[SEND] pi05_chunk011_via09: send_angles (single) [ +25.08,  +26.35,   +4.86,   +0.71,  -29.83,  -31.27]  speed=20 wait=0.0s  (pre max|Δ|=4.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.74° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.2  -4.7  -1.0  -1.4  +4.4  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.77°（関節 j1）
[012] 推論 550ms  10ステップ先  Δ=-22.0 -23.5  -1.7  -1.3 +28.3  +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 > 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|=30.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[RECORD] 記録終了 コマ 757 (8.238 fps) 実測角 800 回 (8.71 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_184452/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_184452
[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))
    (98 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 (4 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.17, 1.40, 1.75, 0.35, -0.35, -30.32]
[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, 1.40, 1.75, 0.35, -0.26, -30.32]
  [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=  -0.2  response=0.921  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (19 秒)

=== 8. 実機推論 (4 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_184650
[MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2)
[CAMERA] 写り方 dy=-4.0 dx=+6.5 response=0.524 → 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_184650/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 741ms  10ステップ先  Δ= +3.8 +16.1 +12.2  -2.3 -24.5  +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) [  +0.62,   +6.05,   +4.85,   -0.12,   -6.80,  -29.62]  speed=20 wait=0.0s  (pre max|Δ|=6.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.97° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.9  +4.7  +3.1  -0.4  -6.5  +0.6  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.73,  +11.02,   +8.65,   -0.84,  -14.40,  -28.73]  speed=20 wait=0.0s  (pre max|Δ|=9.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  +4.1  +2.8  -1.0  -9.6  +1.1  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +3.11,  +15.73,  +12.54,   -1.77,  -21.86,  -27.73]  speed=20 wait=0.0s  (pre max|Δ|=9.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.0  +3.8  +3.1  -1.0  -9.1  +1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.66,  +17.54,  +13.94,   -2.08,  -24.76,  -27.38]  speed=20 wait=0.0s  (pre max|Δ|=4.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.9  +0.9  +0.6  -0.2  -4.7  +0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.39°（関節 j4）
[001] 推論 1475ms  10ステップ先  Δ= +4.2 +15.0  +9.8  -0.4 -24.8  +0.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / 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) [  +4.80,  +21.97,  +16.58,   -2.69,  -30.90,  -26.93]  speed=20 wait=0.0s  (pre max|Δ|=7.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +3.6  +2.0  -0.4  -7.5  +0.7  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +6.01,  +26.73,  +19.71,   -2.76,  -37.95,  -26.75]  speed=20 wait=0.0s  (pre max|Δ|=7.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.1  +3.9  +2.4  +0.2  -7.8  +0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +7.44,  +31.79,  +23.23,   -2.65,  -45.76,  -26.66]  speed=20 wait=0.0s  (pre max|Δ|=8.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.81° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.6  +4.2  +2.8  +0.8  -8.8  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +7.93,  +33.36,  +24.36,   -2.64,  -48.18,  -26.64]  speed=20 wait=0.0s  (pre max|Δ|=3.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.72° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.8  +0.6  +0.7  -3.1  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.91°（関節 j1）
[002] 推論 559ms  10ステップ先  Δ= +3.5  +9.6  +6.2  +0.1 -14.5  +0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / 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) [  +9.45,  +38.47,  +27.71,   -2.70,  -55.33,  -26.60]  speed=20 wait=0.0s  (pre max|Δ|=7.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.5  +4.2  +2.9  +0.5  -7.8  +0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +10.71,  +43.20,  +30.37,   -2.91,  -61.24,  -26.53]  speed=20 wait=0.0s  (pre max|Δ|=6.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.86° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.4  +3.8  +2.3  +0.1  -6.4  +0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +10.89,  +44.53,  +30.83,   -2.89,  -62.39,  -26.51]  speed=20 wait=0.0s  (pre max|Δ|=1.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +0.5  +0.3  +0.1  -1.9  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +10.93,  +43.92,  +30.39,   -2.96,  -62.04,  -26.51]  speed=20 wait=0.0s  (pre max|Δ|=1.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -1.2  -0.1  -0.2  -0.1  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.51°（関節 j1）
[003] 推論 594ms  10ステップ先  Δ= +1.5  +9.1  -3.8  -0.3  -1.9  +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[53422]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d48e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d49d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53422]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10a8d4d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11e9fd7c8). 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 +45.43 +30.49 -2.81 -62.13 -26.71  届いた（ずれ 0.18°）  届いた角度 +11.86 +45.43 +30.49 -2.63 -62.13 -26.71
