[RANGE ] 安全範囲 (学習データ ±10°) は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes から (--model deep1)
[FRAME ] 写り方の確かめの基準画像は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes の最初のエピソードから (位置合わせと同じ trim2. 依頼 137)
[LAB   ] 2026-11-10 11:04:31  GPU=NVIDIA A40  episode=run_0001_20261019_194818  log=/Volumes/KIOXIA/r2r2r-data/lab/Log28  
[MODEL ] --model deep1: π0.5 base から deep_even10_v1 で新しく学習した 2999 (依頼 133. decay_steps 5000)
         PixelstoMotors/pi05-mecharm-deep-even10-lora-v1 → /workspace/ckpt/deep_v1_2999  設定 pi05_mecharm_deep_even10_lora  assets local/mecharm_redblock_box_deep_even10_v1

=== 1. Pod を作る
[POD   ] Log28 の Pod (id prm86xv997s945) につなぎ直します (状態 RUNNING  GPU=NVIDIA A40  1時間 0.59 ドル  作った時刻 2026-11-10 10:54:21)
[POD   ] 記録の最後のモデル: deep1  今回: --model deep1
    (2 秒)

=== 2. Pod が立ち上がるまで待つ
[POD   ] SSH の IP とポートを API から取り直した (<POD_IP>:<SSH_PORT>)
[POD   ] 入れた: 291dbe7c1015
NVIDIA A40, 46068 MiB
    (5 秒)

=== 3. Pod の中を確かめる (つなぎ直し)
[POD   ] serve_policy.py のプロセス: ない  8000 番の LISTEN: ない
[POD   ] モデル (/workspace/ckpt/deep_v1_2999): ない  openpi (215abfb): ない  .venv: ない
[POD   ] サーバーが動いていません. ないものだけやり直してサーバーを起動します
scp: /workspace/logs/serve.log: No such file or directory

[LOG   ] 前の serve.log は持ち帰れなかった (ないのかもしれない). 続けます
    (6 秒)

=== 3a. スクリプトを送る
    (76 秒)

=== 3b. huggingface_hub を入れ, 鍵を渡す
WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager, possibly rendering your system unusable. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv. Use the --root-user-action option if you know what you are doing and want to suppress this warning.
✓ Logged in
  user: PixelstoMotors
    (9 秒)

=== 3c. モデルを取る (hf download PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)

Fetching 34 files:   0%|          | 0/34 [00:00<?, ?it/s]Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 10.0 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 20.0 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 30.1 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 40.1 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 50.1 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 60.2 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 70.2 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 80.2 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 90.2 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 100.3 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 110.3 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 120.3 seconds)

Fetching 34 files: 100%|██████████| 34/34 [02:10<00:00,  3.82s/it]
Fetching 34 files: 100%|██████████| 34/34 [02:10<00:00,  3.82s/it]
✓ Downloaded
  path: /workspace/ckpt/deep_v1_2999
6.0G	/workspace/ckpt/deep_v1_2999
    (133 秒)

=== 3d. openpi を取る (215abfb)
215abfb docs(droid): fix config search instruction (#1023)
    (14 秒)

