       [LIMIT] step 5 (実測から): j4 移動量 -34.1° を ±20° に制限
[SEND] pi05_chunk006_via05: send_angles (single) [ +27.83,  +43.30,   +0.87,   -0.28,  -34.67,  -28.31]  speed=20 wait=0.0s  (pre max|Δ|=20.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.6  -2.1  -2.6  +1.3 -20.0  -0.3  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +34.79,  +43.18,   -0.45,   +0.31,  -47.63,  -28.70]  speed=20 wait=0.0s  (pre max|Δ|=12.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  8  Δ= +7.3  -2.3  -2.6  +0.7 -12.0  -0.7  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +36.08,  +43.46,   -0.49,   +0.34,  -47.85,  -28.67]  speed=20 wait=0.0s  (pre max|Δ|=1.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.97° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.4  -2.0  -1.7  -0.1  -1.5  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.97°（関節 j1）
[007] 推論 1178ms  10ステップ先  Δ= +2.6 +13.2  -3.6  +1.5 -11.5  -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 > 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|=47.63°, post-send timeout 9.1s)
[SEND] [TIMEOUT] 9.1s 内に未到達: max|Δ|=53.34° actual=[  +0.00,   +1.31,   +1.23,   +0.08,  +53.34,  -29.70]
[SEND] リトライしません: pre→last max|Δ| 100.97° >= 1.0° (部分移動/ストール疑い)
[RECORD] 記録終了 コマ 1376 (8.896 fps) 実測角 946 回 (6.12 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261101_194042/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_20261101_194042
[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))
    (161 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 (10 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: [0.00, 1.31, 1.23, -0.08, 54.49, -29.70]
[SEND] HOME へ移動指令
[WAIT] t=2.1s  max_err=54.49°
[WAIT] t=2.6s  max_err=54.49°
[WAIT] t=3.1s  max_err=54.49°
[WAIT] t=3.6s  max_err=54.49°
[WAIT] t=4.1s  max_err=54.49°
[WAIT] t=4.7s  max_err=54.49°
[WAIT] t=5.2s  max_err=54.49°
[WAIT] t=5.7s  max_err=54.49°
[WAIT] t=6.2s  max_err=54.49°
[WAIT] t=6.8s  max_err=54.49°
[WAIT] t=7.3s  max_err=54.49°
[WAIT] t=7.8s  max_err=54.49°
[WAIT] t=8.3s  max_err=54.49°
[WAIT] t=8.9s  max_err=54.49°
[WAIT] t=9.4s  max_err=54.49°
[WAIT] t=9.9s  max_err=54.49°
[WAIT] t=10.4s  max_err=54.49°
[WAIT] t=10.9s  max_err=54.49°
[WAIT] t=11.5s  max_err=54.49°
[WAIT] t=12.0s  max_err=54.49°
[WAIT] t=12.5s  max_err=54.49°
[WAIT] t=13.0s  max_err=54.49°
[WAIT] t=13.6s  max_err=54.49°
[WAIT] t=14.1s  max_err=54.49°
[WAIT] t=14.6s  max_err=54.49°
[WAIT] t=15.1s  max_err=54.49°
[WAIT] t=15.7s  max_err=54.49°
[WAIT] t=16.2s  max_err=54.49°
[WAIT] t=16.7s  max_err=54.49°
[WAIT] t=17.2s  max_err=54.49°
[WAIT] t=17.8s  max_err=54.49°
[WAIT] t=18.3s  max_err=54.49°
[WAIT] t=18.8s  max_err=54.49°
[WAIT] t=19.3s  max_err=54.49°
[WAIT] t=19.9s  max_err=54.49°
