[長押し] j1 を +54.05° → +50.71° まで（目標を 1 回送信。止めます）
[長押し] j1 を +46.31° → +46.31° まで（目標を 1 回送信。止めます）
[PAD   ] 補正 2 を終えました (18.0 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)
[009] 推論 1464ms  10ステップ先  Δ=+21.1  +1.0 -13.2  +3.0  +4.8  -2.6
       [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 > 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|=60.90°, post-send timeout 11.1s)
[SEND] arrival OK: max|Δ|=2.46° (tol 2.5°)
[RECORD] 記録終了 コマ 599 (8.097 fps) 実測角 647 回 (8.75 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_185415/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_185415
[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))
    (82 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 (9 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, -0.43, -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: [0.35, 1.49, 1.75, -0.26, -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=  +2.1  dx=  +0.4  response=0.921  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (15 秒)

=== 8. 実機推論 (9 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_185554
[MODEL ] corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2)
[CAMERA] 写り方 dy=-4.5 dx=+7.5 response=0.543 → 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_185554/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 566ms  10ステップ先  Δ= +3.5 +17.7 +11.5  -1.5 -24.0  +1.9
       [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) [  +0.80,   +7.32,   +5.40,   -0.43,   -7.87,  -29.49]  speed=20 wait=0.0s  (pre max|Δ|=7.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +5.8  +3.7  -0.2  -7.6  +0.2  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.40,  +12.70,   +8.84,   -0.72,  -15.15,  -29.04]  speed=20 wait=0.0s  (pre max|Δ|=9.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.80° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +4.4  +2.4  -0.5  -9.5  +0.7  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.86,  +17.47,  +12.12,   -1.51,  -22.05,  -28.17]  speed=20 wait=0.0s  (pre max|Δ|=8.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.1  +3.8  +2.4  -1.3  -8.7  +1.5  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.56,  +19.14,  +13.28,   -1.79,  -24.24,  -27.84]  speed=20 wait=0.0s  (pre max|Δ|=3.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.27° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  +0.8  +0.4  -1.4  -3.9  +1.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.27°（関節 j3）
[001] 推論 615ms  10ステップ先  Δ= +5.1 +14.1  +9.1  -2.7 -23.3  +2.1
       [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) [  +4.79,  +23.81,  +16.30,   -2.40,  -30.84,  -27.24]  speed=20 wait=0.0s  (pre max|Δ|=7.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.2  +3.8  +2.3  -1.5  -7.8  +1.6  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +6.36,  +28.21,  +19.36,   -2.75,  -37.24,  -26.96]  speed=20 wait=0.0s  (pre max|Δ|=7.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.30° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.9  +3.4  +2.2  -0.7  -7.7  +1.1  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +7.69,  +32.84,  +22.36,   -3.13,  -44.49,  -26.81]  speed=20 wait=0.0s  (pre max|Δ|=8.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.8  +3.8  +2.4  -0.8  -8.6  +0.9  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +8.07,  +34.10,  +23.11,   -3.21,  -46.35,  -26.77]  speed=20 wait=0.0s  (pre max|Δ|=3.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  +0.3  +0.3  -0.8  -3.3  +0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.88°（関節 j1）
[002] 推論 1662ms  10ステップ先  Δ= +2.2 +12.0  +7.1  -0.3 -19.4  +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) [  +9.10,  +38.42,  +25.61,   -3.05,  -53.16,  -26.73]  speed=20 wait=0.0s  (pre max|Δ|=7.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.0  +3.4  +2.8  -0.4  -7.5  +0.5  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +10.05,  +43.27,  +28.46,   -3.02,  -60.15,  -26.65]  speed=20 wait=0.0s  (pre max|Δ|=7.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +4.0  +2.5  -0.2  -8.0  +0.5  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +10.27,  +46.28,  +29.92,   -2.85,  -64.30,  -26.62]  speed=20 wait=0.0s  (pre max|Δ|=5.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  +2.1  +1.4  -0.3  -5.1  +0.5  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +10.23,  +47.01,  +29.91,   -2.79,  -65.05,  -26.62]  speed=20 wait=0.0s  (pre max|Δ|=1.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.25° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.0  -0.2  -0.1  -0.3  -1.2  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.25°（関節 j4）
