[SEND] pi05_chunk011_via09: send_angles (single) [ +39.44,  +45.86,   +5.74,   +2.64,  -56.44,  -30.97]  speed=20 wait=0.0s  (pre max|Δ|=3.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.09° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -3.3  -1.4  +0.3  +3.7  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.09°（関節 j4）
[012] 推論 549ms  10ステップ先  Δ=-18.1 -23.5  -2.3  -2.5 +26.8  -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 > 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|=57.74°, post-send timeout 10.7s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[RECORD] 記録終了 コマ 709 (8.186 fps) 実測角 753 回 (8.69 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_184906/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_184906
[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))
    (92 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 (6 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [0.00, 1.49, 1.75, 0.52, -0.43, -30.58]
[SEND] HOME へ移動指令
[WAIT] t=0.7s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [0.00, 1.49, 1.75, 0.43, -0.43, -30.58]
  [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=  +0.1  response=0.927  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (12 秒)

=== 8. 実機推論 (6 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_185050
[MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2)
[CAMERA] 写り方 dy=-4.4 dx=+7.3 response=0.544 → 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_185050/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 589ms  10ステップ先  Δ= +3.3 +17.1 +11.3  -2.1 -22.4  +2.8
       [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 > 
[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) [  +0.83,   +6.02,   +4.86,   +0.05,   -6.00,  -29.64]  speed=20 wait=0.0s  (pre max|Δ|=5.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +4.5  +3.1  -0.2  -5.7  +0.6  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.88,  +11.66,   +8.58,   -0.58,  -13.47,  -28.77]  speed=20 wait=0.0s  (pre max|Δ|=9.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.1  +4.6  +2.7  -0.8  -9.3  +1.1  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.74,  +16.86,  +11.97,   -1.56,  -20.30,  -27.80]  speed=20 wait=0.0s  (pre max|Δ|=8.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.1  +4.2  +2.5  -1.1  -8.6  +1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.34,  +18.63,  +13.09,   -1.87,  -22.68,  -27.45]  speed=20 wait=0.0s  (pre max|Δ|=3.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  +0.8  +0.3  -0.5  -4.0  +0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.15°（関節 j4）
[001] 推論 808ms  10ステップ先  Δ= +3.4 +13.4  +8.3  -1.5 -22.4  +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 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +4.41,  +23.41,  +16.00,   -2.74,  -29.19,  -26.88]  speed=20 wait=0.0s  (pre max|Δ|=7.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.9  +3.9  +2.2  -1.1  -7.7  +0.8  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +5.77,  +27.90,  +18.72,   -3.20,  -36.04,  -26.63]  speed=20 wait=0.0s  (pre max|Δ|=8.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.5  +3.6  +1.9  -0.2  -8.0  +0.5  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +6.68,  +31.65,  +21.39,   -3.24,  -42.33,  -26.59]  speed=20 wait=0.0s  (pre max|Δ|=7.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.1  +2.8  +2.1  +0.4  -7.4  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +6.91,  +32.92,  +22.09,   -3.21,  -43.93,  -26.56]  speed=20 wait=0.0s  (pre max|Δ|=2.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  +0.5  +0.2  +0.6  -2.6  +0.3  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 1594ms  10ステップ先  Δ= +3.0 +12.9  +7.5  +0.9 -19.6  +0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [  +8.27,  +38.58,  +25.54,   -3.32,  -52.42,  -26.47]  speed=20 wait=0.0s  (pre max|Δ|=9.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.18° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.5  +4.7  +3.0  +0.4  -9.0  +0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +9.52,  +43.71,  +28.88,   -3.17,  -59.99,  -26.44]  speed=20 wait=0.0s  (pre max|Δ|=8.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.85° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.5  +4.2  +3.0  +0.4  -8.8  +0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +9.72,  +46.25,  +30.20,   -2.83,  -62.83,  -26.43]  speed=20 wait=0.0s  (pre max|Δ|=3.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +1.6  +1.3  +0.9  -3.7  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +9.75,  +46.70,  +30.04,   -2.83,  -63.01,  -26.44]  speed=20 wait=0.0s  (pre max|Δ|=0.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.84° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.5  -0.2  +0.5  -0.3  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.84°（関節 j1）
