[SEND] pi05_chunk009_via09: send_angles (single) [ +37.50,  +42.13,  +10.75,   +2.31,  -62.79,  -29.97]  speed=20 wait=0.0s  (pre max|Δ|=2.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  +1.1  -2.6  +0.8  -1.5  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.55°（関節 j2）
[010] 推論 1702ms  10ステップ先  Δ= +4.6 +15.6  -7.5  +2.1  -8.5  -1.1
       [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|=62.22°, post-send timeout 11.3s)
[SEND] arrival OK: max|Δ|=2.10° (tol 2.5°)
[RECORD] 記録終了 コマ 597 (8.099 fps) 実測角 644 回 (8.74 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_184312/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_20261106_184312
[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))
    (79 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...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.17, 1.49, 1.75, 0.35, -0.61, -29.70]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [-0.17, 1.49, 1.75, 0.35, -0.43, -29.70]
  [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=  +2.2  dx=  -0.4  response=0.872  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (18 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_20261106_184452
[MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2)
[CAMERA] 写り方 dy=-3.9 dx=+6.5 response=0.536 → 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_184452/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 612ms  10ステップ先  Δ= +2.9 +16.5 +11.4  -2.0 -21.5  +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 > 
[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) [  +0.65,   +6.79,   +5.30,   +0.08,   -7.06,  -29.64]  speed=20 wait=0.0s  (pre max|Δ|=6.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +5.3  +3.5  -0.2  -6.8  +0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.36,  +11.36,   +8.64,   -0.36,  -13.44,  -29.36]  speed=20 wait=0.0s  (pre max|Δ|=8.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +3.5  +2.3  -0.6  -8.1  +0.3  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.36,  +16.46,  +12.18,   -1.40,  -19.88,  -28.50]  speed=20 wait=0.0s  (pre max|Δ|=8.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.6  +4.1  +2.6  -1.2  -8.2  +1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +2.78,  +18.03,  +13.15,   -1.70,  -21.76,  -28.25]  speed=20 wait=0.0s  (pre max|Δ|=3.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.1  +0.5  +0.1  -0.3  -3.7  +1.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.29°（関節 j4）
[001] 推論 552ms  10ステップ先  Δ= +4.5 +13.4  +8.1  -1.2 -22.5  +2.3
       [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_chunk001_via02: send_angles (single) [  +3.84,  +22.02,  +15.73,   -2.36,  -27.35,  -27.61]  speed=20 wait=0.0s  (pre max|Δ|=6.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.9  +3.0  +1.9  -0.8  -6.9  +1.4  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +5.38,  +26.42,  +18.43,   -2.62,  -34.11,  -27.29]  speed=20 wait=0.0s  (pre max|Δ|=7.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.7  +3.5  +1.9  -0.1  -7.6  +1.0  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +6.96,  +31.04,  +21.27,   -2.78,  -41.11,  -27.10]  speed=20 wait=0.0s  (pre max|Δ|=7.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.21° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  +3.7  +2.1  +0.3  -7.6  +0.8  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +7.44,  +32.42,  +22.01,   -2.79,  -43.01,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=3.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.80° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.9  +0.4  +0.2  +0.5  -3.1  +0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.80°（関節 j1）
[002] 推論 598ms  10ステップ先  Δ= +2.7 +13.7  +7.6  +1.1 -20.0  +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 > 
[SEND] pi05_chunk002_via02: send_angles (single) [  +8.50,  +36.57,  +24.63,   -2.79,  -48.98,  -26.95]  speed=20 wait=0.0s  (pre max|Δ|=6.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +3.4  +2.8  +0.5  -6.4  +0.5  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +9.56,  +41.51,  +27.27,   -2.47,  -55.80,  -26.86]  speed=20 wait=0.0s  (pre max|Δ|=7.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.85° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  +4.1  +2.2  +0.7  -7.6  +0.5  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +10.16,  +45.77,  +29.29,   -2.45,  -61.46,  -26.77]  speed=20 wait=0.0s  (pre max|Δ|=6.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  +3.4  +1.9  +0.5  -6.4  +0.5  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +10.27,  +46.97,  +29.39,   -2.46,  -62.51,  -26.75]  speed=20 wait=0.0s  (pre max|Δ|=1.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.96° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.2  +0.1  +0.4  -2.0  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.90°（関節 j4）
