    (44 秒)

=== 5. Mac の 8000 番へのトンネル
[TUNNEL] localhost:8000 → Pod の 8000 番 (pid 53112. このスクリプトが終わると閉じる)
    (2 秒)

=== 6. デーモンの状態
--- process
509 /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
    (3 秒)

=== 7. HOME → 爪を開く → 位置合わせ (1 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.61, 92.90, -9.05, 4.92, -85.78, -29.79]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=79.89°
[WAIT] t=1.1s  max_err=64.16°
[WAIT] t=1.6s  max_err=48.69°
[WAIT] t=2.1s  max_err=33.13°
[WAIT] t=2.7s  max_err=17.31°
[WAIT] t=3.2s  max_err=1.66°
[DONE] HOME 到達 max_err=1.66°
[POST] 最終姿勢: [-0.61, 1.49, 0.79, 0.52, 1.23, -29.88]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[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=  +5.5  dx=  -8.4  response=0.724  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +6.8  dx=  -8.1  response=0.744  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +9.4  dx=  -7.7  response=0.679  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +13.6  dx=  -9.2  response=0.714  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +18.5  dx=  -9.2  response=0.636  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +22.2  dx= -10.3  response=0.490  → ずれ (|dy|=22.2 > 20)
[ALIGN ] dy= +17.1  dx=  -9.7  response=0.517  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +7.0  dx=  -9.0  response=0.742  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +3.0  dx=  -8.5  response=0.819  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +1.5  dx=  -5.4  response=0.769  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +0.1  dx=  -3.5  response=0.859  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -1.7  dx=  -2.8  response=0.835  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -3.2  dx=  +0.0  response=0.833  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -4.8  dx=  +3.4  response=0.821  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -6.2  dx=  +3.1  response=0.776  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -3.1  dx=  -1.3  response=0.797  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -1.5  dx=  -4.8  response=0.873  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -4.0  dx= -12.2  response=0.785  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -6.3  dx=  -8.0  response=0.879  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -4.9  dx=  -0.8  response=0.844  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -2.8  dx=  +6.5  response=0.874  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -4.0  dx=  +6.0  response=0.890  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -2.8  dx=  +5.1  response=0.860  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +0.1  dx=  +5.5  response=0.852  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +3.7  dx=  +3.4  response=0.734  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +8.5  dx=  +5.0  response=0.699  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +9.6  dx=  +3.7  response=0.695  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +7.4  dx=  +4.2  response=0.687  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +4.7  dx=  +4.2  response=0.777  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +2.8  dx=  +3.3  response=0.801  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +0.7  dx=  +0.7  response=0.823  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -1.6  dx=  -5.5  response=0.801  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -3.1  dx= -16.4  response=0.718  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -4.1  dx= -12.6  response=0.819  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -5.9  dx=  +2.0  response=0.875  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -4.2  dx=  -3.8  response=0.835  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -0.6  dx=  -8.2  response=0.784  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +2.3  dx=  -9.5  response=0.814  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +3.6  dx= -10.0  response=0.801  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +2.0  dx= -10.5  response=0.795  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (47 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_20261106_183926
[MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2)
[CAMERA] 写り方 dy=-4.6 dx=+6.0 response=0.575 → 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_20261106_183926/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 52970ms  10ステップ先  Δ= +3.3 +16.2 +11.0  -2.4 -23.4  +2.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / 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= None