[WAIT] t=20.4s  max_err=54.49°
[WAIT] t=20.9s  max_err=54.49°
[WAIT] t=21.4s  max_err=54.49°
[WAIT] t=21.9s  max_err=54.49°
[WAIT] t=22.5s  max_err=54.49°
[WAIT] t=23.0s  max_err=54.49°
[WAIT] t=23.5s  max_err=54.49°
[WAIT] t=24.0s  max_err=54.49°
[WAIT] t=24.5s  max_err=54.49°
[WAIT] t=25.1s  max_err=54.49°
[WAIT] t=25.6s  max_err=54.49°
[WAIT] t=26.1s  max_err=54.49°
[WAIT] t=26.6s  max_err=54.49°
[WAIT] t=27.2s  max_err=54.49°
[WAIT] t=27.7s  max_err=54.49°
[WAIT] t=28.2s  max_err=54.49°
[WAIT] t=28.7s  max_err=54.49°
[WAIT] t=29.3s  max_err=54.49°
[WAIT] t=29.8s  max_err=54.49°
[WAIT] t=30.3s  max_err=54.49°
[WAIT] t=30.8s  max_err=54.49°
[WAIT] t=31.4s  max_err=54.49°
[WAIT] t=31.9s  max_err=54.49°
[WAIT] t=32.4s  max_err=54.49°
[WAIT] t=32.9s  max_err=54.49°
[WAIT] t=33.5s  max_err=54.49°
[WAIT] t=34.0s  max_err=54.49°
[WAIT] t=34.5s  max_err=54.49°
[WAIT] t=35.0s  max_err=54.49°
[WAIT] t=35.5s  max_err=54.49°
[WAIT] t=36.1s  max_err=54.49°
[WAIT] t=36.6s  max_err=54.49°
[WAIT] t=37.1s  max_err=54.49°
[WAIT] t=37.6s  max_err=54.49°
[WAIT] t=38.1s  max_err=54.49°
[WAIT] t=38.7s  max_err=54.49°
[WAIT] t=39.2s  max_err=54.49°
[WAIT] t=39.7s  max_err=54.49°
[WAIT] t=40.2s  max_err=54.49°
[WAIT] t=40.7s  max_err=54.49°
[WAIT] t=41.3s  max_err=54.49°
[WAIT] t=41.8s  max_err=54.49°
[WAIT] t=42.3s  max_err=54.49°
[WAIT] t=42.8s  max_err=54.49°
[WAIT] t=43.4s  max_err=54.49°
[WAIT] t=43.9s  max_err=54.49°

[WAIT] t=44.4s  max_err=54.49°
[WAIT] t=44.9s  max_err=54.49°
[WAIT] t=45.5s  max_err=54.49°
[WAIT] t=46.0s  max_err=54.49°
[WAIT] t=46.5s  max_err=54.49°
[WAIT] t=47.0s  max_err=54.49°
[WAIT] t=47.5s  max_err=54.49°
[WAIT] t=48.1s  max_err=54.49°
[WAIT] t=48.6s  max_err=54.49°
[WAIT] t=49.1s  max_err=54.49°
[WAIT] t=49.6s  max_err=54.49°
[WAIT] t=50.2s  max_err=54.49°
[WAIT] t=50.7s  max_err=54.49°
[WAIT] t=51.2s  max_err=54.49°
[WAIT] t=51.7s  max_err=54.49°
[WAIT] t=52.3s  max_err=54.49°
[WAIT] t=52.8s  max_err=54.49°
[WAIT] t=53.3s  max_err=54.49°
[WAIT] t=53.8s  max_err=54.49°
[WAIT] t=54.3s  max_err=54.49°
[WAIT] t=54.9s  max_err=54.49°
[WAIT] t=55.4s  max_err=54.49°
[WAIT] t=55.9s  max_err=54.49°
[WAIT] t=56.5s  max_err=54.49°
[WAIT] t=57.0s  max_err=54.49°
[WAIT] t=57.5s  max_err=54.49°
[WAIT] t=58.0s  max_err=54.49°
[WAIT] t=58.6s  max_err=54.49°
[WAIT] t=59.1s  max_err=54.49°
[WAIT] t=59.6s  max_err=54.49°
[WAIT] t=60.1s  max_err=54.49°
[WAIT] t=60.6s  max_err=54.49°
[WAIT] t=61.2s  max_err=54.49°
[WAIT] t=61.7s  max_err=54.49°
[WAIT] t=62.2s  max_err=54.49°
[WAIT] t=62.7s  max_err=54.49°
[WAIT] t=63.3s  max_err=54.49°
[WAIT] t=63.8s  max_err=54.49°
[WAIT] t=64.3s  max_err=54.49°
[WAIT] t=64.8s  max_err=54.49°
[WAIT] t=65.3s  max_err=54.49°
[WAIT] t=65.9s  max_err=54.49°