=== 3e. uv sync
downloading uv 0.13.7 x86_64-unknown-linux-gnu
WARN: The following commands are shadowed by other commands in your PATH: uv uvx
Using CPython 3.11.13 interpreter at: /usr/bin/python3.11
Creating virtual environment at: .venv
Resolved 279 packages in 3ms
   Building openpi @ file:///workspace/openpi
   Building openpi-client @ file:///workspace/openpi/packages/openpi-client
   Updating https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
Downloading opencv-python (60.1MiB)
Downloading virtualenv (5.8MiB)
Downloading sympy (6.0MiB)
Downloading numba (3.7MiB)
Downloading hf-transfer (3.4MiB)
Downloading nvidia-cuda-nvrtc-cu12 (22.6MiB)
Downloading lxml (4.7MiB)
Downloading numpy (17.4MiB)
Downloading pillow (4.4MiB)
Downloading mujoco (4.4MiB)
Downloading hf-xet (4.9MiB)
Downloading nvidia-cufft-cu12 (190.9MiB)
Downloading fonttools (4.7MiB)
Downloading llvmlite (40.4MiB)
Downloading triton (148.5MiB)
Downloading nvidia-cublas-cu12 (374.9MiB)
Downloading nvidia-cuda-cupti-cu12 (8.5MiB)
Downloading nvidia-cusolver-cu12 (150.9MiB)
Downloading nvidia-cuda-nvcc-cu12 (38.7MiB)
Downloading diffusers (3.4MiB)
Downloading opencv-python-headless (47.7MiB)
Downloading labmaze (4.7MiB)
Downloading h5py (4.3MiB)
Downloading nvidia-cudnn-cu12 (544.5MiB)
Downloading nvidia-nccl-cu12 (192.0MiB)
Downloading torchvision (7.1MiB)
Downloading wandb (20.4MiB)
Downloading polars (34.6MiB)
Downloading imageio-ffmpeg (28.1MiB)
Downloading scipy (35.9MiB)
Downloading jaxlib (100.2MiB)
Downloading matplotlib (8.2MiB)
Downloading nvidia-cusparse-cu12 (206.5MiB)
Downloading tensorstore (17.5MiB)
Downloading transformers (10.3MiB)
Downloading numcodecs (8.4MiB)
Downloading nvidia-nvjitlink-cu12 (18.8MiB)
Downloading nvidia-cusparselt-cu12 (149.5MiB)
Downloading ruff (11.0MiB)
Downloading pyarrow (40.3MiB)
Downloading pandas (12.5MiB)
Downloading pyopengl (3.0MiB)
Downloading jax-cuda12-plugin (15.9MiB)
Downloading rerun-sdk (68.1MiB)
Downloading cmake (26.6MiB)
Downloading jax-cuda12-pjrt (99.8MiB)
Downloading av (34.7MiB)
Downloading nvidia-curand-cu12 (53.7MiB)
Downloading dm-control (37.5MiB)
Downloading torch (783.1MiB)
 Downloaded pyopengl
Downloading debugpy (3.0MiB)
 Downloaded diffusers
 Downloaded hf-transfer
Downloading tokenizers (2.9MiB)
Downloading jax (2.3MiB)
 Downloaded numba
Downloading widgetsnbextension (2.1MiB)
 Downloaded mujoco
 Downloaded h5py
Downloading ml-dtypes (2.1MiB)
Downloading networkx (1.9MiB)
 Downloaded pillow
Downloading pydantic-core (1.9MiB)
 Downloaded labmaze
 Downloaded fonttools
Downloading aiohttp (1.6MiB)
Downloading jedi (1.5MiB)
 Downloaded hf-xet
Downloading kiwisolver (1.4MiB)
 Downloaded lxml
Downloading torchcodec (1.3MiB)
 Downloaded virtualenv
 Downloaded widgetsnbextension
Downloading sentencepiece (1.2MiB)
 Downloaded jax
Downloading pygments (1.2MiB)
Downloading setuptools (1.1MiB)
 Downloaded sympy
Downloading nvidia-cufile-cu12 (1.1MiB)
 Downloaded kiwisolver
Downloading pymunk (1.0MiB)
 Downloaded debugpy
 Downloaded torchcodec
 Downloaded networkx
 Downloaded tokenizers
 Downloaded aiohttp
 Downloaded pydantic-core
 Downloaded ml-dtypes
 Downloaded jedi
 Downloaded torchvision
 Downloaded pygments
 Downloaded sentencepiece
 Downloaded setuptools
 Downloaded pymunk
 Downloaded nvidia-cufile-cu12
 Downloaded matplotlib
   Building evdev==1.9.2
