (pre max|Δ|=5.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  2  Δ= +5.5  -1.5  -1.0  +0.5  +1.7  -0.3  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +40.68,  +51.84,   +0.80,   +2.46,  -57.01,  -31.63]  speed=20 wait=0.0s  (pre max|Δ|=4.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.77° (tol 3.0°)
       [VIA   ] step  5  Δ= +4.7  -1.8  -2.2  +0.2  +3.3  -1.0  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +40.82,  +55.96,   +0.09,   +2.87,  -58.62,  -31.90]  speed=20 wait=0.0s  (pre max|Δ|=2.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.57° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +2.4  -2.1  +0.3  -0.6  -1.1  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +40.61,  +57.14,   -0.06,   +2.97,  -59.26,  -31.91]  speed=20 wait=0.0s  (pre max|Δ|=1.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.0  +0.0  -1.7  +0.4  -1.3  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.64°（関節 j2）
[010] 推論 846ms  7ステップ先  Δ= +0.1  +4.7  -2.3  +1.2  -5.9  -0.8  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) [ +40.55,  +62.00,   -0.47,   +3.42,  -62.76,  -32.04]  speed=20 wait=0.0s  (pre max|Δ|=4.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.34° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  +3.7  -2.1  +0.8  -4.4  -0.7  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +40.66,  +63.08,   -0.68,   +3.73,  -64.30,  -32.12]  speed=20 wait=0.0s  (pre max|Δ|=1.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  -0.0  -1.5  +0.7  -2.0  +0.1  着いた
[SEND] pi05_chunk010_via06: send_angles (single) [ +40.66,  +63.08,   -0.68,   +3.73,  -64.30,  -32.12]  speed=20 wait=0.0s  (pre max|Δ|=1.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  6  Δ= -0.2  -1.1  -1.5  +0.2  -0.5  +0.2  着いた
  [Pi] GRIPPER: OPEN result= -1
[STATE ] 目標を渡す  目標と実測の最大差 1.47°（関節 j2）
[011] 推論 2417ms  10ステップ先  Δ= -0.1 -16.1  -0.8  +0.5 +15.0  -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_chunk011_via02: send_angles (single) [ +40.76,  +58.61,   -0.68,   +3.70,  -59.23,  -32.36]  speed=20 wait=0.0s  (pre max|Δ|=5.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  -5.5  -1.5  +0.2  +4.6  -0.0  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +40.99,  +54.45,   -0.54,   +3.76,  -54.85,  -32.48]  speed=20 wait=0.0s  (pre max|Δ|=6.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.97° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  -6.0  -1.3  +0.2  +6.7  -0.1  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +41.20,  +49.62,   -0.24,   +3.92,  -50.02,  -32.58]  speed=20 wait=0.0s  (pre max|Δ|=6.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  -6.8  -1.0  +0.4  +6.4  -0.2  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +40.77,  +48.08,   +0.00,   +3.97,  -48.78,  -32.59]  speed=20 wait=0.0s  (pre max|Δ|=3.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -3.6  -0.8  +0.3  +2.5  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.19°（関節 j1）
[012] 推論 860ms  10ステップ先  Δ= -6.2  -8.9  -0.4  -0.7  +8.8  +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 > 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|=50.27°, post-send timeout 9.5s)
[SEND] arrival OK: max|Δ|=1.40° (tol 2.5°)
[RECORD] 記録終了 コマ 2373 (8.895 fps) 実測角 1894 回 (7.1 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261101_190347/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_20261101_190347
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル corr (PixelstoMotors/pi05-mecharm-trim-corr-lora-v1))
    (278 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: [-0.26, 1.40, 0.79, 0.26, -0.26, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=2.0s  max_err=1.40°
[DONE] HOME 到達 max_err=1.40°
[POST] 最終姿勢: [-0.26, 1.40, 0.79, 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=  +0.9  dx=  -3.8  response=0.876  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (27 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_20261101_190854
[MODEL ] corr (PixelstoMotors/pi05-mecharm-trim-corr-lora-v1)
[CAMERA] 写り方 dy=-5.4 dx=+4.9 response=0.623 → 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_20261101_190854/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 869ms  10ステップ先  Δ= +3.5 +16.1 +10.9  -2.1 -23.0  +2.7
       [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 > 