[WAIT] t=66.4s  max_err=54.49°
[WAIT] t=66.9s  max_err=54.49°
[WAIT] t=67.4s  max_err=54.49°
[WAIT] t=68.0s  max_err=54.49°
[WAIT] t=68.5s  max_err=54.49°
[WAIT] t=69.0s  max_err=54.49°
[WAIT] t=69.5s  max_err=54.49°
[WAIT] t=70.1s  max_err=54.49°
[WAIT] t=70.6s  max_err=54.49°
[WAIT] t=71.1s  max_err=54.49°
[WAIT] t=71.6s  max_err=54.49°
[WAIT] t=72.2s  max_err=54.49°
[WAIT] t=72.7s  max_err=54.49°
[WAIT] t=73.2s  max_err=54.49°
[WAIT] t=73.7s  max_err=54.49°
[WAIT] t=74.2s  max_err=54.49°
[WAIT] t=74.8s  max_err=54.49°
[WAIT] t=75.3s  max_err=54.49°
[WAIT] t=75.8s  max_err=54.49°
[WAIT] t=76.3s  max_err=54.49°
[WAIT] t=76.8s  max_err=54.49°
[WAIT] t=77.4s  max_err=54.49°
[WAIT] t=77.9s  max_err=54.49°
[WAIT] t=78.4s  max_err=54.49°
[WAIT] t=79.0s  max_err=54.49°
[WAIT] t=79.5s  max_err=54.49°
[WAIT] t=80.0s  max_err=54.49°
[WAIT] t=80.5s  max_err=54.49°
[WAIT] t=81.1s  max_err=54.49°
[WAIT] t=81.6s  max_err=54.49°
[WAIT] t=82.1s  max_err=54.49°
[WAIT] t=82.6s  max_err=54.49°
[WAIT] t=83.1s  max_err=54.49°
[WAIT] t=83.7s  max_err=54.49°
[WAIT] t=84.2s  max_err=54.49°
[WAIT] t=84.7s  max_err=54.49°
[WAIT] t=85.3s  max_err=54.49°
[WAIT] t=85.8s  max_err=54.49°
[WAIT] t=86.3s  max_err=54.49°
[WAIT] t=86.8s  max_err=54.49°
[WAIT] t=87.3s  max_err=54.49°
[WAIT] t=87.9s  max_err=54.49°
[WAIT] t=88.4s  max_err=54.49°
[WAIT] t=88.9s  max_err=54.49°
[WAIT] t=89.4s  max_err=54.49°
[WAIT] t=90.0s  max_err=54.49°
[WAIT] t=90.5s  max_err=54.49°
[WAIT] t=91.0s  max_err=54.49°
[WAIT] t=91.5s  max_err=54.49°
[WAIT] t=92.1s  max_err=54.49°
[WAIT] t=92.6s  max_err=54.49°
[WAIT] t=93.1s  max_err=54.49°
[WAIT] t=93.6s  max_err=54.49°
[WAIT] t=94.1s  max_err=54.49°
[WAIT] t=94.7s  max_err=54.49°
[WAIT] t=95.2s  max_err=54.49°
[WAIT] t=95.7s  max_err=54.49°
[WAIT] t=96.2s  max_err=54.49°
[WAIT] t=96.8s  max_err=54.49°
[WAIT] t=97.3s  max_err=54.49°
[WAIT] t=97.8s  max_err=54.49°
[WAIT] t=98.3s  max_err=54.49°
[WAIT] t=98.9s  max_err=54.49°
[WAIT] t=99.4s  max_err=54.49°
[WAIT] t=99.9s  max_err=54.49°
[WAIT] t=100.4s  max_err=54.49°
[WAIT] t=100.9s  max_err=54.49°
[WAIT] t=101.5s  max_err=54.49°
[WAIT] t=102.0s  max_err=54.49°
[WAIT] t=102.5s  max_err=54.49°
[WAIT] t=103.0s  max_err=54.49°
[WAIT] t=103.6s  max_err=54.49°
[WAIT] t=104.1s  max_err=54.49°
[WAIT] t=104.6s  max_err=54.49°
[WAIT] t=105.1s  max_err=54.49°
[WAIT] t=105.6s  max_err=54.49°
[WAIT] t=106.2s  max_err=54.49°
[WAIT] t=106.7s  max_err=54.49°
[WAIT] t=107.2s  max_err=54.49°
[WAIT] t=107.7s  max_err=54.49°
[WAIT] t=108.3s  max_err=54.49°
[WAIT] t=108.8s  max_err=54.49°
[WAIT] t=109.3s  max_err=54.49°
[WAIT] t=109.8s  max_err=54.49°
[WAIT] t=110.4s  max_err=54.49°
[WAIT] t=110.9s  max_err=54.49°
[WAIT] t=111.4s  max_err=54.49°