[003] 推論 556ms  10ステップ先  Δ= +3.1  +1.8  +0.3  +0.3  -1.8  +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 / 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[53388]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0c890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf52c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0c8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0c958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0c980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf53b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0c9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0ca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0ca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf54d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf55c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf55e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0ccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf5778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53388]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11bc0cd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x12edf57c8). 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° → +8.66 +47.90 +29.26 -2.90 -61.96 -27.07  届いた（ずれ 0.36°）  届いた角度 +8.96 +47.90 +29.26 -2.54 -61.96 -26.98
[止める] stop（released_while_sending）  止まった角度 +9.75 +48.86 +29.26 -2.63 -60.46 -27.07
[長押し] j0 を +8.96° → +16.34° まで（目標を 1 回送信。止めます）
[送信] j0 -1.0° → +21.14 +47.90 +29.26 -2.90 -61.96 -27.07  届いた（ずれ 2.99°）  届いた角度 +21.18 +49.74 +29.26 -1.23 -58.97 -27.15
[送信] j0 -1.0° → +20.14 +47.90 +29.26 -2.90 -61.96 -27.07  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 1.85°）  届いた角度 +21.09 +48.77 +29.26 -1.84 -60.11 -27.15
[送信] j0 -1.0° → +19.14 +47.90 +29.26 -2.90 -61.96 -27.07  届いた（ずれ 0.88°）  届いた角度 +18.72 +48.77 +29.26 -2.02 -61.25 -27.15
[送信] j0 -1.0° → +18.14 +47.90 +29.26 -2.90 -61.96 -27.07  届いた（ずれ 0.87°）  届いた角度 +18.28 +48.77 +29.26 -2.19 -61.34 -27.15
[送信] j0 -1.0° → +17.14 +47.90 +29.26 -2.90 -61.96 -27.07  届いた（ずれ 0.87°）  届いた角度 +17.31 +48.77 +29.26 -2.10 -61.34 -27.24
[送信] j0 -1.0° → +16.14 +47.90 +29.26 -2.90 -61.96 -27.07  届いた（ずれ 0.87°）  届いた角度 +16.17 +48.77 +29.26 -2.10 -61.34 -27.15
[送信] j0 -1.0° → +15.14 +47.90 +29.26 -2.90 -61.96 -27.07  届いた（ずれ 0.87°）  届いた角度 +15.29 +48.77 +29.26 -2.19 -62.57 -27.15
[送信] j0 -2.0° → +13.14 +47.90 +29.26 -2.90 -61.96 -27.07  届いた（ずれ 1.06°）  届いた角度 +12.83 +48.77 +29.26 -1.84 -62.57 -27.07
[PAD   ] 補正 1 を終えました (20.0 秒, 送った目標 11 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 1507ms  7ステップ先  Δ= +1.0  +7.9  -5.4  -0.1  -1.1  -0.3  グリッパー→閉
       [VIA   ] 中継点 3 点: step 2, 5, 6
       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) [ +13.70,  +53.67,  +26.32,   -2.16,  -63.12,  -27.21]  speed=20 wait=0.0s  (pre max|Δ|=4.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +4.9  -2.9  -0.1  -0.6  -0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +13.95,  +56.72,  +23.85,   -2.16,  -63.70,  -27.37]  speed=20 wait=0.0s  (pre max|Δ|=3.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +2.1  -3.6  -0.1  -1.1  -0.4  着いた
[SEND] pi05_chunk004_via06: send_angles (single) [ +13.95,  +56.72,  +23.85,   -2.16,  -63.70,  -27.37]  speed=20 wait=0.0s  (pre max|Δ|=0.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  6  Δ= +0.3  -0.8  -0.9  -0.1  +0.5  -0.4  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 1.95°（関節 j4）
[005] 推論 556ms  10ステップ先  Δ= +9.1  -5.8  -5.1  +1.0  +6.1  -1.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / 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) [ +14.50,  +51.70,  +27.49,   -2.40,  -62.61,  -27.09]  speed=20 wait=0.0s  (pre max|Δ|=5.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  -5.9  +2.7  -0.6  +3.2  +0.2  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +15.20,  +50.45,  +27.29,   -2.35,  -62.63,  -27.08]  speed=20 wait=0.0s  (pre max|Δ|=3.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  -3.2  +0.1  +0.0  +0.0  +0.1  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +20.54,  +52.03,  +21.40,   -1.23,  -60.42,  -28.44]  speed=20 wait=0.0s  (pre max|Δ|=6.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  8  Δ= +5.5  -0.3  -6.1  +1.1  +1.7  -1.3  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +22.45,  +51.72,  +19.64,   -0.79,  -59.54,  -28.85]  speed=20 wait=0.0s  (pre max|Δ|=2.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.9  -1.1  -2.8  +1.0  +0.3  -1.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.26°（関節 j5）
[006] 推論 833ms  10ステップ先  Δ= -0.2  -1.4  -7.1  +0.8  -0.0  -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 / 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 6 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 +52.82° → +45.17° まで（目標を 1 回送信。止めます）
[長押し] j1 を +39.55° → +34.27° まで（目標を 1 回送信。止めます）
[PAD   ] 補正 2 を終えました (11.1 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)
