[SEND] pi05_chunk015_via09: send_angles (single) [  +3.65,   +4.49,   +2.24,   -0.73,   -4.62,  -30.75]  speed=20 wait=0.0s  (pre max|Δ|=2.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.4  -2.5  -2.1  -0.3  +1.5  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.15°（関節 j2）
[016] 推論 1461ms  10ステップ先  Δ= -2.6  -2.6  -2.2  -0.3  +1.6  -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 > 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|=5.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.40° (tol 2.5°)
[RECORD] 記録終了 コマ 1643 (8.548 fps) 実測角 1804 回 (9.39 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_183926/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_20261106_183926
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2))
    (199 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...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.17, 1.14, 1.40, -0.43, -0.26, -30.49]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.40°
[DONE] HOME 到達 max_err=1.40°
[POST] 最終姿勢: [-0.17, 1.14, 1.40, -0.43, -0.26, -30.49]
  [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=  +1.9  dx=  -0.3  response=0.861  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (25 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_20261106_184312
[MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2)
[CAMERA] 写り方 dy=-4.6 dx=+6.9 response=0.549 → 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_184312/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 625ms  10ステップ先  Δ= +3.7 +16.0 +11.7  -2.4 -22.8  +2.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / 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) [  +0.54,   +5.06,   +4.32,   -0.67,   -5.84,  -29.48]  speed=20 wait=0.0s  (pre max|Δ|=5.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.80° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +3.9  +2.9  -0.4  -5.6  +0.8  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.65,  +10.36,   +8.10,   -1.52,  -13.28,  -28.55]  speed=20 wait=0.0s  (pre max|Δ|=9.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  +4.5  +2.8  -1.3  -9.2  +1.1  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +3.05,  +15.52,  +11.91,   -2.42,  -20.73,  -27.58]  speed=20 wait=0.0s  (pre max|Δ|=9.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.6  +4.3  +2.9  -2.1  -9.3  +1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.50,  +17.10,  +13.05,   -2.69,  -23.04,  -27.30]  speed=20 wait=0.0s  (pre max|Δ|=4.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.9  +0.7  +0.4  -1.2  -4.1  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.16°（関節 j4）
[001] 推論 1682ms  10ステップ先  Δ= +4.1 +15.4 +11.0  -1.3 -27.9  +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_chunk001_via02: send_angles (single) [  +4.69,  +21.83,  +16.35,   -3.29,  -30.54,  -26.70]  speed=20 wait=0.0s  (pre max|Δ|=8.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.3  +3.8  +2.6  -1.4  -8.7  +0.7  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +6.05,  +26.62,  +19.93,   -3.36,  -38.55,  -26.52]  speed=20 wait=0.0s  (pre max|Δ|=8.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.6  +3.9  +2.9  -0.4  -8.9  +0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +7.49,  +31.94,  +23.78,   -3.21,  -47.42,  -26.44]  speed=20 wait=0.0s  (pre max|Δ|=9.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  +4.4  +3.3  -0.0  -9.7  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +7.91,  +33.40,  +24.74,   -3.12,  -49.74,  -26.41]  speed=20 wait=0.0s  (pre max|Δ|=3.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  +0.6  +0.5  -0.1  -3.3  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.87°（関節 j1）
[002] 推論 732ms  10ステップ先  Δ= +3.1 +10.4  +7.7  -0.0 -16.0  +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 / 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) [  +9.49,  +38.90,  +28.46,   -3.32,  -57.95,  -26.39]  speed=20 wait=0.0s  (pre max|Δ|=8.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.82° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.7  +4.6  +3.3  -0.4  -8.9  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +10.52,  +43.13,  +31.48,   -3.17,  -63.75,  -26.39]  speed=20 wait=0.0s  (pre max|Δ|=6.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  +3.4  +3.0  -0.2  -6.4  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +10.87,  +44.74,  +32.65,   -2.94,  -65.20,  -26.37]  speed=20 wait=0.0s  (pre max|Δ|=2.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.10° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  +0.7  +1.0  -0.2  -2.1  +0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +10.95,  +44.64,  +32.50,   -2.92,  -65.04,  -26.38]  speed=20 wait=0.0s  (pre max|Δ|=0.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  +0.6  +0.9  -0.2  -1.9  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.79°（関節 j1）
[003] 推論 1494ms  10ステップ先  Δ= +1.2  +8.4  -6.8  -0.4  +0.1  +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 > p
objc[53364]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b0688e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b0689d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53364]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b068d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11fcfd7c8). 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° → +11.54 +45.43 +32.69 -2.63 -64.68 -26.54  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 +10.54 +45.43 +32.69 -2.63 -64.68 -26.54
[送信] j0 +1.0° → +12.54 +45.43 +32.69 -2.63 -64.68 -26.54  届いた（ずれ 0.44°）  届いた角度 +12.91 +45.43 +32.69 -3.07 -64.68 -26.54