[PAD   ] 補正 1 を終えました (9.8 秒, 送った目標 1 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 552ms  10ステップ先  Δ= +1.1 +12.4  -8.9  -0.3  -0.9  -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_chunk004_via02: send_angles (single) [ +12.02,  +48.21,  +29.65,   -2.80,  -62.99,  -26.64]  speed=20 wait=0.0s  (pre max|Δ|=2.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.78° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  +2.8  -0.8  -0.1  -0.9  +0.1  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +12.51,  +53.30,  +26.05,   -2.90,  -63.63,  -26.61]  speed=20 wait=0.0s  (pre max|Δ|=4.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +4.2  -4.4  -0.2  -1.1  +0.1  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +12.91,  +57.23,  +22.27,   -3.00,  -63.02,  -26.72]  speed=20 wait=0.0s  (pre max|Δ|=4.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.86° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.0  +3.1  -4.8  -0.4  -0.2  -0.0  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +13.02,  +57.82,  +21.61,   -3.02,  -63.05,  -26.78]  speed=20 wait=0.0s  (pre max|Δ|=1.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.41° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -0.3  -1.5  -0.5  -0.2  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.24°（関節 j2）
[005] 推論 775ms  6ステップ先  Δ= +0.4  +1.9  -2.8  -0.3  -0.1  +0.0  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) [ +13.28,  +60.14,  +20.41,   -3.00,  -63.75,  -26.66]  speed=20 wait=0.0s  (pre max|Δ|=2.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.37° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +1.6  -2.4  -0.4  -0.1  +0.0  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +13.26,  +60.46,  +20.02,   -2.92,  -63.78,  -26.67]  speed=20 wait=0.0s  (pre max|Δ|=1.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.34° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -0.4  -1.2  -0.3  +1.3  +0.1  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 2.84°（関節 j4）
[006] 推論 1504ms  10ステップ先  Δ= +0.4  -7.1  +4.3  -0.9  +2.8  +0.7
       [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_chunk006_via02: send_angles (single) [ +13.37,  +59.93,  +20.07,   -2.93,  -63.88,  -26.72]  speed=20 wait=0.0s  (pre max|Δ|=2.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.74° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  -1.2  -1.0  -0.4  +2.7  +0.3  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +13.17,  +57.59,  +22.37,   -3.08,  -63.80,  -26.43]  speed=20 wait=0.0s  (pre max|Δ|=3.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -3.5  +1.3  -0.5  +2.8  +0.5  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +13.07,  +54.49,  +25.11,   -3.26,  -63.74,  -26.20]  speed=20 wait=0.0s  (pre max|Δ|=4.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -4.6  +3.6  -0.6  -0.0  +0.7  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +12.97,  +54.01,  +25.35,   -3.27,  -63.83,  -26.19]  speed=20 wait=0.0s  (pre max|Δ|=1.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -2.0  +0.7  -0.1  -1.3  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.70°（関節 j4）
[007] 推論 571ms  10ステップ先  Δ= +0.3  -1.0  -6.3  -0.1  -1.7  +0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / 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 7 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 +55.63° → +46.05° まで（目標を 1 回送信。止めます）
[長押し] j1 を +40.95° → +27.68° まで（目標を 2 回送信。止めます）
[関節] 上下で動かす関節を j2 にしました
[長押し] j2 を +26.45° → +28.91° まで（目標を 1 回送信。止めます）
[PAD   ] 補正 2 を終えました (26.6 秒, 送った目標 6 回). この姿勢から推論に戻ります
[PAD   ] [注意] 学習データの範囲の外にいます: j2=+42.5 (範囲 -46〜+41). 次の推論は範囲の端へ切られるか, 止まります
[STATE ] 実測を渡す (直前に送った目標がない)
[008] 推論 774ms  10ステップ先  Δ= +6.1 +14.0 -12.5  +2.7  -1.3  -1.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / 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 > r
       爪を締め直します (開かずに閉じる指令をもう一度)
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
       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) [ +13.06,  +13.91,  +41.04,   -2.68,  -64.49,  -26.41]  speed=20 wait=0.0s  (pre max|Δ|=2.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +2.1  -1.4  +0.7  -0.2  -0.1  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +14.06,  +18.84,  +37.45,   -1.79,  -65.70,  -26.92]  speed=20 wait=0.0s  (pre max|Δ|=7.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.57° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.1  +7.2  -5.0  +1.6  -1.4  -0.6  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +17.57,  +24.29,  +31.80,   -0.96,  -65.06,  -27.73]  speed=20 wait=0.0s  (pre max|Δ|=7.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.42° (tol 3.0°)
       [VIA   ] step  8  Δ= +3.6  +4.6  -7.2  +1.4  +0.4  -1.4  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +18.98,  +25.85,  +29.97,   -0.76,  -64.49,  -27.95]  speed=20 wait=0.0s  (pre max|Δ|=3.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.1  +0.6  -3.3  +0.8  +1.0  -1.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.49°（関節 j2）