 Downloaded numcodecs
 Downloaded nvidia-cuda-cupti-cu12
   Building antlr4-python3-runtime==4.9.3
 Downloaded transformers
 Downloaded ruff
 Downloaded pandas
 Downloaded jax-cuda12-plugin
      Built openpi-client @ file:///workspace/openpi/packages/openpi-client
      Built openpi @ file:///workspace/openpi
 Downloaded numpy
 Downloaded tensorstore
 Downloaded nvidia-nvjitlink-cu12
      Built antlr4-python3-runtime==4.9.3
 Downloaded wandb
 Downloaded nvidia-cuda-nvrtc-cu12
 Downloaded cmake
 Downloaded imageio-ffmpeg
 Downloaded polars
 Downloaded av
      Built evdev==1.9.2
 Downloaded scipy
 Downloaded dm-control
 Downloaded nvidia-cuda-nvcc-cu12
 Downloaded llvmlite
 Downloaded pyarrow
 Downloaded opencv-python-headless
 Downloaded nvidia-curand-cu12
 Downloaded opencv-python
 Downloaded rerun-sdk
 Downloaded jax-cuda12-pjrt
 Downloaded jaxlib
 Downloaded triton
 Downloaded nvidia-cusparselt-cu12
 Downloaded nvidia-cusolver-cu12
 Downloaded nvidia-cufft-cu12
 Downloaded nvidia-nccl-cu12
 Downloaded nvidia-cusparse-cu12
 Downloaded nvidia-cublas-cu12
 Downloaded nvidia-cudnn-cu12
 Downloaded torch
    Updated https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
   Building lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
      Built lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
Prepared 240 packages in 48.99s
Installed 240 packages in 1.52s
 + absl-py==2.3.0
 + aiohappyeyeballs==2.6.1
 + aiohttp==3.12.4
 + aiosignal==1.3.2
 + annotated-types==0.7.0
 + antlr4-python3-runtime==4.9.3
 + asttokens==3.0.0
 + attrs==25.3.0
 + augmax==0.4.1
 + av==17.0.0
 + beartype==0.19.0
 + beautifulsoup4==4.13.4
 + blinker==1.9.0
 + cachetools==5.5.2
 + certifi==2025.4.26
 + cffi==1.17.1
 + cfgv==3.4.0
 + charset-normalizer==3.4.2
 + chex==0.1.90
 + click==8.2.1
 + cloudpickle==3.1.1
 + cmake==4.0.2
 + comm==0.2.2
 + contourpy==1.3.2
 + crc32c==2.7.1
 + cycler==0.12.1
 + datasets==3.6.0
 + debugpy==1.8.14
 + decorator==5.2.1
 + deepdiff==8.5.0
 + diffusers==0.33.1
 + dill==0.3.8
 + distlib==0.3.9
 + dm-control==1.0.14
 + dm-env==1.6
 + dm-tree==0.1.9
 + docker-pycreds==0.4.0
 + docstring-parser==0.16
 + donfig==0.8.1.post1
 + draccus==0.10.0
 + einops==0.8.1
 + equinox==0.12.2
 + etils==1.12.2
 + evdev==1.9.2
 + executing==2.2.0
 + farama-notifications==0.0.4
 + filelock==3.18.0
 + flask==3.1.1
 + flatbuffers==25.2.10
 + flax==0.10.2
 + fonttools==4.58.1
 + frozenlist==1.6.0
 + fsspec==2025.3.0
 + gcsfs==2025.3.0
 + gdown==5.2.0
 + gitdb==4.0.12
 + gitpython==3.1.44
 + glfw==2.9.0
 + google-api-core==2.24.2
 + google-auth==2.40.2
 + google-auth-oauthlib==1.2.2
 + google-cloud-core==2.4.3
 + google-cloud-storage==3.1.0
 + google-crc32c==1.7.1
 + google-resumable-media==2.7.2
 + googleapis-common-protos==1.70.0
 + gym-aloha==0.1.1
 + gymnasium==0.29.1
 + h5py==3.13.0
 + hf-transfer==0.1.9
 + hf-xet==1.1.2
 + huggingface-hub==0.32.3
 + humanize==4.12.3
 + identify==2.6.12
 + idna==3.10
 + imageio==2.37.0
 + imageio-ffmpeg==0.6.0
 + importlib-metadata==8.7.0
 + importlib-resources==6.5.2
 + iniconfig==2.1.0
 + inquirerpy==0.3.4
 + ipykernel==6.29.5
 + ipython==9.2.0
 + ipython-pygments-lexers==1.1.1
 + ipywidgets==8.1.7
 + itsdangerous==2.2.0
 + jax==0.5.3
 + jax-cuda12-pjrt==0.5.3
 + jax-cuda12-plugin==0.5.3
 + jaxlib==0.5.3
 + jaxtyping==0.2.36
 + jedi==0.19.2
 + jinja2==3.1.6
