[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[長押し] j1 を +55.28° → +46.58° まで（目標を 1 回送信。止めます）
[PAD   ] 補正 3 を終えました (10.4 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)
[009] 推論 787ms  10ステップ先  Δ=+19.5  +2.7 -19.6  +3.7  +6.5  -3.5
       [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 > 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|=61.52°, post-send timeout 11.2s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[RECORD] 記録終了 コマ 637 (7.748 fps) 実測角 699 回 (8.5 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_185225/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_185225
[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))
    (88 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 (8 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [0.43, 1.49, 1.75, -0.35, -0.52, -29.61]
[SEND] HOME へ移動指令
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[WARN] get_angles 失敗 (試行 1/3)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[WARN] get_angles 失敗 (試行 2/3)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[WARN] get_angles 失敗 (試行 3/3)
[WAIT] t=7.5s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [0.08, 1.49, 1.75, -0.26, -0.26, -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=  +2.3  dx=  +0.4  response=0.922  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (20 秒)

=== 8. 実機推論 (8 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_185415
[MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2)
[CAMERA] 写り方 dy=-4.4 dx=+7.5 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_185415/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 572ms  10ステップ先  Δ= +3.4 +16.1 +11.4  -1.7 -23.3  +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 > 
[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) [  +0.99,   +5.80,   +4.80,   -0.40,   -6.25,  -29.59]  speed=20 wait=0.0s  (pre max|Δ|=5.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.9  +4.3  +3.0  -0.1  -6.0  +0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.89,  +10.89,   +8.51,   -0.76,  -14.06,  -29.18]  speed=20 wait=0.0s  (pre max|Δ|=9.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +4.3  +2.7  -0.5  -9.9  +0.5  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +3.13,  +15.89,  +12.06,   -1.64,  -21.35,  -28.40]  speed=20 wait=0.0s  (pre max|Δ|=9.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.9  +4.1  +2.6  -1.5  -9.2  +1.3  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.45,  +17.58,  +13.18,   -1.96,  -23.51,  -28.12]  speed=20 wait=0.0s  (pre max|Δ|=4.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.28° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  +0.9  +0.3  -1.5  -4.2  +1.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.28°（関節 j4）
[001] 推論 782ms  10ステップ先  Δ= +4.2 +12.8  +8.3  -1.9 -21.0  +2.2
       [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_chunk001_via02: send_angles (single) [  +4.78,  +22.14,  +16.20,   -2.58,  -29.49,  -27.49]  speed=20 wait=0.0s  (pre max|Δ|=7.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.3  +3.6  +2.3  -1.5  -7.3  +1.5  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +5.95,  +26.29,  +18.85,   -2.67,  -35.78,  -27.21]  speed=20 wait=0.0s  (pre max|Δ|=7.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  +3.3  +1.7  -0.5  -7.3  +1.0  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +7.37,  +30.35,  +21.51,   -2.73,  -41.75,  -27.11]  speed=20 wait=0.0s  (pre max|Δ|=7.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.41° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.4  +3.2  +2.0  -0.4  -7.5  +0.8  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +7.73,  +31.33,  +22.20,   -2.73,  -43.23,  -27.06]  speed=20 wait=0.0s  (pre max|Δ|=2.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.45° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  +0.0  +0.1  -0.3  -2.9  +0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.05°（関節 j4）
[002] 推論 1463ms  10ステップ先  Δ= +4.0 +12.3  +6.8  -0.1 -19.3  +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_chunk002_via02: send_angles (single) [  +8.83,  +34.97,  +24.43,   -2.61,  -48.39,  -26.91]  speed=20 wait=0.0s  (pre max|Δ|=6.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  +2.7  +2.4  -0.3  -6.1  +0.5  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +10.27,  +39.43,  +26.81,   -2.49,  -54.95,  -26.83]  speed=20 wait=0.0s  (pre max|Δ|=7.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.73° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.5  +3.5  +1.9  -0.2  -7.4  +0.5  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +11.02,  +43.39,  +28.57,   -2.42,  -60.22,  -26.76]  speed=20 wait=0.0s  (pre max|Δ|=5.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +3.2  +1.4  -0.2  -5.9  +0.5  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +11.20,  +44.45,  +28.86,   -2.35,  -61.46,  -26.75]  speed=20 wait=0.0s  (pre max|Δ|=1.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  +0.1  +0.2  -0.2  -1.8  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.90°（関節 j1）
[003] 推論 791ms  10ステップ先  Δ= +2.8  +4.0  +0.6  -0.7  -2.1  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > p