[003] 推論 556ms  10ステップ先  Δ= +2.3  +8.8  -6.0  +0.5  -1.7  +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 > p
objc[53482]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be12c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b7988e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be13b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b7989d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be14d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be15c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be15e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be1778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53482]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b798d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x113be17c8). 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° → +10.49 +47.54 +30.23 -3.33 -62.66 -26.63  届いた（ずれ 0.61°）  届いた角度 +10.10 +47.54 +30.23 -2.72 -62.66 -26.63
[送信] j0 +1.0° → +11.49 +47.54 +30.23 -3.33 -62.66 -26.63  届いた（ずれ 0.7°）  届いた角度 +11.51 +47.54 +30.23 -2.63 -62.66 -26.63
[送信] j0 +1.0° → +12.49 +47.54 +30.23 -3.33 -62.66 -26.63  届いた（ずれ 0.61°）  届いた角度 +12.74 +47.54 +30.23 -2.72 -62.66 -26.63
[PAD   ] 補正 1 を終えました (13.3 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)
[004] 推論 843ms  10ステップ先  Δ= +0.8  +8.1  -4.3  -0.2  -1.2  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ +12.85,  +48.23,  +30.48,   -2.44,  -63.18,  -26.67]  speed=20 wait=0.0s  (pre max|Δ|=0.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.69° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +0.7  +0.3  -0.1  -0.5  -0.0  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +13.30,  +50.09,  +29.87,   -2.54,  -63.37,  -26.70]  speed=20 wait=0.0s  (pre max|Δ|=1.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  +2.3  -0.4  -0.2  -0.7  -0.1  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +13.55,  +54.24,  +27.08,   -2.57,  -63.77,  -26.81]  speed=20 wait=0.0s  (pre max|Δ|=3.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  +3.3  -3.2  -0.2  -0.2  -0.2  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +13.49,  +55.62,  +25.91,   -2.59,  -63.86,  -26.88]  speed=20 wait=0.0s  (pre max|Δ|=2.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  +0.5  -2.1  -0.3  -0.1  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.09°（関節 j4）
[005] 推論 1555ms  6ステップ先  Δ= +0.4  +2.8  -4.4  -0.4  +1.3  -0.7  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) [ +13.65,  +59.18,  +22.73,   -2.63,  -63.87,  -27.12]  speed=20 wait=0.0s  (pre max|Δ|=4.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +2.8  -4.2  -0.3  +1.1  -0.5  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +13.69,  +59.18,  +22.48,   -2.68,  -63.63,  -27.28]  speed=20 wait=0.0s  (pre max|Δ|=1.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -0.7  -0.8  -0.5  +1.7  -0.5  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 2.90°（関節 j4）
[006] 推論 806ms  10ステップ先  Δ= +1.5  -5.2  +0.6  -1.0  +2.7  +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) [ +13.67,  +54.78,  +26.36,   -2.96,  -62.86,  -26.75]  speed=20 wait=0.0s  (pre max|Δ|=5.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -5.1  +3.3  -0.9  +3.0  +0.8  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +13.82,  +52.11,  +28.71,   -2.99,  -63.76,  -26.28]  speed=20 wait=0.0s  (pre max|Δ|=3.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -3.6  +3.4  +0.3  -2.3  +0.9  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +13.87,  +54.52,  +24.64,   -2.83,  -63.84,  -26.81]  speed=20 wait=0.0s  (pre max|Δ|=3.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  +1.1  -3.3  +0.9  -2.5  -0.3  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +14.56,  +54.64,  +23.84,   -2.69,  -63.78,  -26.99]  speed=20 wait=0.0s  (pre max|Δ|=2.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.3  -0.5  -1.3  +0.9  -2.2  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.17°（関節 j4）
[007] 推論 1531ms  10ステップ先  Δ= +7.5  -2.8  -4.4  +1.7  -0.5  -2.0
       [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 > 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