[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) [  +0.52,   +5.36,   +3.06,   +0.01,   -4.99,  -29.84]  speed=20 wait=0.0s  (pre max|Δ|=4.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +4.0  +2.3  -0.3  -4.7  +0.4  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.62,  +10.70,   +6.70,   -0.83,  -12.98,  -28.92]  speed=20 wait=0.0s  (pre max|Δ|=9.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.4  +4.5  +2.7  -1.1  -9.8  +1.1  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.88,  +15.69,  +10.50,   -1.73,  -20.68,  -27.86]  speed=20 wait=0.0s  (pre max|Δ|=8.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  +4.2  +2.9  -1.1  -8.8  +1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.21,  +17.49,  +11.72,   -1.89,  -23.30,  -27.56]  speed=20 wait=0.0s  (pre max|Δ|=3.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.9  +0.4  -0.1  -3.6  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.87°（関節 j1）
[001] 推論 808ms  10ステップ先  Δ= +4.9 +15.2 +10.2  -1.3 -24.6  +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_chunk001_via02: send_angles (single) [  +4.33,  +22.37,  +14.90,   -2.58,  -30.22,  -26.90]  speed=20 wait=0.0s  (pre max|Δ|=7.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.7  +4.0  +2.4  -0.8  -7.2  +0.9  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +5.83,  +27.23,  +18.26,   -2.89,  -37.83,  -26.65]  speed=20 wait=0.0s  (pre max|Δ|=8.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.5  +3.9  +2.5  +0.1  -8.3  +0.5  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +7.21,  +32.31,  +21.96,   -2.97,  -45.89,  -26.59]  speed=20 wait=0.0s  (pre max|Δ|=8.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.82° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  +4.2  +3.1  +0.2  -8.5  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +7.57,  +33.57,  +22.71,   -3.04,  -47.66,  -26.53]  speed=20 wait=0.0s  (pre max|Δ|=1.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  +0.4  +0.3  +0.2  -1.9  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.88°（関節 j1）
[002] 推論 2341ms  10ステップ先  Δ= +2.4  +7.8  +5.9  +0.4 -14.4  +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) [  +8.85,  +38.65,  +26.24,   -3.27,  -55.69,  -26.50]  speed=20 wait=0.0s  (pre max|Δ|=8.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +4.2  +3.0  +0.1  -8.2  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +9.64,  +42.04,  +28.73,   -3.06,  -60.29,  -26.46]  speed=20 wait=0.0s  (pre max|Δ|=5.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  +2.5  +2.1  +0.1  -5.4  +0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +10.00,  +42.22,  +29.12,   -2.93,  -61.41,  -26.43]  speed=20 wait=0.0s  (pre max|Δ|=1.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -0.8  +0.1  +0.1  -1.1  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +10.10,  +42.30,  +29.13,   -2.93,  -61.86,  -26.42]  speed=20 wait=0.0s  (pre max|Δ|=1.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -0.8  +0.1  +0.0  -1.5  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.89°（関節 j4）
[003] 推論 825ms  10ステップ先  Δ= +2.1  +6.7  +0.8  +0.5  -2.3  +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 3 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=+9.6 j1=+43.1 j2=+29.0 j3=-3.0 j4=-62.8 j5=-26.6  グリッパー 開
[SEND] pi05_corr01_000: send_angles (single) [  +8.58,  +43.06,  +29.00,   -2.98,  -62.75,  -26.63]  speed=20 wait=0.0s  (pre max|Δ|=0.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
  [補正] j0 着いた (目標 +8.6 / 実測 +8.5, ずれ 0.06° ≤ 0.50°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+8.6 j1=+43.1 j2=+29.0 j3=-3.0 j4=-62.8 j5=-26.6  グリッパー 開
[SEND] pi05_corr01_001: send_angles (single) [  +9.58,  +43.06,  +29.00,   -2.98,  -62.75,  -26.63]  speed=20 wait=0.0s  (pre max|Δ|=1.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
  [補正] j0 着いた (目標 +9.6 / 実測 +9.7, ずれ 0.08° ≤ 0.50°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+9.6 j1=+43.1 j2=+29.0 j3=-3.0 j4=-62.8 j5=-26.6  グリッパー 開
[SEND] pi05_corr01_002: send_angles (single) [ +10.58,  +43.06,  +29.00,   -2.98,  -62.75,  -26.63]  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°)
  [補正] j0 着いた (目標 +10.6 / 実測 +10.6, ずれ 0.05° ≤ 0.50°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+10.6 j1=+43.1 j2=+29.0 j3=-3.0 j4=-62.8 j5=-26.6  グリッパー 開
[SEND] pi05_corr01_003: send_angles (single) [ +11.58,  +43.06,  +29.00,   -2.98,  -62.75,  -26.63]  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°)