objc[53542]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca12c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a88e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca13b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a89d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca14d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca15c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca15e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca1778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53542]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10b6a8d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x10fca17c8). 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° → +12.07 +45.35 +28.65 -2.02 -60.90 -27.07  届いた（ずれ 1.59°）  届いた角度 +12.21 +45.35 +28.65 -1.84 -62.49 -26.98
[送信] j0 +1.0° → +13.07 +45.35 +28.65 -2.02 -60.90 -27.07  届いた（ずれ 1.59°）  届いた角度 +12.83 +45.35 +28.65 -1.84 -62.49 -26.98
[PAD   ] 補正 1 を終えました (9.8 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 1547ms  10ステップ先  Δ= +0.5 +16.7 -10.0  +0.1  -3.4  -0.0
       [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_chunk004_via02: send_angles (single) [ +12.86,  +51.28,  +28.20,   -1.89,  -67.02,  -26.88]  speed=20 wait=0.0s  (pre max|Δ|=5.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  +5.9  -0.5  +0.0  -4.5  +0.1  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +13.28,  +56.33,  +24.31,   -1.83,  -67.14,  -26.86]  speed=20 wait=0.0s  (pre max|Δ|=4.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  +4.1  -4.3  +0.1  -1.6  +0.1  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +13.54,  +60.89,  +19.66,   -1.88,  -66.11,  -26.95]  speed=20 wait=0.0s  (pre max|Δ|=5.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.73° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  +3.8  -5.6  +0.0  -0.5  +0.0  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +13.73,  +62.01,  +18.64,   -1.87,  -65.86,  -27.01]  speed=20 wait=0.0s  (pre max|Δ|=1.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.4  -1.8  -0.0  -0.2  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.87°（関節 j2）
[005] 推論 641ms  3ステップ先  Δ= +0.3  -0.7  -1.0  -0.3  +1.0  +0.0  グリッパー→閉
       [VIA   ] 中継点 1 点: step 2
       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) [ +13.74,  +62.09,  +18.50,   -1.82,  -65.71,  -27.06]  speed=20 wait=0.0s  (pre max|Δ|=1.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -0.7  -1.0  -0.3  +1.0  +0.0  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 1.70°（関節 j4）
[006] 推論 691ms  10ステップ先  Δ= +1.6  -7.5  +3.2  -1.9  +6.6  +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_chunk006_via02: send_angles (single) [ +14.17,  +60.21,  +19.19,   -2.35,  -63.09,  -26.77]  speed=20 wait=0.0s  (pre max|Δ|=4.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.65° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  -2.6  -0.2  -1.0  +4.7  +0.6  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +14.71,  +56.36,  +22.07,   -2.99,  -60.43,  -26.30]  speed=20 wait=0.0s  (pre max|Δ|=5.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  -5.3  +2.6  -1.4  +5.3  +0.9  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +14.79,  +54.84,  +23.55,   -3.22,  -60.62,  -26.02]  speed=20 wait=0.0s  (pre max|Δ|=2.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  -3.0  +2.0  -0.5  +1.1  +0.5  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +15.08,  +55.36,  +22.63,   -3.11,  -60.81,  -26.13]  speed=20 wait=0.0s  (pre max|Δ|=1.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -1.1  -0.3  -0.2  +0.4  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.06°（関節 j1）
[007] 推論 571ms  10ステップ先  Δ= +0.8  -1.6  -3.5  +0.1  -0.7  -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_chunk007_via02: send_angles (single) [ +15.16,  +54.92,  +22.20,   -2.97,  -61.37,  -26.21]  speed=20 wait=0.0s  (pre max|Δ|=1.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  -1.5  -0.7  -0.1  -0.1  -0.0  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +15.15,  +54.77,  +21.03,   -2.87,  -61.61,  -26.33]  speed=20 wait=0.0s  (pre max|Δ|=1.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -1.7  -1.9  +0.0  -0.4  -0.1  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +14.99,  +54.84,  +20.03,   -2.82,  -61.91,  -26.37]  speed=20 wait=0.0s  (pre max|Δ|=1.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -1.6  -1.9  +0.1  -1.3  -0.2  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +15.27,  +54.83,  +19.40,   -2.78,  -61.91,  -26.42]  speed=20 wait=0.0s  (pre max|Δ|=2.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  -1.6  -2.2  +0.1  -1.3  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.69°（関節 j2）
[008] 推論 600ms  10ステップ先  Δ= +0.5  -1.9  -4.4  +0.2  -2.3  -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 > p
[PAD   ] 補正 2 (推論 8 のあと). ゲームパッドで直して, □ で推論に戻ります
コントローラーを待っています（つないでいなければ、今つないでください）。□ で推論に戻ります
[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[止める] stop（released_while_sending）  止まった角度 +15.11 +54.05 +20.65 -2.98 -63.19 -26.01