 + jsonlines==4.0.0
 + jupyter-client==8.6.3
 + jupyter-core==5.8.1
 + jupyterlab-widgets==3.0.15
 + kiwisolver==1.4.8
 + labmaze==1.0.6
 + lerobot==0.1.0 (from git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
 + llvmlite==0.44.0
 + lxml==5.4.0
 + markdown-it-py==3.0.0
 + markupsafe==3.0.2
 + matplotlib==3.10.3
 + matplotlib-inline==0.1.7
 + mdurl==0.1.2
 + mergedeep==1.3.4
 + ml-collections==1.0.0
 + ml-dtypes==0.4.1
 + mpmath==1.3.0
 + msgpack==1.1.0
 + mujoco==2.3.7
 + multidict==6.4.4
 + multiprocess==0.70.16
 + mypy-extensions==1.1.0
 + nest-asyncio==1.6.0
 + networkx==3.5
 + nodeenv==1.9.1
 + numba==0.61.2
 + numcodecs==0.16.1
 + numpy==1.26.4
 + numpydantic==1.6.9
 + nvidia-cublas-cu12==12.6.4.1
 + nvidia-cuda-cupti-cu12==12.6.80
 + nvidia-cuda-nvcc-cu12==12.9.41
 + nvidia-cuda-nvrtc-cu12==12.6.77
 + nvidia-cuda-runtime-cu12==12.6.77
 + nvidia-cudnn-cu12==9.5.1.17
 + nvidia-cufft-cu12==11.3.0.4
 + nvidia-cufile-cu12==1.11.1.6
 + nvidia-curand-cu12==10.3.7.77
 + nvidia-cusolver-cu12==11.7.1.2
 + nvidia-cusparse-cu12==12.5.4.2
 + nvidia-cusparselt-cu12==0.6.3
 + nvidia-ml-py==12.575.51
 + nvidia-nccl-cu12==2.26.2
 + nvidia-nvjitlink-cu12==12.6.85
 + nvidia-nvtx-cu12==12.6.77
 + oauthlib==3.2.2
 + omegaconf==2.3.0
 + opencv-python==4.11.0.86
 + opencv-python-headless==4.11.0.86
 + openpi==0.1.0 (from file:///workspace/openpi)
 + openpi-client==0.1.0 (from file:///workspace/openpi/packages/openpi-client)
 + opt-einsum==3.4.0
 + optax==0.2.4
 + orbax-checkpoint==0.11.13
 + orderly-set==5.4.1
 + packaging==25.0
 + pandas==2.2.3
 + parso==0.8.4
 + pexpect==4.9.0
 + pfzy==0.3.4
 + pillow==11.2.1
 + platformdirs==4.3.8
 + pluggy==1.6.0
 + polars==1.30.0
 + pre-commit==4.2.0
 + prompt-toolkit==3.0.51
 + propcache==0.3.1
 + proto-plus==1.26.1
 + protobuf==4.25.8
 + psutil==7.0.0
 + ptyprocess==0.7.0
 + pure-eval==0.2.3
 + pyarrow==20.0.0
 + pyasn1==0.6.1
 + pyasn1-modules==0.4.2
 + pycparser==2.22
 + pydantic==2.11.5
 + pydantic-core==2.33.2
 + pygments==2.19.1
 + pymunk==7.0.0
 + pynput==1.8.1
 + pynvml==12.0.0
 + pyopengl==3.1.9
 + pyparsing==3.2.3
 + pysocks==1.7.1
 + pytest==8.3.5
 + python-dateutil==2.9.0.post0
 + python-xlib==0.33
 + pytz==2025.2
 + pyyaml==6.0.2
 + pyyaml-include==1.4.1
 + pyzmq==26.4.0
 + regex==2024.11.6
 + requests==2.32.3
 + requests-oauthlib==2.0.0
 + rerun-sdk==0.23.1
 + rich==14.0.0
 + rsa==4.9.1
 + ruff==0.11.12
 + safetensors==0.5.3
 + scipy==1.15.3
 + sentencepiece==0.2.0
 + sentry-sdk==2.29.1
 + setproctitle==1.3.6
 + setuptools==80.9.0
 + shtab==1.7.2
 + simplejson==3.20.1
 + six==1.17.0
 + smmap==5.0.2
 + soupsieve==2.7
 + stack-data==0.6.3
 + sympy==1.14.0
 + tensorstore==0.1.74
 + termcolor==3.1.0
 + tokenizers==0.21.1
 + toml==0.10.2
 + toolz==1.0.0
 + torch==2.7.1
 + torchcodec==0.4.0
 + torchvision==0.22.1
 + tornado==6.5.1
 + tqdm==4.67.1
 + tqdm-loggable==0.2
 + traitlets==5.14.3
 + transformers==4.53.2
 + treescope==0.1.9
 + triton==3.3.1
 + typeguard==4.4.2
 + typing-extensions==4.13.2
 + typing-inspect==0.9.0
 + typing-inspection==0.4.1
 + tyro==0.9.22
 + tzdata==2025.2
 + urllib3==2.4.0
 + virtualenv==20.31.2
 + wadler-lindig==0.1.6
 + wandb==0.19.11
 + wcwidth==0.2.13
 + websockets==15.0.1
 + werkzeug==3.1.3
 + widgetsnbextension==4.0.14
 + wrapt==1.14.1
 + xxhash==3.5.0
 + yarl==1.20.0
 + zarr==3.0.8
 + zipp==3.22.0
    (55 秒)

