[SEND] pi05_chunk013_via09: send_angles (single) [ +21.96,  +22.55,   +5.07,   +1.27,  -29.76,  -31.15]  speed=20 wait=0.0s  (pre max|Δ|=4.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.7  -4.3  -1.1  -1.1  +4.1  +0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.79°（関節 j1）
[014] 推論 829ms  10ステップ先  Δ=-14.3 -16.0  -2.7  -2.3 +20.2  +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 > 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|=30.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[RECORD] 記録終了 コマ 894 (8.295 fps) 実測角 957 回 (8.88 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_184650/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_184650
[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))
    (119 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 (5 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.35, 1.49, 1.75, 0.26, -0.26, -30.23]
[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: [-0.35, 1.49, 1.75, 0.26, -0.26, -30.23]
  [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=  -0.8  response=0.918  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (14 秒)

=== 8. 実機推論 (5 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_184906
[MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2)
[CAMERA] 写り方 dy=-4.4 dx=+6.3 response=0.572 → 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_184906/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 1753ms  10ステップ先  Δ= +4.0 +17.4 +11.9  -2.4 -22.7  +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 > 
[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) [  +0.51,   +6.90,   +5.45,   -0.06,   -7.20,  -29.54]  speed=20 wait=0.0s  (pre max|Δ|=6.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.37° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.9  +5.4  +3.7  -0.3  -6.9  +0.7  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.45,  +12.05,   +9.08,   -0.81,  -14.03,  -28.61]  speed=20 wait=0.0s  (pre max|Δ|=9.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +4.1  +2.7  -1.1  -9.1  +1.1  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.81,  +16.95,  +12.56,   -1.91,  -20.92,  -27.58]  speed=20 wait=0.0s  (pre max|Δ|=8.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.0  +3.9  +2.6  -1.4  -8.8  +1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.57,  +18.85,  +13.65,   -2.18,  -23.01,  -27.28]  speed=20 wait=0.0s  (pre max|Δ|=3.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  +0.9  +0.3  -0.2  -3.9  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.22°（関節 j4）
[001] 推論 613ms  10ステップ先  Δ= +4.1 +13.8  +9.5  -1.0 -24.2  +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) [  +4.94,  +23.54,  +16.64,   -2.86,  -30.02,  -26.75]  speed=20 wait=0.0s  (pre max|Δ|=8.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.37° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  +3.7  +2.2  -0.4  -8.2  +0.8  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +6.31,  +28.10,  +19.84,   -2.85,  -37.49,  -26.65]  speed=20 wait=0.0s  (pre max|Δ|=8.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.5  +3.7  +2.4  +0.3  -8.8  +0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +7.52,  +32.30,  +22.60,   -3.01,  -44.31,  -26.54]  speed=20 wait=0.0s  (pre max|Δ|=8.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.34° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.5  +3.3  +2.1  +0.2  -8.4  +0.4  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +7.82,  +33.60,  +23.32,   -3.04,  -45.97,  -26.52]  speed=20 wait=0.0s  (pre max|Δ|=3.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.82° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  +0.5  +0.1  +0.1  -3.0  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.33°（関節 j4）
[002] 推論 857ms  10ステップ先  Δ= +3.0 +13.1  +8.4  +0.5 -19.5  +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) [  +9.35,  +40.02,  +27.64,   -3.11,  -55.84,  -26.42]  speed=20 wait=0.0s  (pre max|Δ|=10.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  2  Δ= +2.0  +5.6  +4.4  +0.1 -10.6  +0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +10.24,  +45.16,  +30.70,   -2.91,  -62.61,  -26.37]  speed=20 wait=0.0s  (pre max|Δ|=7.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.4  +4.3  +3.0  +0.3  -7.7  +0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +10.36,  +46.75,  +31.58,   -2.67,  -64.05,  -26.33]  speed=20 wait=0.0s  (pre max|Δ|=2.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +0.7  +0.9  +0.5  -2.4  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +10.34,  +47.09,  +31.58,   -2.66,  -64.17,  -26.33]  speed=20 wait=0.0s  (pre max|Δ|=0.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.63° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  +0.2  +0.9  +0.5  -1.0  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.72°（関節 j1）