[003] 推論 717ms  10ステップ先  Δ= +1.9 +10.2  -6.0  -0.5  -0.3  +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[53570]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffc890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1336912c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffc8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffc958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffc980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1336913b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffc9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1336914d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1336915c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1336915e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x133691778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[53570]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x110ffcd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1336917c8). 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 +47.19 +29.97 -2.54 -63.80 -26.89  届いた（ずれ 0.79°）  届いた角度 +11.25 +47.90 +29.97 -2.28 -64.59 -26.80
[送信] j0 +1.0° → +12.19 +47.19 +29.97 -2.54 -63.80 -26.89  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 0.79°）  届いた角度 +11.42 +47.90 +29.97 -2.37 -64.59 -26.80
[送信] j0 +1.0° → +13.19 +47.19 +29.97 -2.54 -63.80 -26.89  届いた（ずれ 0.79°）  届いた角度 +13.44 +47.90 +29.97 -2.46 -64.59 -26.80
[PAD   ] 補正 1 を終えました (9.9 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 560ms  10ステップ先  Δ= +0.8 +12.2  -9.4  -0.2  -0.2  -0.6  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) [ +13.45,  +52.38,  +27.55,   -2.91,  -65.49,  -26.62]  speed=20 wait=0.0s  (pre max|Δ|=4.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.19° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  +4.5  -2.4  -0.2  -0.9  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +13.72,  +57.70,  +22.89,   -2.96,  -65.33,  -26.78]  speed=20 wait=0.0s  (pre max|Δ|=5.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.20° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +4.4  -5.9  -0.2  +1.1  +0.0  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +13.97,  +60.10,  +20.52,   -2.93,  -64.79,  -27.38]  speed=20 wait=0.0s  (pre max|Δ|=3.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.74° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  +1.6  -3.3  -0.2  +1.7  -0.6  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +13.97,  +60.10,  +20.52,   -2.93,  -64.79,  -27.38]  speed=20 wait=0.0s  (pre max|Δ|=1.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.74° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.8  -0.9  -0.4  +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 2.35°（関節 j4）
[005] 推論 578ms  10ステップ先  Δ= +0.1  -3.2  -1.4  -1.0  +4.4  +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_chunk005_via02: send_angles (single) [ +13.84,  +58.80,  +21.60,   -3.12,  -64.06,  -26.92]  speed=20 wait=0.0s  (pre max|Δ|=3.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.64° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  -2.1  +0.2  -0.6  +3.3  +0.5  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +13.87,  +58.19,  +21.35,   -3.35,  -63.64,  -26.50]  speed=20 wait=0.0s  (pre max|Δ|=2.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.98° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -2.3  -0.1  -0.8  +3.1  +0.8  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +13.76,  +57.47,  +20.75,   -3.51,  -62.90,  -26.39]  speed=20 wait=0.0s  (pre max|Δ|=3.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -2.6  -0.7  -0.9  +3.3  +0.6  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +13.78,  +57.68,  +20.07,   -3.50,  -62.76,  -26.45]  speed=20 wait=0.0s  (pre max|Δ|=1.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -1.5  -1.4  -0.6  +1.9  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.92°（関節 j4）