=== 3f. addon・設定・assets (pi05_mecharm_deep_even10_lora)
installed: policies/mecharm_policy.py + config.py (pi05_mecharm_lora)
installed: pi05_mecharm_trim_lora (repo_id=local/mecharm_redblock_box_teach_v1_trim2, 4,000 steps)
installed: pi05_mecharm_deep_even10_lora (repo_id=local/mecharm_redblock_box_deep_even10_v1, 3000 steps, decay_steps 5000, init=π0.5 base)
    (2 秒)

=== 4. サーバーの起動
[SERVE ] --model deep1: --policy.config=pi05_mecharm_deep_even10_lora --policy.dir=/workspace/ckpt/deep_v1_2999
INFO:websockets.server:server listening on 0.0.0.0:8000
    (44 秒)

=== 5. Mac の 8000 番へのトンネル
[TUNNEL] localhost:8000 → Pod の 8000 番 (pid 4484. このスクリプトが終わると閉じる)
    (2 秒)

=== 6. デーモンの状態
--- process
529 /usr/bin/python3 -u /home/ubuntu/mecharm_daemon.py
--- 5555
LISTEN0      1                                 0.0.0.0:5555        0.0.0.0:*    
--- systemd
enabled: enabled
active:  active
    (2 秒)

=== 7. HOME → 爪を開く → 位置合わせ (1 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [0.08, 1.23, 1.23, -0.26, 0.17, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.23°
[DONE] HOME 到達 max_err=1.23°
[POST] 最終姿勢: [0.08, 1.23, 1.23, -0.26, 0.17, -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=  +0.8  dx=  -0.8  response=0.963  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (13 秒)