[WAIT] t=111.9s  max_err=54.49°
[WAIT] t=112.5s  max_err=54.49°
[WAIT] t=113.0s  max_err=54.49°
[WAIT] t=113.5s  max_err=54.49°
[WAIT] t=114.0s  max_err=54.49°
[WAIT] t=114.6s  max_err=54.49°
[WAIT] t=115.1s  max_err=54.49°
[WAIT] t=115.6s  max_err=54.49°
[WAIT] t=116.1s  max_err=54.49°
[WAIT] t=116.7s  max_err=54.49°
[WAIT] t=117.2s  max_err=54.49°
[WAIT] t=117.7s  max_err=54.49°
[WAIT] t=118.2s  max_err=54.49°
[WAIT] t=118.7s  max_err=54.49°
[WAIT] t=119.3s  max_err=54.49°
[WAIT] t=119.8s  max_err=54.49°
[WAIT] t=120.3s  max_err=54.49°
[WAIT] t=120.8s  max_err=54.49°
[WAIT] t=121.4s  max_err=54.49°
[WAIT] t=121.9s  max_err=54.49°
[WAIT] t=122.4s  max_err=54.49°
[WAIT] t=122.9s  max_err=54.49°
[WAIT] t=123.5s  max_err=54.49°
[WAIT] t=124.0s  max_err=54.49°
[WAIT] t=124.5s  max_err=54.49°
[WAIT] t=125.0s  max_err=54.49°
[WAIT] t=125.6s  max_err=54.49°
[WAIT] t=126.1s  max_err=54.49°
[WAIT] t=126.6s  max_err=54.49°
[WAIT] t=127.1s  max_err=54.49°
[WAIT] t=127.6s  max_err=54.49°
[WAIT] t=128.2s  max_err=54.49°
[WAIT] t=128.7s  max_err=54.49°
[WAIT] t=129.2s  max_err=54.49°
[WAIT] t=129.7s  max_err=54.49°
[WAIT] t=130.2s  max_err=54.49°
[WAIT] t=130.8s  max_err=54.49°
[WAIT] t=131.3s  max_err=54.49°
[WAIT] t=131.8s  max_err=54.49°
[WAIT] t=132.4s  max_err=54.49°
[WAIT] t=132.9s  max_err=54.49°
[WAIT] t=133.4s  max_err=54.49°
[WAIT] t=133.9s  max_err=54.49°
[WAIT] t=134.4s  max_err=54.49°
[WAIT] t=135.0s  max_err=54.49°
[WAIT] t=135.5s  max_err=54.49°
[WAIT] t=136.0s  max_err=54.49°
[WAIT] t=136.5s  max_err=54.49°
[WAIT] t=137.1s  max_err=54.49°
[WAIT] t=137.6s  max_err=54.49°
[WAIT] t=138.1s  max_err=54.49°
[WAIT] t=138.6s  max_err=54.49°
[WAIT] t=139.1s  max_err=54.49°
[WAIT] t=139.7s  max_err=54.49°
[WAIT] t=140.2s  max_err=54.49°
[WAIT] t=140.7s  max_err=54.49°
[WAIT] t=141.2s  max_err=54.49°
[WAIT] t=141.7s  max_err=54.49°
[WAIT] t=142.3s  max_err=54.49°
[WAIT] t=142.8s  max_err=54.49°
[WAIT] t=143.3s  max_err=54.49°
[WAIT] t=143.9s  max_err=54.49°
[WAIT] t=144.4s  max_err=54.49°
[WAIT] t=144.9s  max_err=54.49°
[WAIT] t=145.4s  max_err=54.49°
[WAIT] t=145.9s  max_err=54.49°
[WAIT] t=146.5s  max_err=54.49°
[WAIT] t=147.0s  max_err=54.49°
[WAIT] t=147.5s  max_err=54.49°
[WAIT] t=148.0s  max_err=54.49°
[WAIT] t=148.6s  max_err=54.49°
[WAIT] t=149.1s  max_err=54.49°
[WAIT] t=149.6s  max_err=54.49°
[WAIT] t=150.1s  max_err=54.49°
[WAIT] t=150.7s  max_err=54.49°
[WAIT] t=151.2s  max_err=54.49°
[WAIT] t=151.7s  max_err=54.49°
[WAIT] t=152.2s  max_err=54.49°
[WAIT] t=152.7s  max_err=54.49°
[WAIT] t=153.3s  max_err=54.49°
[WAIT] t=153.8s  max_err=54.49°
[WAIT] t=154.3s  max_err=54.49°
[WAIT] t=154.9s  max_err=54.49°
[WAIT] t=155.4s  max_err=54.49°
[WAIT] t=155.9s  max_err=54.49°