  [補正] j0 着いた (目標 +11.6 / 実測 +11.5, ずれ 0.07° ≤ 0.50°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+11.6 j1=+43.1 j2=+29.0 j3=-3.0 j4=-62.8 j5=-26.6  グリッパー 開
[SEND] pi05_corr01_004: send_angles (single) [ +12.58,  +43.06,  +29.00,   -2.98,  -62.75,  -26.63]  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 +12.6 / 実測 +12.6, ずれ 0.02° ≤ 0.50°)
  [補正] 関節 j0  刻み 1.0°  補正目標 j0=+12.6 j1=+43.1 j2=+29.0 j3=-3.0 j4=-62.8 j5=-26.6  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)
[004] 推論 2171ms  10ステップ先  Δ= +1.6  +8.9  -3.0  -0.6  -2.2  +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_chunk004_via02: send_angles (single) [ +12.95,  +44.57,  +30.33,   -2.80,  -64.11,  -26.56]  speed=20 wait=0.0s  (pre max|Δ|=1.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +0.5  +1.3  +0.0  -1.4  +0.1  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +13.58,  +47.97,  +29.09,   -2.98,  -64.91,  -26.52]  speed=20 wait=0.0s  (pre max|Δ|=2.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.32° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  +2.5  -1.6  -0.2  -1.9  +0.0  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +14.05,  +51.87,  +26.74,   -3.34,  -65.00,  -26.55]  speed=20 wait=0.0s  (pre max|Δ|=3.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +3.0  -3.7  -0.5  -1.2  -0.0  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +14.12,  +52.89,  +25.98,   -3.43,  -64.96,  -26.58]  speed=20 wait=0.0s  (pre max|Δ|=1.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  +0.2  -1.8  -0.6  -0.6  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.17°（関節 j2）
[005] 推論 1209ms  8ステップ先  Δ= +0.3  +6.3  -6.9  -0.6  +1.2  -0.2  グリッパー→閉
       [VIA   ] 中継点 3 点: step 2, 5, 7
       Enter=実行 / s=送らず次へ / 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) [ +14.26,  +57.59,  +22.34,   -3.49,  -64.11,  -26.66]  speed=20 wait=0.0s  (pre max|Δ|=4.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.86° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +3.8  -4.8  -0.5  +0.7  -0.1  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +14.42,  +60.10,  +20.17,   -3.44,  -63.76,  -26.75]  speed=20 wait=0.0s  (pre max|Δ|=3.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.19° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  +1.7  -3.0  -0.4  +1.1  -0.2  着いた
[SEND] pi05_chunk005_via07: send_angles (single) [ +14.32,  +60.04,  +20.23,   -3.47,  -63.68,  -26.77]  speed=20 wait=0.0s  (pre max|Δ|=1.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.27° (tol 3.0°)
       [VIA   ] step  7  Δ= +0.3  -0.8  -0.7  -0.3  +1.3  -0.1  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= -1
[STATE ] 目標を渡す  目標と実測の最大差 2.50°（関節 j4）
[006] 推論 833ms  10ステップ先  Δ= +0.4  -6.7  +4.7  -0.3  +2.1  -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 > 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=+13.8 j1=+60.8 j2=+20.8 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+13.8 j1=+60.8 j2=+20.8 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_000: send_angles (single) [ +13.79,  +60.82,  +19.83,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=0.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 3.0°)
  [補正] j2 着いた (目標 +19.8 / 実測 +20.1, ずれ 0.29° ≤ 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+13.8 j1=+60.8 j2=+19.8 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_001: send_angles (single) [ +13.79,  +60.82,  +18.83,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=1.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
  [補正] j2 着いた (目標 +18.8 / 実測 +19.2, ずれ 0.33° ≤ 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+13.8 j1=+60.8 j2=+18.8 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_002: send_angles (single) [ +13.79,  +60.82,  +17.83,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=1.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
  [補正] j2 着いた (目標 +17.8 / 実測 +18.3, ずれ 0.45° ≤ 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+13.8 j1=+60.8 j2=+17.8 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_003: send_angles (single) [ +13.79,  +60.82,  +16.83,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=1.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
  [補正] j2 届いていない (目標 +16.8 / 実測 +17.6, ずれ 0.74° > 0.50°)