[PAD   ] 補正 1 を終えました (13.2 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 600ms  10ステップ先  Δ= +0.3 +10.5  -8.8  -0.1  +1.8  -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 / 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) [ +13.07,  +46.16,  +32.40,   -2.61,  -64.71,  -26.53]  speed=20 wait=0.0s  (pre max|Δ|=1.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  +0.7  -0.3  +0.0  +1.6  +0.0  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +13.09,  +50.04,  +29.26,   -2.69,  -64.23,  -26.60]  speed=20 wait=0.0s  (pre max|Δ|=3.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.12° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +2.9  -3.4  -0.1  +2.1  -0.1  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +13.02,  +54.58,  +25.09,   -2.74,  -63.12,  -26.72]  speed=20 wait=0.0s  (pre max|Δ|=5.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.35° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  +3.7  -5.1  -0.1  +3.2  -0.2  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +12.88,  +55.88,  +23.90,   -2.74,  -62.87,  -26.76]  speed=20 wait=0.0s  (pre max|Δ|=2.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  +0.4  -2.1  -0.1  +2.6  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.90°（関節 j4）
[005] 推論 792ms  6ステップ先  Δ= +0.5  +3.0  -4.3  -0.1  +2.2  -0.5  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 5
       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) [ +13.03,  +59.97,  +20.08,   -2.75,  -62.44,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=4.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  +3.1  -4.7  -0.2  +1.9  -0.4  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +13.06,  +59.79,  +20.54,   -2.72,  -62.56,  -27.01]  speed=20 wait=0.0s  (pre max|Δ|=1.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.42° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -0.8  -0.2  -0.2  +1.4  -0.3  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 2.56°（関節 j4）
[006] 推論 1490ms  10ステップ先  Δ= +0.8  -9.8  +7.4  -1.0  +1.6  +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_chunk006_via02: send_angles (single) [ +12.99,  +56.71,  +23.45,   -2.88,  -62.46,  -26.85]  speed=20 wait=0.0s  (pre max|Δ|=4.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -4.0  +2.8  -0.8  +2.7  +0.5  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +13.00,  +53.04,  +26.66,   -3.01,  -62.70,  -26.67]  speed=20 wait=0.0s  (pre max|Δ|=4.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -5.0  +3.9  -0.6  +0.5  +0.5  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +13.14,  +50.91,  +28.55,   -2.95,  -63.37,  -26.65]  speed=20 wait=0.0s  (pre max|Δ|=3.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.82° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  -3.7  +2.5  -0.2  -1.5  +0.2  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +13.32,  +50.91,  +28.15,   -2.86,  -63.50,  -26.78]  speed=20 wait=0.0s  (pre max|Δ|=1.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  -1.7  -0.2  -0.3  -1.6  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.73°（関節 j1）
[007] 推論 557ms  10ステップ先  Δ=+16.5  +0.6 -12.1  +2.9  +1.5  -3.2
       [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 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ +16.00,  +50.16,  +26.99,   -2.35,  -63.02,  -27.19]  speed=20 wait=0.0s  (pre max|Δ|=3.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  2  Δ= +3.3  -2.5  -1.4  +0.2  -1.1  -0.6  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +23.17,  +50.94,  +20.63,   -0.76,  -61.13,  -28.78]  speed=20 wait=0.0s  (pre max|Δ|=7.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.36° (tol 3.0°)
       [VIA   ] step  5  Δ= +7.2  -1.3  -7.5  +1.8  +0.7  -2.2  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +28.12,  +52.39,  +16.92,   +0.21,  -60.30,  -29.77]  speed=20 wait=0.0s  (pre max|Δ|=5.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.21° (tol 3.0°)
       [VIA   ] step  8  Δ= +5.0  +0.1  -4.8  +1.5  +0.4  -2.3  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +29.21,  +53.27,  +16.26,   +0.36,  -60.33,  -29.85]  speed=20 wait=0.0s  (pre max|Δ|=1.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  -0.2  -1.7  +0.8  -0.6  -1.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.75°（関節 j2）
[008] 推論 612ms  10ステップ先  Δ= +1.4  +0.1 -10.9  +1.5  +0.6  -1.9
       [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 / 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 +54.22° → +53.87° まで（目標を 1 回送信。止めます）
[長押し] j1 を +42.18° → +38.40° まで（目標を 1 回送信。止めます）
[PAD   ] 補正 2 を終えました (12.7 秒, 送った目標 3 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 553ms  10ステップ先  Δ= +8.6 +14.6  -8.1  +1.9  -6.6  -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_chunk009_via02: send_angles (single) [ +33.34,  +28.27,  +17.02,   +0.77,  -55.39,  -29.61]  speed=20 wait=0.0s  (pre max|Δ|=4.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  2  Δ= +4.4  +0.8  -1.9  +0.3  +0.9  -0.2  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +35.73,  +33.37,  +15.16,   +1.30,  -58.58,  -29.69]  speed=20 wait=0.0s  (pre max|Δ|=3.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.96° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.1  +3.9  -2.6  +0.9  -2.2  -0.3  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +37.19,  +40.15,  +11.90,   +2.14,  -62.07,  -29.88]  speed=20 wait=0.0s  (pre max|Δ|=6.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
       [VIA   ] step  8  Δ= +3.4  +8.2  -5.8  +1.6  -5.6  -0.4  着いた