[SEND] pi05_chunk000_via02: send_angles (single) [  +0.13,   +5.67,   +3.34,   -0.11,   -5.88,  -29.70]  speed=20 wait=0.0s  (pre max|Δ|=5.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +4.4  +2.6  -0.4  -5.6  +0.2  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.09,  +10.48,   +6.74,   -0.69,  -12.99,  -29.05]  speed=20 wait=0.0s  (pre max|Δ|=8.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.1  +4.0  +2.5  -0.9  -8.7  +0.8  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.38,  +15.66,  +10.49,   -1.79,  -21.06,  -28.01]  speed=20 wait=0.0s  (pre max|Δ|=9.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.2  +4.3  +2.9  -1.4  -9.7  +1.8  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +2.74,  +17.44,  +11.77,   -2.15,  -23.69,  -27.66]  speed=20 wait=0.0s  (pre max|Δ|=4.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  +0.8  +0.4  -0.3  -4.1  +1.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.37°（関節 j4）
[001] 推論 547ms  10ステップ先  Δ= +5.4 +14.4  +9.9  -0.8 -23.9  +1.5
       [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 / p=ゲームパッドで補正 / c=キーで補正 / 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) [  +3.89,  +22.01,  +14.68,   -2.59,  -30.39,  -27.08]  speed=20 wait=0.0s  (pre max|Δ|=7.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.84° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +3.7  +2.3  -0.6  -8.0  +1.1  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +5.34,  +26.34,  +17.58,   -2.64,  -37.23,  -26.90]  speed=20 wait=0.0s  (pre max|Δ|=7.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.20° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.6  +3.5  +2.1  +0.3  -7.6  +0.5  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +7.02,  +30.89,  +20.86,   -2.78,  -44.01,  -26.84]  speed=20 wait=0.0s  (pre max|Δ|=7.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.8  +3.7  +2.7  +0.6  -7.9  +0.5  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +7.46,  +32.69,  +21.86,   -2.78,  -46.24,  -26.80]  speed=20 wait=0.0s  (pre max|Δ|=3.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.9  +0.9  +0.5  +0.6  -3.2  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.79°（関節 j1）
[002] 推論 629ms  10ステップ先  Δ= +3.3 +10.3  +6.9  +0.7 -15.6  +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 / p=ゲームパッドで補正 / c=キーで補正 / 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) [  +8.74,  +37.54,  +24.99,   -2.78,  -53.24,  -26.74]  speed=20 wait=0.0s  (pre max|Δ|=7.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.5  +4.1  +2.7  +0.6  -7.2  +0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +9.96,  +41.26,  +27.41,   -2.81,  -58.51,  -26.70]  speed=20 wait=0.0s  (pre max|Δ|=6.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.83° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  +2.8  +2.0  +0.4  -6.1  +0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +10.69,  +43.77,  +29.10,   -2.82,  -61.37,  -26.66]  speed=20 wait=0.0s  (pre max|Δ|=3.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  +1.7  +1.5  +0.2  -3.5  +0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +10.74,  +43.74,  +29.08,   -2.83,  -61.60,  -26.64]  speed=20 wait=0.0s  (pre max|Δ|=0.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -0.9  +0.2  -0.0  -0.6  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.90°（関節 j1）
[003] 推論 1532ms  10ステップ先  Δ= +2.4  +4.6  -1.0  -0.0  -2.2  +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 / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > p
objc[53153]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d2792c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d0248e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d2793b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d0249d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d2794d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d2795c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d2795e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d279778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53153]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11d024d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12d2797c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
  from pkg_resources import resource_stream, resource_exists
[PAD   ] 補正 1 (推論 3 のあと). ゲームパッドで直して, □ で推論に戻ります