  [補正] 関節 j2  刻み 1.0°  補正目標 j0=+13.8 j1=+60.8 j2=+16.8 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.8 j1=+60.8 j2=+16.8 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_004: send_angles (single) [ +13.79,  +60.82,  +14.83,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=2.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
  [補正] j2 着いた (目標 +14.8 / 実測 +15.8, ずれ 0.99° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.8 j1=+60.8 j2=+14.8 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_005: send_angles (single) [ +13.79,  +60.82,  +12.83,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=2.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
  [補正] j2 着いた (目標 +12.8 / 実測 +13.7, ずれ 0.88° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.8 j1=+60.8 j2=+12.8 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_006: send_angles (single) [ +13.79,  +60.82,  +10.83,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=2.88°, 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 +10.8 / 実測 +11.9, ずれ 1.03° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.8 j1=+60.8 j2=+10.8 j3=-3.1 j4=-65.7 j5=-27.1  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_007: send_angles (single) [ +13.79,  +60.82,   +7.80,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=4.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] j2 着いた (目標 +7.8 / 実測 +8.6, ずれ 0.81° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.8 j1=+60.8 j2=+7.8 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_008: send_angles (single) [ +13.79,  +60.82,   +5.80,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=2.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] j2 着いた (目標 +5.8 / 実測 +6.8, ずれ 0.96° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.8 j1=+60.8 j2=+5.8 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_009: send_angles (single) [ +13.79,  +60.82,   +3.80,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=2.96°, 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 +3.8 / 実測 +4.8, ずれ 1.03° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.8 j1=+60.8 j2=+3.8 j3=-3.1 j4=-65.7 j5=-27.1  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_010: send_angles (single) [ +13.79,  +60.82,   +0.77,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=4.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
  [補正] j2 着いた (目標 +0.8 / 実測 +1.7, ずれ 0.89° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.8 j1=+60.8 j2=+0.8 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_011: send_angles (single) [ +13.79,  +60.82,   -1.23,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=2.89°, 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 -1.2 / 実測 -0.2, ずれ 1.06° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.8 j1=+60.8 j2=-1.2 j3=-3.1 j4=-65.7 j5=-27.1  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_012: send_angles (single) [ +13.79,  +60.82,   -4.29,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=4.12°, 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 -4.3 / 実測 -3.2, ずれ 1.13° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.8 j1=+60.8 j2=-4.3 j3=-3.1 j4=-65.7 j5=-27.1  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_013: send_angles (single) [ +13.79,  +60.82,   -7.42,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=4.26°, 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 -7.4 / 実測 -6.3, ずれ 1.10° > 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.8 j1=+60.8 j2=-7.4 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+13.8 j1=+60.8 j2=-7.4 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_014: send_angles (single) [ +13.79,  +58.82,   -7.42,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=2.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.52° (tol 3.0°)
  [補正] j1 届いていない (目標 +58.8 / 実測 +61.3, ずれ 2.52° > 1.00°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+13.8 j1=+58.8 j2=-7.4 j3=-3.1 j4=-65.7 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 (j1 を -4.0°)
[SEND] pi05_corr02_015: send_angles (single) [ +13.79,  +54.82,   -7.42,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=6.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
  [補正] j1 届いていない (目標 +54.8 / 実測 +56.9, ずれ 2.04° > 1.00°)