[007] 推論 1730ms  10ステップ先  Δ=+10.2 +12.4  -3.2  +1.3  -8.9  -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_chunk007_via02: send_angles (single) [ +28.99,  +27.93,  +21.24,   -0.28,  -54.56,  -29.00]  speed=20 wait=0.0s  (pre max|Δ|=6.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.33° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.6  +0.3  -0.7  +0.8  +1.1  -0.4  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +31.88,  +31.73,  +21.36,   +0.02,  -57.64,  -29.25]  speed=20 wait=0.0s  (pre max|Δ|=2.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.88° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.4  +2.8  -0.4  +1.1  -1.7  -0.7  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +32.54,  +38.04,  +19.84,   +0.15,  -62.85,  -29.34]  speed=20 wait=0.0s  (pre max|Δ|=6.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.95° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  +5.4  -2.0  +0.6  -6.6  -0.8  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +32.66,  +39.97,  +18.80,   +0.21,  -64.06,  -29.41]  speed=20 wait=0.0s  (pre max|Δ|=2.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.99° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  +0.9  -3.0  +0.5  -2.1  -0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.99°（関節 j2）
[008] 推論 618ms  10ステップ先  Δ=+10.5 +14.1 -14.7  +2.7  -2.4  -3.0
       [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_chunk008_via02: send_angles (single) [ +39.63,  +41.81,  +12.00,   +1.33,  -61.71,  -30.56]  speed=20 wait=0.0s  (pre max|Δ|=8.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.88° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.3  +0.9  -8.2  +1.3  +4.1  -1.5  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +42.88,  +46.31,   +7.06,   +2.02,  -60.70,  -31.37]  speed=20 wait=0.0s  (pre max|Δ|=6.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.40° (tol 3.0°)
       [VIA   ] step  5  Δ= +3.3  +3.7  -6.2  +0.2  +3.9  -1.1  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +43.12,  +52.19,   +6.67,   +2.40,  -63.55,  -31.56]  speed=20 wait=0.0s  (pre max|Δ|=4.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +4.8  -1.6  +0.2  -0.4  -0.5  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +42.80,  +53.27,   +7.09,   +2.45,  -64.37,  -31.58]  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  9  Δ= -0.1  +0.0  -1.1  +0.3  -1.3  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.08°（関節 j2）
[009] 推論 628ms  9ステップ先  Δ= +0.5  +8.4  -3.5  +0.8  -6.6  -0.6  グリッパー→開
       [VIA   ] 中継点 3 点: step 2, 5, 8
       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) [ +43.18,  +58.03,   +5.28,   +2.83,  -66.55,  -31.86]  speed=20 wait=0.0s  (pre max|Δ|=3.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  +3.6  -2.9  +0.6  -2.5  -0.6  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +43.11,  +62.26,   +4.47,   +3.00,  -69.32,  -31.94]  speed=20 wait=0.0s  (pre max|Δ|=3.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +3.2  -2.1  +0.4  -3.8  -0.4  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +43.40,  +62.09,   +4.70,   +3.01,  -70.01,  -31.91]  speed=20 wait=0.0s  (pre max|Δ|=1.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -0.9  -1.2  +0.3  -1.6  -0.3  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.19°（関節 j1）
[010] 推論 566ms  10ステップ先  Δ= -0.9 -15.2  -0.4  +0.4 +13.7  -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_chunk010_via02: send_angles (single) [ +43.22,  +56.98,   +4.94,   +3.08,  -64.78,  -32.06]  speed=20 wait=0.0s  (pre max|Δ|=6.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.98° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -6.3  -0.9  +0.3  +4.7  -0.4  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +43.01,  +52.40,   +5.11,   +3.15,  -60.11,  -32.13]  speed=20 wait=0.0s  (pre max|Δ|=7.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.73° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  -6.7  -0.8  +0.3  +7.6  -0.4  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +42.24,  +48.92,   +5.40,   +3.21,  -56.31,  -32.16]  speed=20 wait=0.0s  (pre max|Δ|=6.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.57° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.7  -5.6  -0.5  +0.3  +6.5  -0.4  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +41.95,  +48.11,   +5.51,   +3.22,  -55.78,  -32.17]  speed=20 wait=0.0s  (pre max|Δ|=3.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.60° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.6  -2.7  -0.4  +0.2  +3.1  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.60°（関節 j1）

[011] 推論 1469ms  10ステップ先  Δ=-17.4 -24.4  -1.0  -2.3 +28.3  +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_chunk011_via02: send_angles (single) [ +38.64,  +42.81,   +5.32,   +2.92,  -49.49,  -32.05]  speed=20 wait=0.0s  (pre max|Δ|=7.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.10° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.9  -7.9  -0.6  -0.1  +7.7  -0.2  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +33.00,  +36.89,   +4.98,   +2.01,  -41.99,  -31.72]  speed=20 wait=0.0s  (pre max|Δ|=8.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.95° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.7  -8.0  -0.9  -1.6  +8.7  +0.2  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +27.02,  +29.12,   +4.83,   +1.01,  -33.16,  -31.38]  speed=20 wait=0.0s  (pre max|Δ|=9.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.0  -9.6  -1.1  -2.2 +10.0  +0.5  着いた