コントローラーを待っています（つないでいなければ、今つないでください）。□ で推論に戻ります
[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[送信] j0 +1.0° → +11.72 +44.64 +29.26 -2.81 -61.08 -26.80  届いた（ずれ 1.67°）  届いた角度 +11.86 +44.64 +29.26 -2.81 -62.75 -26.80
[送信] j0 +1.0° → +12.72 +44.64 +29.26 -2.81 -61.08 -26.80  届いた（ずれ 1.67°）  届いた角度 +12.74 +44.64 +29.26 -2.72 -62.75 -26.80
[PAD   ] 補正 1 を終えました (17.9 秒, 送った目標 2 回). 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 555ms  10ステップ先  Δ= +1.5 +15.2  -8.2  -0.6  -2.9  -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 / p=ゲームパッドで補正 / c=キーで補正 / 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) [ +12.06,  +51.44,  +28.18,   -2.60,  -65.27,  -26.69]  speed=20 wait=0.0s  (pre max|Δ|=6.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.35° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.8  +6.8  -1.1  +0.0  -3.4  +0.1  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +13.14,  +55.49,  +25.16,   -2.71,  -65.57,  -26.74]  speed=20 wait=0.0s  (pre max|Δ|=4.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +3.1  -4.0  -0.2  -2.5  +0.1  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +13.97,  +58.97,  +21.79,   -3.15,  -65.03,  -26.97]  speed=20 wait=0.0s  (pre max|Δ|=4.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  +2.5  -4.3  -0.6  -1.5  -0.2  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +14.32,  +59.79,  +21.04,   -3.20,  -64.86,  -27.09]  speed=20 wait=0.0s  (pre max|Δ|=1.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.1  -1.5  -0.7  -0.6  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.37°（関節 j2）
[005] 推論 618ms  5ステップ先  Δ= +0.7  +0.8  -2.3  -1.0  +0.1  -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 / p=ゲームパッドで補正 / c=キーで補正 / 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) [ +14.47,  +60.72,  +20.26,   -3.54,  -64.41,  -27.05]  speed=20 wait=0.0s  (pre max|Δ|=1.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +0.2  -1.7  -0.9  +0.7  -0.1  着いた
[SEND] pi05_chunk005_via04: send_angles (single) [ +14.42,  +60.80,  +20.15,   -3.51,  -64.32,  -27.08]  speed=20 wait=0.0s  (pre max|Δ|=1.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  4  Δ= +0.5  -0.4  -1.3  -0.7  +1.0  -0.0  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 2.12°（関節 j4）
[006] 推論 631ms  10ステップ先  Δ= +0.7  -0.3  -5.1  -0.7  +1.3  +0.8
       [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 / p=ゲームパッドで補正 / c=キーで補正 / 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) [ +14.35,  +60.45,  +19.36,   -3.49,  -64.51,  -26.88]  speed=20 wait=0.0s  (pre max|Δ|=2.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -0.9  -1.5  -0.5  +2.0  +0.5  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +14.39,  +60.60,  +17.40,   -3.58,  -64.58,  -26.57]  speed=20 wait=0.0s  (pre max|Δ|=3.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -0.7  -3.4  -0.6  +2.0  +0.8  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +14.51,  +60.87,  +16.32,   -3.64,  -64.93,  -26.50]  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  8  Δ= +0.5  -0.5  -2.0  -0.5  -0.7  +0.6  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +14.64,  +61.06,  +15.88,   -3.63,  -65.10,  -26.48]  speed=20 wait=0.0s  (pre max|Δ|=2.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.74° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  -0.3  -2.0  -0.4  -1.2  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.74°（関節 j4）
[007] 推論 1544ms  10ステップ先  Δ= +0.6  -0.5  -7.2  -0.5  -2.5  +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 / p=ゲームパッドで補正 / c=キーで補正 / 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) [ +14.82,  +60.85,  +13.71,   -3.60,  -65.31,  -26.55]  speed=20 wait=0.0s  (pre max|Δ|=2.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.98° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.9  -0.8  -3.0  -0.3  -1.9  +0.2  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +14.70,  +61.06,  +11.60,   -3.65,  -65.48,  -26.59]  speed=20 wait=0.0s  (pre max|Δ|=4.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -0.6  -4.6  -0.4  -1.8  +0.1  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +14.53,  +61.09,   +9.99,   -3.79,  -65.59,  -26.60]  speed=20 wait=0.0s  (pre max|Δ|=2.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.57° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -0.7  -2.6  +0.3  -2.0  -0.7  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +14.56,  +61.24,   +9.59,   -3.79,  -65.83,  -26.60]  speed=20 wait=0.0s  (pre max|Δ|=2.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -0.8  -2.5  +0.3  -2.2  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.20°（関節 j4）