  [補正] 関節 j1  刻み 2.0°  補正目標 j0=+13.8 j1=+54.8 j2=-7.4 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.8 j1=+54.8 j2=-7.4 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_016: send_angles (single) [ +13.79,  +54.82,   -5.42,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=2.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
  [補正] j2 着いた (目標 -5.4 / 実測 -4.7, ずれ 0.77° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.8 j1=+54.8 j2=-5.4 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
[SEND] pi05_corr02_017: send_angles (single) [ +13.79,  +54.82,   -3.42,   -3.07,  -65.65,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=2.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
  [補正] j2 着いた (目標 -3.4 / 実測 -2.6, ずれ 0.79° ≤ 1.00°)
  [補正] 関節 j2  刻み 2.0°  補正目標 j0=+13.8 j1=+54.8 j2=-3.4 j3=-3.1 j4=-65.7 j5=-27.1  グリッパー 閉
[CORR  ] 補正 2 を終えました (18 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 870ms  10ステップ先  Δ=+12.8  -5.0  +3.9  +1.9  +1.3  -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 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ +14.17,  +55.76,   -0.47,   -3.00,  -66.82,  -26.72]  speed=20 wait=0.0s  (pre max|Δ|=2.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -1.1  +2.2  +0.2  -0.7  -0.0  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +17.38,  +53.90,   +1.99,   -2.51,  -67.05,  -26.61]  speed=20 wait=0.0s  (pre max|Δ|=3.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  5  Δ= +3.5  -3.0  +1.7  +0.7  -1.0  +0.1  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +24.57,  +52.26,   +1.79,   -1.73,  -65.69,  -26.79]  speed=20 wait=0.0s  (pre max|Δ|=7.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.32° (tol 3.0°)
       [VIA   ] step  8  Δ= +7.3  -4.1  -0.9  +0.6  +0.4  -0.1  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +26.67,  +51.89,   +1.27,   -1.46,  -65.02,  -26.95]  speed=20 wait=0.0s  (pre max|Δ|=2.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.69° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.1  -2.7  -1.4  +0.3  +1.1  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.69°（関節 j1）
[008] 推論 2500ms  10ステップ先  Δ=+16.5  -2.1  -6.7  +3.7  +5.1  -3.4
       [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) [ +33.27,  +50.54,   +0.05,   -0.13,  -63.31,  -27.89]  speed=20 wait=0.0s  (pre max|Δ|=6.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.45° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.6  -4.0  -2.7  +1.4  +2.1  -1.2  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +38.89,  +50.24,   -1.56,   +1.13,  -61.68,  -28.87]  speed=20 wait=0.0s  (pre max|Δ|=5.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.40° (tol 3.0°)
       [VIA   ] step  5  Δ= +5.5  -2.7  -3.0  +1.1  +1.9  -1.4  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +42.77,  +51.49,   -3.50,   +2.06,  -60.53,  -29.88]  speed=20 wait=0.0s  (pre max|Δ|=3.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.40° (tol 3.0°)
       [VIA   ] step  8  Δ= +3.7  -1.2  -3.2  +0.5  +1.4  -1.4  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +43.25,  +52.45,   -3.99,   +2.22,  -60.67,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=1.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.53° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -0.2  -1.9  -0.2  +0.2  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.53°（関節 j2）
[009] 推論 930ms  10ステップ先  Δ= +0.6 +10.3  -2.2  +0.4  -9.1  -0.5  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 / 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) [ +43.25,  +58.03,   -3.98,   +2.50,  -64.69,  -30.10]  speed=20 wait=0.0s  (pre max|Δ|=4.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +4.3  -1.5  +0.0  -4.1  -0.3  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +43.29,  +62.98,   -4.54,   +2.76,  -68.13,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=5.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.60° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +3.7  -2.1  +0.3  -5.4  -0.4  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +43.40,  +64.01,   -4.67,   +2.87,  -69.62,  -30.25]  speed=20 wait=0.0s  (pre max|Δ|=3.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.60° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  -0.1  -1.6  +0.4  -3.1  -0.4  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +43.40,  +64.01,   -4.67,   +2.87,  -69.62,  -30.25]  speed=20 wait=0.0s  (pre max|Δ|=1.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.60° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -1.2  -1.6  +0.3  -0.6  -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 1.60°（関節 j2）