[006] 推論 703ms  10ステップ先  Δ= +1.4  -2.1  -4.3  +0.1  -0.2  +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
[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 +59.15° → +53.43° まで（目標を 1 回送信。止めます）
[送信] j1 -1.0° → +13.62 +48.30 +21.44 -2.90 -64.51 -26.71  届いた（ずれ 4.22°）  届いた角度 +13.71 +47.98 +21.26 -3.95 -60.29 -25.83
[送信] j1 -1.0° → +13.62 +47.30 +21.44 -2.90 -64.51 -26.71  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 3.08°）  届いた角度 +13.71 +49.39 +21.26 -3.86 -61.43 -25.83
[送信] j1 -1.0° → +13.62 +46.30 +21.44 -2.90 -64.51 -26.71  手前で止まった（次の押しは この目標の先から）（ずれ 3.08°）  届いた角度 +13.71 +48.16 +21.26 -3.86 -61.43 -25.92
[止める] stop（released_while_sending）  止まった角度 +13.71 +46.66 +21.35 -3.86 -60.20 -26.01
[長押し] j1 を +46.84° → +39.81° まで（目標を 1 回送信。止めます）
[PAD   ] 補正 2 を終えました (15.0 秒, 送った目標 6 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 1527ms  10ステップ先  Δ= +7.4  +4.4  +5.3  +1.3  -8.0  -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) [ +15.88,  +35.60,  +23.66,   -3.14,  -60.84,  -26.13]  speed=20 wait=0.0s  (pre max|Δ|=2.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  2  Δ= +2.2  +0.5  +1.2  +0.6  -1.8  -0.1  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +17.97,  +37.10,  +26.30,   -2.80,  -63.50,  -26.21]  speed=20 wait=0.0s  (pre max|Δ|=3.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.5  +1.4  +3.8  +0.6  -1.7  -0.2  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +20.55,  +38.78,  +27.93,   -2.52,  -65.80,  -26.23]  speed=20 wait=0.0s  (pre max|Δ|=3.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.5  +0.7  +1.6  -0.4  -3.1  -0.2  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +21.10,  +39.47,  +27.69,   -2.43,  -66.40,  -26.24]  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  9  Δ= +0.6  -0.3  -0.6  +0.0  -0.9  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.93°（関節 j4）
[008] 推論 631ms  10ステップ先  Δ=+21.4  +4.8 -19.8  +4.2  +5.8  -4.0
       [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) [ +28.02,  +40.12,  +21.94,   -1.03,  -64.20,  -27.45]  speed=20 wait=0.0s  (pre max|Δ|=7.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.6  +0.4  -6.4  +1.3  +1.3  -1.4  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +34.74,  +41.25,  +15.34,   +0.35,  -61.71,  -28.82]  speed=20 wait=0.0s  (pre max|Δ|=7.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.09° (tol 3.0°)
       [VIA   ] step  5  Δ= +6.8  +0.2  -7.8  +1.6  +4.0  -2.2  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +40.54,  +43.22,   +9.42,   +1.58,  -59.77,  -29.85]  speed=20 wait=0.0s  (pre max|Δ|=7.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  8  Δ= +5.7  +1.1  -7.1  +1.3  +4.0  -1.8  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +41.87,  +44.52,   +8.46,   +1.86,  -59.72,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=2.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.82° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.5  +0.4  -2.2  +0.2  +2.0  -0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.73°（関節 j2）
[009] 推論 616ms  10ステップ先  Δ= +0.6 +15.2  -6.1  +1.6 -11.8  -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_chunk009_via02: send_angles (single) [ +42.56,  +49.35,   +6.16,   +2.24,  -62.16,  -30.03]  speed=20 wait=0.0s  (pre max|Δ|=4.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +3.7  -4.0  +0.5  -1.1  -0.6  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +42.91,  +54.84,   +5.25,   +2.43,  -66.92,  -30.05]  speed=20 wait=0.0s  (pre max|Δ|=5.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  +4.5  -2.3  +0.8  -5.9  -0.6  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +42.98,  +59.89,   +4.34,   +2.62,  -71.79,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=6.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  +3.8  -2.4  +0.7  -6.5  -0.7  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +42.85,  +60.92,   +4.08,   +2.69,  -72.93,  -30.23]  speed=20 wait=0.0s  (pre max|Δ|=2.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.62° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.1  -1.6  +0.6  -2.6  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.01°（関節 j4）