[008] 推論 554ms  10ステップ先  Δ= +0.1  -0.5  -7.9  +0.5  -2.0  -0.8
       [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 / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > p
[PAD   ] 補正 2 (推論 8 のあと). ゲームパッドで直して, □ で推論に戻ります
コントローラーを待っています（つないでいなければ、今つないでください）。□ で推論に戻ります
[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[長押し] j1 を +62.22° → +61.25° まで（目標を 1 回送信。止めます）
[長押し] j1 を +54.22° → +53.43° まで（目標を 1 回送信。止めます）
[送信] j1 -1.0° → +14.58 +40.92 +10.89 -4.13 -66.44 -25.92  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 1.0°）  届いた角度 +14.58 +41.92 +10.89 -4.04 -66.26 -26.27
[送信] j1 -1.0° → +14.58 +39.92 +10.89 -4.13 -66.44 -25.92  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.0°）  届いた角度 +14.58 +41.92 +10.89 -4.04 -66.18 -26.27
[送信] j1 -1.0° → +14.58 +38.92 +10.89 -4.13 -66.44 -25.92  手前で止まった（次の押しは この目標の先から）（ずれ 1.94°）  届いた角度 +14.58 +40.86 +10.89 -4.04 -65.74 -26.27
[長押し] j1 を +40.86° → +40.69° まで（目標を 1 回送信。止めます）
[関節] 上下で動かす関節を j2 にしました
[関節] 上下で動かす関節を j3 にしました
[関節] 上下で動かす関節を j4 にしました
[長押し] j4 を -65.30° → -61.25° まで（目標を 1 回送信。止めます）
[PAD   ] 補正 2 を終えました (33.4 秒, 送った目標 7 回). 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 627ms  10ステップ先  Δ=+10.4  +9.1  +3.4  +2.0 -10.9  -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 / p=ゲームパッドで補正 / c=キーで補正 / 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) [ +18.99,  +30.06,  +12.05,   -3.31,  -49.81,  -26.55]  speed=20 wait=0.0s  (pre max|Δ|=4.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  2  Δ= +4.4  +0.4  +0.4  +0.7  -0.2  -0.3  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +23.60,  +32.19,  +13.02,   -2.53,  -52.47,  -26.88]  speed=20 wait=0.0s  (pre max|Δ|=4.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  5  Δ= +4.7  +1.1  +0.3  +1.0  -2.5  -0.6  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +25.00,  +37.22,  +14.93,   -2.10,  -58.70,  -26.89]  speed=20 wait=0.0s  (pre max|Δ|=7.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.5  +4.2  +1.2  +0.6  -7.3  -0.6  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +24.97,  +38.81,  +15.10,   -1.99,  -60.13,  -26.90]  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°)
       [VIA   ] step  9  Δ= -0.1  +0.6  -0.5  +0.7  -2.0  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.72°（関節 j4）
[010] 推論 579ms  10ステップ先  Δ=+15.7  +7.4 -10.7  +3.8  +2.1  -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 / p=ゲームパッドで補正 / c=キーで補正 / 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) [ +33.16,  +38.98,  +10.84,   -0.71,  -57.78,  -27.99]  speed=20 wait=0.0s  (pre max|Δ|=8.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.80° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.2  -0.8  -4.8  +1.8  +1.9  -1.6  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +38.73,  +40.28,   +6.79,   +0.34,  -56.34,  -29.25]  speed=20 wait=0.0s  (pre max|Δ|=5.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  5  Δ= +5.3  +0.5  -5.5  +1.3  +3.2  -1.8  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +40.60,  +45.08,   +5.24,   +0.94,  -56.97,  -29.66]  speed=20 wait=0.0s  (pre max|Δ|=3.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.67° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.5  +3.9  -2.8  +1.0  +1.0  -0.9  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +40.69,  +46.68,   +4.97,   +1.13,  -57.32,  -29.71]  speed=20 wait=0.0s  (pre max|Δ|=2.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.88° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.9  +1.3  -2.2  +0.2  +0.7  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.53°（関節 j2）
[011] 推論 549ms  10ステップ先  Δ= +0.1 +14.9  -3.2  +1.6 -10.4  -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 / p=ゲームパッドで補正 / c=キーで補正 / 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) [ +40.95,  +51.34,   +3.98,   +1.41,  -58.78,  -29.96]  speed=20 wait=0.0s  (pre max|Δ|=3.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +3.4  -2.3  +0.5  -0.8  -0.7  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +40.94,  +57.37,   +3.63,   +1.70,  -63.91,  -30.22]  speed=20 wait=0.0s  (pre max|Δ|=5.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +4.9  -1.9  +0.6  -5.8  -0.8  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +41.08,  +61.45,   +3.30,   +1.89,  -67.97,  -30.24]  speed=20 wait=0.0s  (pre max|Δ|=5.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.27° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  +3.0  -2.1  +0.6  -5.1  -0.4  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +41.09,  +61.79,   +3.30,   +1.95,  -68.44,  -30.25]  speed=20 wait=0.0s  (pre max|Δ|=1.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.8  -1.3  +0.4  -1.4  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.38°（関節 j4）