=== 8. 実機推論 (1 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 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[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_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111034
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-5.5 dx=+5.9 response=0.600 → 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_20261110_111034/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 58134ms  10ステップ先  Δ= +2.3 +14.1  +7.4  -1.7 -19.5  +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 > 
[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) [  +0.52,   +4.65,   +2.70,   -0.34,   -4.04,  -30.10]  speed=20 wait=0.0s  (pre max|Δ|=4.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +3.4  +1.5  -0.1  -4.2  +0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.14,   +8.98,   +4.81,   -0.62,  -10.16,  -29.60]  speed=20 wait=0.0s  (pre max|Δ|=6.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.1  +3.4  +1.2  -0.5  -6.9  +0.6  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.15,  +14.08,   +7.88,   -1.68,  -17.50,  -28.66]  speed=20 wait=0.0s  (pre max|Δ|=7.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.2  +4.1  +2.2  -1.5  -7.7  +1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +2.33,  +15.35,   +8.67,   -1.96,  -19.32,  -28.43]  speed=20 wait=0.0s  (pre max|Δ|=2.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  +0.2  -0.1  -1.3  -2.5  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.09°（関節 j3）
[001] 推論 583ms  10ステップ先  Δ= +4.9 +12.9  +7.3  -1.7 -19.8  +1.5
       [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_chunk001_via02: send_angles (single) [  +3.47,  +18.94,  +10.72,   -2.32,  -24.48,  -27.80]  speed=20 wait=0.0s  (pre max|Δ|=5.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  +2.8  +1.3  -0.7  -5.4  +0.8  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +4.95,  +22.86,  +12.99,   -2.48,  -30.15,  -27.41]  speed=20 wait=0.0s  (pre max|Δ|=6.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.8  +2.9  +1.5  +0.2  -6.3  +0.6  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +6.39,  +27.56,  +15.99,   -2.64,  -36.92,  -27.30]  speed=20 wait=0.0s  (pre max|Δ|=7.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.56° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  +3.8  +2.3  +0.3  -7.4  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +6.73,  +29.04,  +16.65,   -2.60,  -38.89,  -27.25]  speed=20 wait=0.0s  (pre max|Δ|=2.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.5  -0.0  +0.5  -2.9  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j1）
[002] 推論 628ms  10ステップ先  Δ= +3.2  +6.5  +3.6  +0.7 -10.4  +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 > 
[SEND] pi05_chunk002_via02: send_angles (single) [  +7.59,  +31.65,  +18.11,   -2.45,  -42.24,  -27.20]  speed=20 wait=0.0s  (pre max|Δ|=3.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.78° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  +1.6  +0.8  +0.6  -3.7  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +8.51,  +34.21,  +19.29,   -2.38,  -45.30,  -27.18]  speed=20 wait=0.0s  (pre max|Δ|=3.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.85° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  +1.8  +0.6  +0.8  -3.1  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +9.20,  +36.40,  +20.73,   -2.34,  -48.41,  -27.16]  speed=20 wait=0.0s  (pre max|Δ|=3.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +1.2  +1.0  +0.9  -3.4  +0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +9.34,  +36.56,  +20.88,   -2.32,  -48.98,  -27.14]  speed=20 wait=0.0s  (pre max|Δ|=0.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.8  -0.3  +0.7  -0.9  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.79°（関節 j1）
[003] 推論 1493ms  10ステップ先  Δ= +2.3  +6.4  +3.6  +0.9  -9.1  +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 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ +10.51,  +39.20,  +22.74,   -2.27,  -53.01,  -27.14]  speed=20 wait=0.0s  (pre max|Δ|=4.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +1.8  +1.6  +0.5  -4.5  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +11.13,  +41.27,  +24.01,   -2.12,  -55.28,  -27.10]  speed=20 wait=0.0s  (pre max|Δ|=1.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  +1.2  +0.8  +0.3  -1.8  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +11.58,  +42.97,  +24.62,   -2.04,  -56.74,  -27.08]  speed=20 wait=0.0s  (pre max|Δ|=0.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  +0.8  +0.2  +0.3  -0.7  +0.3  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +11.69,  +43.70,  +24.80,   -2.04,  -57.39,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=0.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -0.2  +0.4  +0.2  -0.4  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.94°（関節 j1）
[004] 推論 744ms  10ステップ先  Δ= +3.5  +8.2  +1.3  -0.3  -5.9  +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 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ +12.79,  +47.21,  +26.58,   -2.11,  -61.02,  -27.01]  speed=20 wait=0.0s  (pre max|Δ|=3.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  +2.6  +1.9  +0.2  -3.5  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +14.01,  +49.19,  +27.15,   -2.09,  -62.88,  -27.00]  speed=20 wait=0.0s  (pre max|Δ|=1.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  +0.9  +0.3  -0.2  -1.6  +0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +14.37,  +51.55,  +26.26,   -2.52,  -63.32,  -27.05]  speed=20 wait=0.0s  (pre max|Δ|=1.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  +1.5  -0.6  -0.6  -0.2  +0.2  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +14.63,  +52.80,  +25.97,   -2.59,  -63.41,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=0.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  +0.3  -0.9  -0.8  +0.4  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.98°（関節 j1）