[010] 推論 1526ms  5ステップ先  Δ= +0.3  +1.0  -1.5  +0.8  -3.8  -0.5  グリッパー→開
       [VIA   ] 中継点 2 点: step 2, 4
       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) [ +42.93,  +62.89,   +3.98,   +2.95,  -74.46,  -30.22]  speed=20 wait=0.0s  (pre max|Δ|=3.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +0.8  -1.5  +0.7  -3.1  -0.4  着いた
[SEND] pi05_chunk010_via04: send_angles (single) [ +42.85,  +62.60,   +4.03,   +3.04,  -74.76,  -30.22]  speed=20 wait=0.0s  (pre max|Δ|=1.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  4  Δ= +0.3  -1.5  -1.4  +0.4  -0.2  -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 1.47°（関節 j1）
[011] 推論 627ms  10ステップ先  Δ= +0.0 -18.3  -1.1  +0.3 +17.1  -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_chunk011_via02: send_angles (single) [ +42.79,  +58.51,   +4.13,   +3.07,  -71.45,  -30.42]  speed=20 wait=0.0s  (pre max|Δ|=5.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.72° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -5.6  -1.3  +0.3  +3.1  -0.5  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +42.91,  +52.83,   +4.09,   +3.01,  -64.91,  -30.62]  speed=20 wait=0.0s  (pre max|Δ|=9.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.59° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -7.6  -1.3  +0.2  +9.3  -0.6  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +42.94,  +47.53,   +4.21,   +3.07,  -59.24,  -30.91]  speed=20 wait=0.0s  (pre max|Δ|=8.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.37° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -7.4  -1.1  +0.2  +8.2  -0.6  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +42.57,  +45.73,   +4.31,   +3.06,  -57.41,  -30.97]  speed=20 wait=0.0s  (pre max|Δ|=4.20°, post-send timeout 8.0s)
h 
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.92° actual=[ +42.45,  +49.65,   +5.36,   +2.98,  -59.85,  -30.58]
[SEND] リトライしません: pre→last max|Δ| 1.76° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  9  Δ= +0.1  -3.9  -1.0  +0.1  +4.2  -0.4  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[STATE ] 目標を渡す  目標と実測の最大差 3.92°（関節 j1）
[012] 推論 552ms  10ステップ先  Δ=-17.2 -23.6  -1.9  -2.4 +26.5  -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 > 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|=59.67°, post-send timeout 11.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 2.5°)
[RECORD] 記録終了 コマ 724 (8.249 fps) 実測角 747 回 (8.51 Hz)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261106_185554/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_185554
[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))
    (93 秒)
もう1回やりますか? y=やる / 他=終わる > y 

=== かかった時間  モデル corr2 (PixelstoMotors/pi05-mecharm-trim-corr-lora-v2)
  1. Pod を作る                      2 秒
  2. Pod が立ち上がるまで待つ     28 秒
  3a. スクリプトを送る         56 秒
  3b. huggingface_hub を入れ, 鍵を渡す     10 秒
  3c. モデルを取る (hf download PixelstoMotors/pi05-mecharm-trim-corr-lora-v2)     32 秒
  3d. openpi を取る (215abfb)       14 秒
  3e. uv sync                          21 秒
  3f. addon・設定・assets (pi05_mecharm_trim_corr_v4_lora)      2 秒
  4. サーバーの起動             44 秒
  5. Mac の 8000 番へのトンネル      2 秒
  6. デーモンの状態              3 秒
  7. HOME → 爪を開く → 位置合わせ (1 回目)     47 秒
  8. 実機推論 (1 回目)          199 秒
  7. HOME → 爪を開く → 位置合わせ (2 回目)     25 秒
  8. 実機推論 (2 回目)           79 秒
  7. HOME → 爪を開く → 位置合わせ (3 回目)     18 秒
  8. 実機推論 (3 回目)           98 秒
  7. HOME → 爪を開く → 位置合わせ (4 回目)     19 秒
  8. 実機推論 (4 回目)          119 秒
  7. HOME → 爪を開く → 位置合わせ (5 回目)     14 秒
  8. 実機推論 (5 回目)           92 秒
  7. HOME → 爪を開く → 位置合わせ (6 回目)     12 秒
  8. 実機推論 (6 回目)           79 秒
  7. HOME → 爪を開く → 位置合わせ (7 回目)     13 秒
  8. 実機推論 (7 回目)           88 秒
  7. HOME → 爪を開く → 位置合わせ (8 回目)     20 秒
  8. 実機推論 (8 回目)           82 秒
  7. HOME → 爪を開く → 位置合わせ (9 回目)     15 秒
  8. 実機推論 (9 回目)           93 秒

[LAB   ] Pod は残しています (id b6j7nc4m74h7ru). 片付けは ./lab_stop.sh --log Log22
[TUNNEL] 8000 番のトンネルを閉じました