[010] 推論 868ms  10ステップ先  Δ= +0.2 -18.8  -0.7  +0.3 +18.3  -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_chunk010_via02: send_angles (single) [ +43.29,  +59.01,   -4.70,   +2.86,  -64.35,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=6.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.53° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -6.2  -1.6  +0.2  +4.6  -0.4  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +43.59,  +54.09,   -4.67,   +2.92,  -58.40,  -30.57]  speed=20 wait=0.0s  (pre max|Δ|=8.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.24° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  -7.0  -1.4  +0.3  +8.4  -0.6  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +43.57,  +48.45,   -4.16,   +2.96,  -52.60,  -30.82]  speed=20 wait=0.0s  (pre max|Δ|=7.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.26° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -7.9  -0.9  +0.2  +7.4  -0.5  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +43.00,  +46.45,   -3.80,   +2.88,  -50.68,  -30.91]  speed=20 wait=0.0s  (pre max|Δ|=4.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -4.3  -0.6  +0.1  +3.2  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.06°（関節 j1）
[011] 推論 955ms  10ステップ先  Δ= -0.9  -3.4  -0.6  -0.3  +3.9  -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|=51.41°, post-send timeout 9.7s)
[SEND] arrival OK: max|Δ|=1.40° (tol 2.5°)
[RECORD] 記録終了 コマ 1801 (8.921 fps) 実測角 1081 回 (5.35 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261101_190854/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_20261101_190854
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル corr (PixelstoMotors/pi05-mecharm-trim-corr-lora-v1))
    (213 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: [-0.26, 1.40, 0.70, 0.26, -0.26, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=2.0s  max_err=1.40°
[DONE] HOME 到達 max_err=1.40°
[POST] 最終姿勢: [-0.26, 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=  +1.2  dx=  -1.7  response=0.858  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (21 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_20261101_191547
[MODEL ] corr (PixelstoMotors/pi05-mecharm-trim-corr-lora-v1)
[CAMERA] 写り方 dy=-5.4 dx=+4.9 response=0.637 → 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_20261101_191547/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 820ms  10ステップ先  Δ= +3.5 +14.4 +10.3  -2.1 -21.2  +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) [  +0.67,   +4.86,   +2.89,   +0.02,   -4.49,  -29.79]  speed=20 wait=0.0s  (pre max|Δ|=4.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.9  +3.5  +2.2  -0.2  -4.2  +0.4  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.80,   +9.31,   +6.22,   -0.82,  -11.32,  -28.91]  speed=20 wait=0.0s  (pre max|Δ|=9.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.4  +3.6  +2.4  -1.1  -9.0  +1.1  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +3.00,  +14.34,   +9.93,   -1.68,  -19.26,  -27.93]  speed=20 wait=0.0s  (pre max|Δ|=9.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.3  +4.1  +2.8  -1.0  -9.1  +1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.28,  +15.80,  +11.02,   -1.87,  -21.48,  -27.67]  speed=20 wait=0.0s  (pre max|Δ|=3.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.81° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.6  +0.2  +0.1  -3.3  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.81°（関節 j1）
[001] 推論 2250ms  10ステップ先  Δ= +5.1 +15.6 +10.3  -0.8 -25.8  +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_chunk001_via02: send_angles (single) [  +4.41,  +20.59,  +14.19,   -2.70,  -28.46,  -26.86]  speed=20 wait=0.0s  (pre max|Δ|=6.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.7  +4.0  +2.4  -0.7  -6.9  +1.0  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +5.86,  +25.69,  +17.55,   -2.92,  -36.73,  -26.56]  speed=20 wait=0.0s  (pre max|Δ|=8.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.6  +4.1  +2.5  +0.4  -9.0  +0.5  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +7.32,  +30.81,  +21.25,   -2.81,  -45.34,  -26.46]  speed=20 wait=0.0s  (pre max|Δ|=9.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.8  +4.2  +3.0  +0.5  -9.0  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +7.82,  +32.16,  +22.09,   -2.81,  -47.32,  -26.44]  speed=20 wait=0.0s  (pre max|Δ|=2.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  +0.4  +0.4  +0.6  -2.3  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.88°（関節 j1）