[003] 推論 1557ms  10ステップ先  Δ= +0.9  +8.7  -7.9  +0.5  +0.3  -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[53459]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f88e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f89d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53459]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1254f8d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x13724d7c8). 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° → +11.19 +47.81 +31.81 -2.98 -63.54 -26.54  届いた（ずれ 1.41°）  届いた角度 +11.51 +47.81 +31.81 -2.98 -64.95 -26.54
[送信] j0 +1.0° → +12.19 +47.81 +31.81 -2.98 -63.54 -26.54  届いた（ずれ 1.41°）  届いた角度 +12.21 +47.81 +31.81 -2.72 -64.95 -26.54
[PAD   ] 補正 1 を終えました (9.4 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 549ms  10ステップ先  Δ= +1.3 +11.0  -8.8  -0.0  +2.0  -0.4  グリッパー→閉
       [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,  +53.39,  +27.65,   -2.72,  -64.25,  -26.52]  speed=20 wait=0.0s  (pre max|Δ|=5.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +5.6  -4.2  -0.1  +0.7  +0.0  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +13.58,  +57.99,  +24.00,   -2.72,  -63.63,  -26.70]  speed=20 wait=0.0s  (pre max|Δ|=4.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.32° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  +3.8  -4.6  +0.2  +1.3  -0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +13.58,  +58.77,  +22.98,   -2.64,  -62.94,  -26.96]  speed=20 wait=0.0s  (pre max|Δ|=2.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  +0.1  -1.7  -0.3  +2.0  -0.3  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +13.58,  +58.77,  +22.98,   -2.64,  -62.94,  -26.96]  speed=20 wait=0.0s  (pre max|Δ|=2.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  +0.1  -1.7  -0.3  +2.0  -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 3.15°（関節 j4）
[005] 推論 872ms  10ステップ先  Δ= +1.3  -4.2  +0.2  -1.1  +2.7  +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_chunk005_via02: send_angles (single) [ +13.58,  +55.83,  +25.98,   -3.16,  -62.25,  -26.58]  speed=20 wait=0.0s  (pre max|Δ|=3.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -2.9  +1.5  -1.4  +3.8  +0.4  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +13.80,  +53.96,  +27.87,   -3.24,  -63.12,  -26.18]  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  5  Δ= +0.7  -3.0  +2.8  -0.9  +0.8  +0.7  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +13.64,  +54.32,  +26.34,   -3.02,  -63.90,  -26.37]  speed=20 wait=0.0s  (pre max|Δ|=2.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.63° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -2.6  +1.3  -0.6  -0.0  +0.5  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +14.41,  +54.53,  +24.84,   -2.75,  -63.40,  -26.68]  speed=20 wait=0.0s  (pre max|Δ|=1.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.3  -1.8  -0.3  -0.4  +0.5  +0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.45°（関節 j1）
[006] 推論 1824ms  10ステップ先  Δ= +5.8  -1.2  -8.0  +1.2  +2.1  -1.8
       [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) [ +14.42,  +54.38,  +23.84,   -2.66,  -63.21,  -26.86]  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  2  Δ= +0.4  -1.6  -1.7  -0.3  +0.7  -0.2  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +14.96,  +54.46,  +22.18,   -2.38,  -63.15,  -27.11]  speed=20 wait=0.0s  (pre max|Δ|=2.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.51° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  -1.5  -3.0  -0.0  +0.5  -0.5  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +18.41,  +54.86,  +18.46,   -1.34,  -62.24,  -28.18]  speed=20 wait=0.0s  (pre max|Δ|=5.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.69° (tol 3.0°)
       [VIA   ] step  8  Δ= +4.2  -1.1  -5.8  +0.9  +0.5  -1.5  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +19.90,  +54.83,  +17.60,   -1.07,  -61.79,  -28.46]  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= +1.6  -1.2  -1.7  +0.8  -1.2  -1.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.73°（関節 j2）
[007] 推論 593ms  10ステップ先  Δ= +1.7  -1.2  -5.8  +1.1  -1.4  -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 > 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 +55.98° → +46.93° まで（目標を 1 回送信。止めます）