[WAIT] t=156.4s  max_err=54.49°
[WAIT] t=157.0s  max_err=54.49°
[WAIT] t=157.5s  max_err=54.49°
[WAIT] t=158.0s  max_err=54.49°
[WAIT] t=158.5s  max_err=54.49°
[WAIT] t=159.0s  max_err=54.49°
[WAIT] t=159.6s  max_err=54.49°
[WAIT] t=160.1s  max_err=54.49°
[WAIT] t=160.6s  max_err=54.49°
[WAIT] t=161.1s  max_err=54.49°
[WAIT] t=161.7s  max_err=54.49°
[WAIT] t=162.2s  max_err=54.49°
[WAIT] t=162.7s  max_err=54.49°
[WAIT] t=163.2s  max_err=54.49°
[WAIT] t=163.7s  max_err=54.49°
[WAIT] t=164.3s  max_err=54.49°
[WAIT] t=164.8s  max_err=54.49°
[WAIT] t=165.3s  max_err=54.49°
[WAIT] t=165.8s  max_err=54.49°
[WAIT] t=166.4s  max_err=54.49°
[WAIT] t=166.9s  max_err=54.49°
[WAIT] t=167.4s  max_err=54.49°
[WAIT] t=167.9s  max_err=54.49°
[WAIT] t=168.5s  max_err=54.49°
[WAIT] t=169.0s  max_err=54.49°
[WAIT] t=169.5s  max_err=54.49°
[WAIT] t=170.0s  max_err=54.49°
[WAIT] t=170.5s  max_err=54.49°
[WAIT] t=171.0s  max_err=54.49°
[WAIT] t=171.6s  max_err=54.49°
[WAIT] t=172.1s  max_err=54.49°
[WAIT] t=172.6s  max_err=54.49°
[WAIT] t=173.2s  max_err=54.49°
[WAIT] t=173.7s  max_err=54.49°
[WAIT] t=174.2s  max_err=54.49°
[WAIT] t=174.7s  max_err=54.49°
[WAIT] t=175.2s  max_err=54.49°
[WAIT] t=175.8s  max_err=54.49°
[WAIT] t=176.3s  max_err=54.49°
[WAIT] t=176.8s  max_err=54.49°
[WAIT] t=177.3s  max_err=54.49°
[WAIT] t=177.8s  max_err=54.49°
[WAIT] t=178.4s  max_err=54.49°
[WAIT] t=178.9s  max_err=54.49°
[WAIT] t=179.4s  max_err=54.49°
[WAIT] t=179.9s  max_err=54.49°
[WAIT] t=180.5s  max_err=54.49°
[WAIT] t=181.0s  max_err=54.49°
[WAIT] t=181.5s  max_err=54.49°
[WAIT] t=182.0s  max_err=54.49°
[WAIT] t=182.6s  max_err=54.49°
[WAIT] t=183.1s  max_err=54.49°
[WAIT] t=183.6s  max_err=54.49°
[WAIT] t=184.1s  max_err=54.49°
[WAIT] t=184.7s  max_err=54.49°
[WAIT] t=185.2s  max_err=54.49°
[WAIT] t=185.7s  max_err=54.49°
[WAIT] t=186.2s  max_err=54.49°
[WAIT] t=186.8s  max_err=54.49°
[WAIT] t=187.3s  max_err=54.49°
[WAIT] t=187.8s  max_err=54.49°
[WAIT] t=188.3s  max_err=54.49°
[WAIT] t=188.8s  max_err=54.49°
[WAIT] t=189.4s  max_err=54.49°
[WAIT] t=189.9s  max_err=54.49°
[WAIT] t=190.4s  max_err=54.49°
[WAIT] t=191.0s  max_err=54.49°
[WAIT] t=191.5s  max_err=54.49°
[WAIT] t=192.0s  max_err=54.49°
[WAIT] t=192.5s  max_err=54.49°
[WAIT] t=193.1s  max_err=54.49°
[WAIT] t=193.6s  max_err=54.49°
[WAIT] t=194.1s  max_err=54.49°
[WAIT] t=194.6s  max_err=54.49°
[WAIT] t=195.1s  max_err=54.49°
[WAIT] t=195.7s  max_err=54.49°
[WAIT] t=196.2s  max_err=54.49°
[WAIT] t=196.7s  max_err=54.49°
[WAIT] t=197.2s  max_err=54.49°
[WAIT] t=197.8s  max_err=54.49°
[WAIT] t=198.3s  max_err=54.49°
[WAIT] t=198.8s  max_err=54.49°
[WAIT] t=199.3s  max_err=54.49°
[WAIT] t=199.8s  max_err=54.49°
[WAIT] t=200.4s  max_err=54.49°