[002] 推論 849ms  10ステップ先  Δ= +2.9 +11.5  +8.3  +0.8 -17.5  +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) [  +9.33,  +38.24,  +26.05,   -3.16,  -56.54,  -26.38]  speed=20 wait=0.0s  (pre max|Δ|=9.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.5  +5.2  +3.5  +0.1  -9.4  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +10.27,  +42.82,  +29.35,   -2.89,  -62.63,  -26.40]  speed=20 wait=0.0s  (pre max|Δ|=7.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.2  +3.6  +2.9  +0.1  -7.0  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +10.59,  +44.54,  +30.89,   -2.53,  -64.49,  -26.35]  speed=20 wait=0.0s  (pre max|Δ|=2.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  +0.7  +1.3  +0.3  -2.0  +0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +10.68,  +44.54,  +30.87,   -2.50,  -64.70,  -26.33]  speed=20 wait=0.0s  (pre max|Δ|=0.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -0.9  -0.3  +0.2  +0.3  +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）
[003] 推論 898ms  10ステップ先  Δ= +1.3  +3.7  -2.5  +0.2  +0.8  +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_chunk003_via02: send_angles (single) [ +11.14,  +44.70,  +31.34,   -2.44,  -64.99,  -26.31]  speed=20 wait=0.0s  (pre max|Δ|=0.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.73° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.0  -0.7  +0.1  +0.3  -0.0  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +11.37,  +45.53,  +30.82,   -2.50,  -64.32,  -26.32]  speed=20 wait=0.0s  (pre max|Δ|=0.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +0.1  -0.4  -0.1  +0.6  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +11.47,  +47.64,  +29.65,   -2.54,  -64.23,  -26.35]  speed=20 wait=0.0s  (pre max|Δ|=1.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.28° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +1.1  -1.5  -0.2  +0.8  +0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +11.47,  +49.09,  +28.65,   -2.53,  -64.18,  -26.38]  speed=20 wait=0.0s  (pre max|Δ|=2.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.5  -2.3  -0.2  +0.9  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.14°（関節 j2）
[004] 推論 566ms  10ステップ先  Δ= +0.9 +11.4  -9.9  -0.3  +2.8  -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 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ +11.57,  +52.98,  +26.19,   -2.55,  -63.71,  -26.60]  speed=20 wait=0.0s  (pre max|Δ|=3.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +3.0  -3.6  -0.3  +1.4  -0.1  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +11.91,  +57.76,  +22.63,   -2.48,  -62.98,  -26.78]  speed=20 wait=0.0s  (pre max|Δ|=4.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  +3.9  -4.4  -0.2  +1.8  -0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +12.01,  +60.91,  +20.27,   -2.55,  -62.51,  -26.88]  speed=20 wait=0.0s  (pre max|Δ|=3.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  +2.5  -3.1  -0.3  +1.4  -0.2  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +11.78,  +61.39,  +19.93,   -2.55,  -62.35,  -26.95]  speed=20 wait=0.0s  (pre max|Δ|=2.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  +0.1  -0.7  -0.3  +2.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.16°（関節 j4）
[005] 推論 944ms  3ステップ先  Δ= +0.3  -0.2  -0.8  -0.2  +2.1  +0.3  グリッパー→閉
       [VIA   ] 中継点 1 点: step 2
       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) [ +11.84,  +61.45,  +19.89,   -2.56,  -62.45,  -27.06]  speed=20 wait=0.0s  (pre max|Δ|=2.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.97° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -0.2  -0.8  -0.2  +2.1  +0.3  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= -1
[STATE ] 目標を渡す  目標と実測の最大差 1.97°（関節 j4）
[006] 推論 2936ms  10ステップ先  Δ= +0.7  -9.2  +8.5  -1.5  +1.1  +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 / 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) [ +11.86,  +59.37,  +21.78,   -2.61,  -62.75,  -27.10]  speed=20 wait=0.0s  (pre max|Δ|=2.32°, post-send timeout 8.0s)