[送信] j1 -1.0° → +19.86 +41.97 +19.24 -1.58 -60.38 -27.94  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 2.72°）  届いた角度 +19.86 +42.97 +19.24 -1.31 -63.10 -28.12
[長押し] j1 を +42.97° → +36.56° まで（目標を 1 回送信。止めます）
[PAD   ] 補正 2 を終えました (13.4 秒, 送った目標 4 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)
[008] 推論 566ms  10ステップ先  Δ=+16.2  +9.4  -9.1  +2.3  -0.2  -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 > 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) [ +28.32,  +31.66,  +17.26,   -0.14,  -59.02,  -28.87]  speed=20 wait=0.0s  (pre max|Δ|=8.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.76° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.5  +0.5  -2.8  +1.2  +2.9  -0.7  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +34.07,  +33.45,  +13.86,   +0.50,  -58.19,  -29.40]  speed=20 wait=0.0s  (pre max|Δ|=5.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.45° (tol 3.0°)
       [VIA   ] step  5  Δ= +5.6  +1.0  -5.3  +1.5  +3.5  -1.3  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +36.03,  +38.69,  +11.44,   +0.85,  -60.05,  -29.56]  speed=20 wait=0.0s  (pre max|Δ|=4.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.6  +4.3  -3.9  +1.0  +0.6  -0.9  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +36.02,  +40.59,  +10.97,   +0.96,  -61.01,  -29.56]  speed=20 wait=0.0s  (pre max|Δ|=2.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  +0.8  -2.0  +0.3  -0.4  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.59°（関節 j2）
[009] 推論 551ms  10ステップ先  Δ= +3.7 +14.6  -5.6  +1.3  -7.8  -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 > 
[SEND] pi05_chunk009_via02: send_angles (single) [ +37.46,  +44.02,   +8.30,   +1.39,  -61.43,  -29.89]  speed=20 wait=0.0s  (pre max|Δ|=4.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  +2.3  -4.3  +0.7  -0.6  -0.9  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +38.69,  +49.85,   +7.83,   +1.61,  -65.11,  -29.99]  speed=20 wait=0.0s  (pre max|Δ|=4.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.48° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.2  +4.8  -1.9  +0.5  -4.1  -0.7  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +39.76,  +55.07,   +7.24,   +1.84,  -68.18,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=5.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.96° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.2  +6.6  -2.4  +0.6  -4.9  -0.7  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +39.76,  +56.24,   +6.96,   +1.92,  -68.61,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=2.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.74° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.9  +2.2  -2.4  +0.4  -1.8  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.65°（関節 j2）
[010] 推論 781ms  7ステップ先  Δ= +0.1  +6.0  -2.9  +0.4  -6.2  -0.7  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_chunk010_via02: send_angles (single) [ +39.82,  +61.66,   +5.90,   +2.20,  -72.22,  -30.21]  speed=20 wait=0.0s  (pre max|Δ|=4.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.30° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  +4.5  -2.5  +0.6  -4.4  -0.4  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +39.93,  +62.59,   +5.70,   +2.39,  -73.20,  -30.26]  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  5  Δ= +0.1  -0.2  -1.4  +0.7  -1.8  -0.5  着いた
[SEND] pi05_chunk010_via06: send_angles (single) [ +39.93,  +62.59,   +5.70,   +2.39,  -73.20,  -30.26]  speed=20 wait=0.0s  (pre max|Δ|=1.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.41° (tol 3.0°)
       [VIA   ] step  6  Δ= +0.1  -0.9  -1.4  +0.5  -1.0  -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 1.41°（関節 j2）
[011] 推論 1486ms  10ステップ先  Δ= -0.4 -17.9  -1.4  +0.6 +15.9  -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_chunk011_via02: send_angles (single) [ +39.93,  +57.97,   +5.70,   +2.42,  -69.55,  -30.40]  speed=20 wait=0.0s  (pre max|Δ|=5.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.78° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  -5.8  -1.4  +0.2  +5.2  -0.4  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +40.08,  +52.43,   +5.62,   +2.45,  -63.51,  -30.57]  speed=20 wait=0.0s  (pre max|Δ|=8.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.58° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -7.6  -1.5  +0.2  +8.8  -0.5  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +39.71,  +47.09,   +5.72,   +2.62,  -57.68,  -30.91]  speed=20 wait=0.0s  (pre max|Δ|=8.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -7.5  -1.4  +0.2  +8.4  -0.8  着いた