[WAIT] t=200.9s  max_err=54.49°
[WAIT] t=201.4s  max_err=54.49°
[WAIT] t=201.9s  max_err=54.49°
[WAIT] t=202.5s  max_err=54.49°
[WAIT] t=203.0s  max_err=54.49°
[WAIT] t=203.5s  max_err=54.49°
[WAIT] t=204.0s  max_err=54.49°
[WAIT] t=204.6s  max_err=54.49°
[WAIT] t=205.1s  max_err=54.49°
[WAIT] t=205.6s  max_err=54.49°
[WAIT] t=206.1s  max_err=54.49°
[WAIT] t=206.7s  max_err=54.49°
[WAIT] t=207.2s  max_err=54.49°
[WAIT] t=207.7s  max_err=54.49°
[WAIT] t=208.2s  max_err=54.49°
[WAIT] t=208.8s  max_err=54.49°
[WAIT] t=209.3s  max_err=54.49°
[WAIT] t=209.8s  max_err=54.49°
[WAIT] t=210.3s  max_err=54.49°
[WAIT] t=210.8s  max_err=54.49°
[WAIT] t=211.4s  max_err=54.49°
[WAIT] t=211.9s  max_err=54.49°
[WAIT] t=212.4s  max_err=54.49°
[WAIT] t=212.9s  max_err=54.49°
[WAIT] t=213.5s  max_err=54.49°
[WAIT] t=214.0s  max_err=54.49°
[WAIT] t=214.5s  max_err=54.49°
[WAIT] t=215.1s  max_err=54.49°
[WAIT] t=215.6s  max_err=54.49°
[WAIT] t=216.1s  max_err=54.49°
[WAIT] t=216.6s  max_err=54.49°
[WAIT] t=217.1s  max_err=54.49°
[WAIT] t=217.7s  max_err=54.49°
[WAIT] t=218.2s  max_err=54.49°
[WAIT] t=218.7s  max_err=54.49°
[WAIT] t=219.2s  max_err=54.49°
[WAIT] t=219.8s  max_err=54.49°
[WAIT] t=220.3s  max_err=54.49°
[WAIT] t=220.8s  max_err=54.49°
[WAIT] t=221.3s  max_err=54.49°
[WAIT] t=221.9s  max_err=54.49°
[WAIT] t=222.4s  max_err=54.49°
[WAIT] t=222.9s  max_err=54.49°
[WAIT] t=223.4s  max_err=54.49°
[WAIT] t=223.9s  max_err=54.49°
[WAIT] t=224.4s  max_err=54.49°
[WAIT] t=225.0s  max_err=54.49°
[WAIT] t=225.5s  max_err=54.49°
[WAIT] t=226.0s  max_err=54.49°
[WAIT] t=226.5s  max_err=54.49°
[WAIT] t=227.1s  max_err=54.49°
[WAIT] t=227.6s  max_err=54.49°
[WAIT] t=228.1s  max_err=54.49°
[WAIT] t=228.6s  max_err=54.49°
[WAIT] t=229.1s  max_err=54.49°
[WAIT] t=229.7s  max_err=54.49°
[WAIT] t=230.2s  max_err=54.49°
[WAIT] t=230.7s  max_err=54.49°
[WAIT] t=231.2s  max_err=54.49°
[WAIT] t=231.8s  max_err=54.49°
[WAIT] t=232.3s  max_err=54.49°
[WAIT] t=232.8s  max_err=54.49°
[WAIT] t=233.3s  max_err=54.49°
[WAIT] t=233.8s  max_err=54.49°
[WAIT] t=234.4s  max_err=54.49°
[WAIT] t=234.9s  max_err=54.49°
[WAIT] t=235.4s  max_err=54.49°
[WAIT] t=235.9s  max_err=54.49°
[WAIT] t=236.5s  max_err=54.49°
[WAIT] t=237.0s  max_err=54.49°
[WAIT] t=237.5s  max_err=54.49°
[WAIT] t=238.0s  max_err=54.49°
[WAIT] t=238.6s  max_err=54.49°
[WAIT] t=239.1s  max_err=54.49°
[WAIT] t=239.6s  max_err=54.49°
[WAIT] t=240.1s  max_err=54.49°
[WAIT] t=240.6s  max_err=54.49°
[WAIT] t=241.2s  max_err=54.49°
[WAIT] t=241.7s  max_err=54.49°
[WAIT] t=242.2s  max_err=54.49°
[WAIT] t=242.7s  max_err=54.49°
[WAIT] t=243.3s  max_err=54.49°
[WAIT] t=243.8s  max_err=54.49°
[WAIT] t=244.3s  max_err=54.49°
[WAIT] t=244.8s  max_err=54.49°