[005] 推論 745ms  10ステップ先  Δ= +0.1  +7.8  -8.1  -0.9  -0.7  -0.2  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_chunk005_via02: send_angles (single) [ +14.80,  +56.49,  +22.73,   -2.69,  -63.15,  -27.21]  speed=20 wait=0.0s  (pre max|Δ|=4.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.52° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  +2.7  -4.2  -0.8  +0.9  +0.0  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +14.74,  +60.21,  +20.01,   -2.74,  -63.90,  -27.33]  speed=20 wait=0.0s  (pre max|Δ|=3.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.0  +2.8  -3.7  -0.7  +0.2  -0.1  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +14.90,  +61.57,  +18.77,   -2.75,  -64.79,  -27.47]  speed=20 wait=0.0s  (pre max|Δ|=1.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +0.7  -2.0  -0.6  +0.2  -0.1  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +14.90,  +61.57,  +18.77,   -2.75,  -64.79,  -27.47]  speed=20 wait=0.0s  (pre max|Δ|=1.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -0.7  -0.8  -0.6  +1.4  -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 2.53°（関節 j4）
[006] 推論 636ms  10ステップ先  Δ= +0.7  -9.6  +6.1  -1.5  +4.5  +1.3
       [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 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ +14.83,  +59.13,  +19.54,   -3.33,  -62.91,  -26.86]  speed=20 wait=0.0s  (pre max|Δ|=4.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -3.2  +0.0  -1.1  +4.6  +0.8  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +14.69,  +55.35,  +22.38,   -3.91,  -61.76,  -26.14]  speed=20 wait=0.0s  (pre max|Δ|=5.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -5.3  +2.9  -1.4  +3.0  +1.4  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +14.90,  +52.79,  +25.45,   -3.82,  -62.14,  -26.11]  speed=20 wait=0.0s  (pre max|Δ|=4.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -4.2  +3.4  -0.1  -0.1  +0.3  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +15.10,  +52.71,  +25.72,   -3.67,  -62.85,  -26.27]  speed=20 wait=0.0s  (pre max|Δ|=1.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.87° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  -1.9  +0.7  +0.3  -1.3  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.87°（関節 j1）
[007] 推論 594ms  10ステップ先  Δ= +0.6  -7.1  +0.3  +0.6  -1.4  -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_chunk007_via02: send_angles (single) [ +15.24,  +51.38,  +25.58,   -3.60,  -62.93,  -26.32]  speed=20 wait=0.0s  (pre max|Δ|=3.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.96° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  -3.2  +0.5  +0.3  -1.3  +0.0  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +15.17,  +50.96,  +25.48,   -3.47,  -63.16,  -26.36]  speed=20 wait=0.0s  (pre max|Δ|=2.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.0  -2.4  -0.1  +0.3  -1.5  -0.1  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +15.06,  +48.74,  +25.38,   -3.44,  -63.06,  -26.38]  speed=20 wait=0.0s  (pre max|Δ|=4.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -4.4  -0.2  +0.3  -1.5  -0.2  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +15.02,  +47.53,  +25.38,   -3.38,  -62.92,  -26.37]  speed=20 wait=0.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  -2.9  -0.2  +0.5  -0.6  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.86°（関節 j1）
[008] 推論 561ms  10ステップ先  Δ= -0.8 -12.9  -2.0  +0.4  -1.0  -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_chunk008_via02: send_angles (single) [ +14.99,  +44.40,  +25.39,   -3.36,  -63.17,  -26.38]  speed=20 wait=0.0s  (pre max|Δ|=4.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  -5.0  -0.2  +0.5  -0.9  -0.2  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +14.85,  +40.03,  +25.23,   -3.36,  -63.18,  -26.38]  speed=20 wait=0.0s  (pre max|Δ|=6.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.3  -6.1  -0.3  +0.5  -0.6  -0.2  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +14.62,  +37.02,  +23.99,   -3.48,  -63.35,  -26.41]  speed=20 wait=0.0s  (pre max|Δ|=4.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.6  -4.9  -1.6  +0.4  -0.8  -0.3  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +14.41,  +36.49,  +23.60,   -3.43,  -63.29,  -26.41]  speed=20 wait=0.0s  (pre max|Δ|=2.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.8  -2.2  -1.8  +0.4  -0.7  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.09°（関節 j1）
[009] 推論 659ms  10ステップ先  Δ= -0.4 -25.0  -0.7  +0.4  +1.6  -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_chunk009_via02: send_angles (single) [ +14.73,  +30.61,  +23.77,   -3.44,  -62.97,  -26.43]  speed=20 wait=0.0s  (pre max|Δ|=7.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.82° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  -7.9  -1.6  +0.3  -0.4  -0.3  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +14.61,  +21.75,  +23.84,   -3.51,  -62.02,  -26.46]  speed=20 wait=0.0s  (pre max|Δ|=10.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1 -10.7  -1.6  +0.4  +0.5  -0.4  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +14.34,  +14.54,  +24.58,   -3.44,  -61.09,  -26.47]  speed=20 wait=0.0s  (pre max|Δ|=8.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.2  -8.9  -0.8  +0.4  +1.5  -0.4  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +14.11,  +13.60,  +24.74,   -3.40,  -60.92,  -26.48]  speed=20 wait=0.0s  (pre max|Δ|=2.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -2.5  -0.7  +0.5  +1.6  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.65°（関節 j4）
[010] 推論 1584ms  10ステップ先  Δ= +0.3  -4.1  +0.3  +0.8  +0.2  -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 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +14.23,  +11.65,  +24.92,   -3.33,  -61.25,  -26.55]  speed=20 wait=0.0s  (pre max|Δ|=3.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.26° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  -3.5  -0.5  +0.5  +0.8  -0.5  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +14.32,  +10.01,  +25.20,   -3.31,  -61.34,  -26.61]  speed=20 wait=0.0s  (pre max|Δ|=2.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.59° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  -2.9  -0.2  +0.4  +0.5  -0.4  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +14.67,  +10.65,  +25.49,   -3.23,  -61.95,  -26.65]  speed=20 wait=0.0s  (pre max|Δ|=0.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.68° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -0.7  -0.2  +0.4  -0.1  -0.5  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +14.81,  +11.02,  +25.67,   -3.18,  -62.39,  -26.68]  speed=20 wait=0.0s  (pre max|Δ|=0.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.84° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.3  -0.2  +0.4  -0.5  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.84°（関節 j1）