[012] 推論 1483ms  5ステップ先  Δ= -0.1  +1.9  -1.4  +0.5  -4.8  -0.4  グリッパー→開
       [VIA   ] 中継点 2 点: step 2, 4
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / 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) [ +40.93,  +64.75,   +3.16,   +2.11,  -71.49,  -30.25]  speed=20 wait=0.0s  (pre max|Δ|=4.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.41° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.0  +2.0  -1.4  +0.5  -4.4  -0.4  着いた
[SEND] pi05_chunk012_via04: send_angles (single) [ +40.86,  +64.67,   +3.14,   +2.16,  -71.83,  -30.23]  speed=20 wait=0.0s  (pre max|Δ|=1.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  4  Δ= -0.1  -1.1  -1.4  +0.3  -0.5  +0.1  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.43°（関節 j2）
[013] 推論 598ms  10ステップ先  Δ= -0.0 -17.2  -1.4  +0.4 +16.3  -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 / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk013_via02: send_angles (single) [ +40.87,  +60.06,   +3.15,   +2.22,  -67.71,  -30.40]  speed=20 wait=0.0s  (pre max|Δ|=5.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.95° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  -5.7  -1.4  +0.3  +3.6  +0.1  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +41.14,  +55.14,   +2.99,   +2.19,  -62.26,  -30.56]  speed=20 wait=0.0s  (pre max|Δ|=8.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.77° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -7.0  -1.5  +0.2  +8.4  -0.1  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +41.12,  +49.93,   +3.08,   +2.31,  -56.31,  -30.89]  speed=20 wait=0.0s  (pre max|Δ|=8.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.66° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  -7.4  -1.4  +0.3  +8.7  -0.4  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +40.84,  +48.49,   +3.21,   +2.38,  -55.01,  -30.98]  speed=20 wait=0.0s  (pre max|Δ|=3.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -3.5  -1.3  +0.4  +4.0  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.20°（関節 j4）
[014] 推論 655ms  10ステップ先  Δ=-16.2 -23.5  -1.8  -2.1 +26.6  -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 / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk014_via02: send_angles (single) [ +39.28,  +43.11,   +3.15,   +2.22,  -49.14,  -31.06]  speed=20 wait=0.0s  (pre max|Δ|=7.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.6  -7.5  -1.3  +0.1  +7.6  -0.5  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [ +33.70,  +36.92,   +2.96,   +1.38,  -41.75,  -30.98]  speed=20 wait=0.0s  (pre max|Δ|=9.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.8  -8.3  -1.5  -1.4  +9.1  -0.3  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [ +26.87,  +29.70,   +2.80,   +0.37,  -33.59,  -30.91]  speed=20 wait=0.0s  (pre max|Δ|=9.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.8  -9.0  -1.7  -2.1  +9.6  -0.2  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [ +24.70,  +27.10,   +2.72,   +0.03,  -30.62,  -30.88]  speed=20 wait=0.0s  (pre max|Δ|=4.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.4  -4.4  -1.7  -1.5  +4.4  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.67°（関節 j2）
[015] 推論 611ms  10ステップ先  Δ=-21.1 -24.2  -2.1  -1.7 +27.5  -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 / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk015_via02: send_angles (single) [ +17.85,  +20.39,   +2.38,   -0.82,  -22.05,  -30.75]  speed=20 wait=0.0s  (pre max|Δ|=9.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.9  -8.3  -2.0  -1.7  +9.8  -0.1  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [ +10.74,  +12.19,   +2.36,   -0.89,  -12.67,  -30.76]  speed=20 wait=0.0s  (pre max|Δ|=10.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.4  -9.9  -2.0  -0.9 +10.4  -0.1  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [  +4.84,   +5.60,   +2.24,   -0.72,   -5.33,  -30.77]  speed=20 wait=0.0s  (pre max|Δ|=8.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.15° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.1  -8.2  -2.2  -0.6  +8.3  -0.1  着いた