[WAIT] t=245.3s  max_err=54.49°
[WAIT] t=245.9s  max_err=54.49°
[WAIT] t=246.4s  max_err=54.49°
[WAIT] t=246.9s  max_err=54.49°
[WAIT] t=247.4s  max_err=54.49°
[WAIT] t=248.0s  max_err=54.49°
[WAIT] t=248.5s  max_err=54.49°
[WAIT] t=249.0s  max_err=54.49°
[WAIT] t=249.5s  max_err=54.49°
[WAIT] t=250.0s  max_err=54.49°
[WAIT] t=250.6s  max_err=54.49°
[WAIT] t=251.1s  max_err=54.49°
[WAIT] t=251.6s  max_err=54.49°
[WAIT] t=252.1s  max_err=54.49°
[WAIT] t=252.7s  max_err=54.49°
[WAIT] t=253.2s  max_err=54.49°
[WAIT] t=253.7s  max_err=54.49°
^C[INTERRUPT] Ctrl+C 検出
[POST] 最終姿勢: [0.00, 1.31, 1.23, -0.08, 54.49, -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= -23.4  dx=  -2.0  response=0.123  → 測れない (相関が弱く dx/dy が当てにならない (response=0.123 < 0.20))
[ALIGN ] dy= -20.9  dx=  -0.0  response=0.087  → 測れない (相関が弱く dx/dy が当てにならない (response=0.087 < 0.20))
[ALIGN ] dy= -23.3  dx=  -2.0  response=0.122  → 測れない (相関が弱く dx/dy が当てにならない (response=0.122 < 0.20))
[ALIGN ] dy= -20.8  dx=  -0.2  response=0.086  → 測れない (相関が弱く dx/dy が当てにならない (response=0.086 < 0.20))
[ALIGN ] dy= -23.3  dx=  -2.0  response=0.124  → 測れない (相関が弱く dx/dy が当てにならない (response=0.124 < 0.20))
[ALIGN ] dy= -20.7  dx=  -0.1  response=0.084  → 測れない (相関が弱く dx/dy が当てにならない (response=0.084 < 0.20))
[ALIGN ] dy= -23.3  dx=  -2.0  response=0.122  → 測れない (相関が弱く dx/dy が当てにならない (response=0.122 < 0.20))
[ALIGN ] dy= -20.8  dx=  -0.0  response=0.089  → 測れない (相関が弱く dx/dy が当てにならない (response=0.089 < 0.20))
[ALIGN ] dy= -23.4  dx=  -1.9  response=0.126  → 測れない (相関が弱く dx/dy が当てにならない (response=0.126 < 0.20))
[ALIGN ] dy= -20.7  dx=  +0.0  response=0.087  → 測れない (相関が弱く dx/dy が当てにならない (response=0.087 < 0.20))
[ALIGN ] dy= -23.3  dx=  -2.0  response=0.125  → 測れない (相関が弱く dx/dy が当てにならない (response=0.125 < 0.20))
[ALIGN ] dy= -20.7  dx=  -0.0  response=0.087  → 測れない (相関が弱く dx/dy が当てにならない (response=0.087 < 0.20))
[ALIGN ] dy= -23.4  dx=  -1.9  response=0.124  → 測れない (相関が弱く dx/dy が当てにならない (response=0.124 < 0.20))
[ALIGN ] dy= -20.8  dx=  -0.1  response=0.086  → 測れない (相関が弱く dx/dy が当てにならない (response=0.086 < 0.20))
[DONE  ] 終了 (何も書いていません)
    (267 秒)

=== 8. 実機推論 (10 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_195421
[MODEL ] corr (PixelstoMotors/pi05-mecharm-trim-corr-lora-v1)
[CAMERA] 写り方 dy=-43.3 dx=+11.4 response=0.028 → 測れない (相関が弱く dx/dy が当てにならない (response=0.028 < 0.20))
[CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg
[WARN  ] 写り方が『測れない』だが --ignore-framing が指定されたので続けます
[POLICY] 接続 ws://localhost:8000  metadata={}
[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_195421/recording
[WARN  ] HOME から離れています (max|Δ|=54.5°). 学習データは HOME から始まっています
         現在角: j0=+0.0 j1=+1.3 j2=+1.2 j3=-0.1 j4=+54.5 j5=-29.7