[009] 推論 1523ms  10ステップ先  Δ=+14.6 +11.2 -18.3  +3.8  +2.6  -3.7
       [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_chunk009_via02: send_angles (single) [ +25.74,  +26.74,  +24.61,   +0.71,  -62.23,  -29.27]  speed=20 wait=0.0s  (pre max|Δ|=6.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.9  -0.1  -6.9  +1.8  +3.2  -1.9  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +30.66,  +28.64,  +18.82,   +1.85,  -60.80,  -30.39]  speed=20 wait=0.0s  (pre max|Δ|=7.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  5  Δ= +5.0  +1.0  -7.1  +1.4  +3.5  -1.6  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +32.91,  +35.43,  +14.28,   +2.60,  -62.30,  -30.97]  speed=20 wait=0.0s  (pre max|Δ|=5.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.2  +5.9  -5.9  +1.2  +0.4  -1.0  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +33.37,  +37.97,  +13.12,   +2.78,  -62.86,  -31.02]  speed=20 wait=0.0s  (pre max|Δ|=2.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  +1.5  -2.7  +0.4  -0.1  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.82°（関節 j2）
[010] 推論 596ms  10ステップ先  Δ= +9.0 +15.1  -7.3  +1.7  -7.5  -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_chunk010_via02: send_angles (single) [ +40.67,  +39.36,  +10.36,   +3.28,  -61.97,  -31.38]  speed=20 wait=0.0s  (pre max|Δ|=7.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.7  +0.3  -4.6  +0.9  +0.8  -0.8  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +41.63,  +45.92,   +9.24,   +3.44,  -65.52,  -31.40]  speed=20 wait=0.0s  (pre max|Δ|=5.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.57° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +5.8  -2.6  +0.5  -2.8  -0.4  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +42.02,  +52.54,   +8.10,   +3.85,  -69.56,  -31.45]  speed=20 wait=0.0s  (pre max|Δ|=5.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +5.5  -2.7  +0.3  -5.1  -0.4  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +41.94,  +54.26,   +7.62,   +3.97,  -70.26,  -31.48]  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= +0.2  +0.6  -2.0  +0.3  -1.7  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.96°（関節 j2）
[011] 推論 556ms  7ステップ先  Δ= +0.8  +7.9  -5.0  +0.7  -5.3  -0.8  グリッパー→開
       [VIA   ] 中継点 3 点: step 2, 5, 6
       Enter=実行 / s=送らず次へ / b=巻き戻し / 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) [ +42.20,  +59.75,   +5.31,   +4.27,  -72.73,  -31.67]  speed=20 wait=0.0s  (pre max|Δ|=4.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.19° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  +4.3  -3.7  +0.4  -3.0  -0.6  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +42.50,  +61.63,   +4.59,   +4.45,  -73.84,  -31.79]  speed=20 wait=0.0s  (pre max|Δ|=2.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +0.7  -1.9  +0.5  -2.1  -0.4  着いた
[SEND] pi05_chunk011_via06: send_angles (single) [ +42.50,  +61.63,   +4.59,   +4.45,  -73.84,  -31.79]  speed=20 wait=0.0s  (pre max|Δ|=1.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  6  Δ= +0.8  +0.7  -1.9  +0.5  -2.1  -0.4  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.29°（関節 j2）
[012] 推論 818ms  10ステップ先  Δ= -1.6 -17.2  -0.1  +0.0 +15.4  -0.7
       [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_chunk012_via02: send_angles (single) [ +42.48,  +56.27,   +4.96,   +4.46,  -68.47,  -31.94]  speed=20 wait=0.0s  (pre max|Δ|=6.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.89° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  -6.6  -0.9  +0.1  +4.6  -0.5  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +42.41,  +51.33,   +5.22,   +4.45,  -63.42,  -32.02]  speed=20 wait=0.0s  (pre max|Δ|=7.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.41° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  -6.9  -0.7  -0.0  +7.8  -0.4  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +41.40,  +46.77,   +5.64,   +4.36,  -58.87,  -32.10]  speed=20 wait=0.0s  (pre max|Δ|=6.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.1  -6.5  -0.2  -0.2  +7.0  -0.4  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +40.98,  +45.65,   +5.74,   +4.31,  -57.74,  -32.12]  speed=20 wait=0.0s  (pre max|Δ|=3.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  -3.1  -0.2  -0.4  +3.4  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.16°（関節 j1）
[013] 推論 1541ms  10ステップ先  Δ=-19.2 -25.3  -1.0  -3.6 +30.0  +0.7
       [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_chunk013_via02: send_angles (single) [ +35.87,  +39.20,   +5.48,   +3.55,  -50.58,  -31.88]  speed=20 wait=0.0s  (pre max|Δ|=8.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.3  -8.6  -0.7  -1.3  +8.6  -0.1  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +30.17,  +32.25,   +5.21,   +2.55,  -42.23,  -31.54]  speed=20 wait=0.0s  (pre max|Δ|=9.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.9  -9.0  -0.9  -1.9  +9.5  +0.3  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +24.15,  +24.95,   +4.92,   +1.56,  -32.77,  -31.24]  speed=20 wait=0.0s  (pre max|Δ|=10.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.0  -9.4  -1.2  -1.9 +10.7  +0.7  着いた