[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 1093ms  10ステップ先  Δ= -2.2 +15.9  +7.4  -1.6 -44.1  +0.6
       [LIMIT] j4 安全範囲でクランプ +33.6→+10.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       [LIMIT] step 2: j4 安全範囲でクランプ +51.0→+10.4
       [LIMIT] step 2: j4 移動量 -44.1° を ±20° に制限
       [LIMIT] step 5: j4 安全範囲でクランプ +42.7→+10.4
       [LIMIT] step 5: j4 移動量 -24.1° を ±20° に制限
       [LIMIT] step 8: j4 安全範囲でクランプ +35.2→+10.4
       [LIMIT] step 9: j4 安全範囲でクランプ +33.6→+10.4
       [ABORT] step 2: j4 +34.49° が安全範囲 [-90.00, +10.43] の外 (j4 の範囲は 学習データ ∩ J4_SAFE [-90, +60])
       [ABORT] step 5: j4 +14.49° が安全範囲 [-90.00, +10.43] の外 (j4 の範囲は 学習データ ∩ J4_SAFE [-90, +60])
[STOP  ] 安全でない目標のため, 送らずに停止します (現在角が安全範囲の外にあると, 移動量の制限で範囲の外に戻る)
       h=HOMEに戻して終了 / 他=そのまま終了 > 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|=54.49°, post-send timeout 10.2s)
[SEND] [TIMEOUT] 10.2s 内に未到達: max|Δ|=54.49° actual=[  +0.00,   +1.31,   +1.23,   -0.08,  +54.49,  -29.70]
[RETRY] 1回目送信が無視された（pre→last max|Δ| 0.00°）。5.0s 待って再送します
^C
[STOP  ] Ctrl-C
[RECORD] 記録終了 コマ 187 (8.67 fps) 実測角 202 回 (9.37 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261101_195421/recording
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261101_195421
[DONE  ] 終了コード 1 (安全停止 / 途中のエラー)
[CLIENT] run_policy_client.py が終わった (終了コード 1. モデル corr (PixelstoMotors/pi05-mecharm-trim-corr-lora-v1))
    (26 秒)
もう1回やりますか? y=やる / 他=終わる > 

=== かかった時間  モデル corr (PixelstoMotors/pi05-mecharm-trim-corr-lora-v1)
  1. Pod を作る                      2 秒
  2. Pod が立ち上がるまで待つ     41 秒
  3a. スクリプトを送る         65 秒
  3b. huggingface_hub を入れ, 鍵を渡す     14 秒
  3c. モデルを取る (hf download PixelstoMotors/pi05-mecharm-trim-corr-lora-v1)     18 秒
  3d. openpi を取る (215abfb)       22 秒
  3e. uv sync                          20 秒
  3f. addon・設定・assets (pi05_mecharm_trim_corr_lora)      4 秒
  4. サーバーの起動             55 秒
  5. Mac の 8000 番へのトンネル      4 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)     72 秒
  8. 実機推論 (1 回目)          278 秒
  7. HOME → 爪を開く → 位置合わせ (2 回目)     27 秒
  8. 実機推論 (2 回目)          213 秒
  7. HOME → 爪を開く → 位置合わせ (3 回目)     21 秒
  8. 実機推論 (3 回目)           82 秒
  7. HOME → 爪を開く → 位置合わせ (4 回目)     17 秒
  8. 実機推論 (4 回目)          170 秒
  7. HOME → 爪を開く → 位置合わせ (5 回目)     23 秒
  8. 実機推論 (5 回目)          196 秒
  7. HOME → 爪を開く → 位置合わせ (6 回目)     18 秒
  8. 実機推論 (6 回目)          144 秒
  7. HOME → 爪を開く → 位置合わせ (7 回目)     17 秒
  8. 実機推論 (7 回目)          189 秒
  7. HOME → 爪を開く → 位置合わせ (8 回目)     18 秒
  8. 実機推論 (8 回目)          204 秒
  7. HOME → 爪を開く → 位置合わせ (9 回目)     19 秒
  8. 実機推論 (9 回目)          161 秒
  7. HOME → 爪を開く → 位置合わせ (10 回目)    267 秒
  8. 実機推論 (10 回目)          26 秒

[LAB   ] Pod は残しています (id v7w5nerpf0hh1y). 片付けは ./lab_stop.sh --log Log18
[TUNNEL] 8000 番のトンネルを閉じました