[011] 推論 566ms  10ステップ先  Δ= +1.7  -0.3 +11.1  +0.4  -3.8  -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_chunk011_via02: send_angles (single) [ +16.32,  +11.05,  +27.41,   -3.05,  -62.99,  -26.83]  speed=20 wait=0.0s  (pre max|Δ|=1.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.8  -0.8  +1.1  +0.5  -1.1  -0.6  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +16.56,  +11.61,  +33.92,   -2.93,  -64.92,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=5.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -0.3  +5.9  -0.1  -3.1  -0.8  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +16.34,  +11.52,  +37.00,   -3.12,  -65.68,  -27.02]  speed=20 wait=0.0s  (pre max|Δ|=2.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -0.9  +2.5  -0.3  -2.5  -0.8  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +16.24,  +11.51,  +37.37,   -3.15,  -65.71,  -27.05]  speed=20 wait=0.0s  (pre max|Δ|=1.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.20° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -0.9  -0.2  -0.4  -1.2  -0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.20°（関節 j4）
[012] 推論 616ms  10ステップ先  Δ= +2.6 +11.0  -7.7  +1.5  -3.0  -2.5
       [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_chunk012_via02: send_angles (single) [ +16.67,  +15.20,  +36.22,   -2.51,  -66.66,  -27.46]  speed=20 wait=0.0s  (pre max|Δ|=2.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +2.8  -1.7  +0.2  -2.2  -1.0  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +17.52,  +19.54,  +33.50,   -1.90,  -67.67,  -27.98]  speed=20 wait=0.0s  (pre max|Δ|=4.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.88° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  +3.5  -4.4  +0.8  -1.1  -1.1  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +18.56,  +23.06,  +30.61,   -1.28,  -67.65,  -28.73]  speed=20 wait=0.0s  (pre max|Δ|=4.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.0  +2.6  -4.6  +0.9  -0.9  -1.3  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +18.87,  +23.44,  +30.17,   -1.26,  -67.50,  -28.82]  speed=20 wait=0.0s  (pre max|Δ|=1.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.5  -1.9  -0.0  -0.2  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.91°（関節 j2）
[013] 推論 1523ms  10ステップ先  Δ= +9.1  +4.0 -14.1  +2.8  +2.0  -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 > 
[SEND] pi05_chunk013_via02: send_angles (single) [ +21.96,  +24.45,  +26.29,   -0.00,  -66.88,  -29.81]  speed=20 wait=0.0s  (pre max|Δ|=5.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  2  Δ= +3.2  +0.1  -5.8  +1.2  +0.4  -1.4  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +24.34,  +25.06,  +22.91,   +0.66,  -66.58,  -30.48]  speed=20 wait=0.0s  (pre max|Δ|=4.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.4  -0.3  -4.8  +0.2  +0.7  -1.0  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +27.01,  +27.02,  +19.27,   +1.27,  -65.66,  -31.09]  speed=20 wait=0.0s  (pre max|Δ|=4.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.9  +1.2  -4.9  +0.3  +1.7  -0.9  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +27.86,  +28.36,  +18.02,   +1.54,  -65.33,  -31.19]  speed=20 wait=0.0s  (pre max|Δ|=2.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  +0.4  -2.6  -0.1  +2.0  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.99°（関節 j4）
[014] 推論 602ms  10ステップ先  Δ= +6.2  +9.4  -7.7  +1.1  +1.2  -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 > p
objc[4511]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bc890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b612c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bc8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bc958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bc980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b613b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bc9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b614d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b615c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b615e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b617c8). 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 14 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] j1 +1.0° → +27.68 +30.53 +19.86 +1.58 -65.74 -30.84  手前で止まった（次の押しは この目標の先から）（ずれ 1.11°）  届いた角度 +27.68 +31.64 +19.86 +1.66 -64.86 -30.84
[送信] j1 +2.0° → +27.68 +32.53 +19.86 +1.58 -65.74 -30.84  手前で止まった（次の押しは この目標の先から）（ずれ 1.13°）  届いた角度 +27.68 +33.66 +19.86 +1.66 -64.86 -30.84
[送信] j1 +2.0° → +27.68 +34.53 +19.86 +1.58 -65.74 -30.84  手前で止まった（次の押しは この目標の先から）（ずれ 1.06°）  届いた角度 +27.68 +35.59 +19.86 +1.75 -64.77 -30.84
[PAD   ] 補正 1 を終えました (83.3 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)
[015] 推論 1774ms  10ステップ先  Δ=+11.5  +9.0  -8.7  +1.4  +1.2  -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 > 
[SEND] pi05_chunk015_via02: send_angles (single) [ +32.19,  +35.86,  +17.76,   +2.13,  -63.82,  -31.00]  speed=20 wait=0.0s  (pre max|Δ|=4.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.10° (tol 3.0°)
       [VIA   ] step  2  Δ= +4.5  +0.3  -2.1  +0.4  +1.0  -0.2  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [ +36.65,  +37.94,  +14.87,   +2.69,  -63.09,  -31.24]  speed=20 wait=0.0s  (pre max|Δ|=4.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.70° (tol 3.0°)
       [VIA   ] step  5  Δ= +4.2  +1.1  -5.0  +0.1  +1.8  -0.4  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [ +39.00,  +42.96,  +11.84,   +3.06,  -63.44,  -31.39]  speed=20 wait=0.0s  (pre max|Δ|=4.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.0  +4.0  -4.5  +0.4  +1.4  -0.5  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [ +39.14,  +44.54,  +11.19,   +3.10,  -63.65,  -31.40]  speed=20 wait=0.0s  (pre max|Δ|=2.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  +0.4  -2.1  -0.1  +1.2  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.64°（関節 j2）
[016] 推論 931ms  10ステップ先  Δ= +2.0 +13.2  -5.2  +0.2  -6.9  -0.5  グリッパー→開
       [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_chunk016_via02: send_angles (single) [ +40.59,  +49.23,  +10.09,   +3.05,  -65.54,  -31.51]  speed=20 wait=0.0s  (pre max|Δ|=3.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.59° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  +3.5  -2.7  -0.5  -0.7  -0.3  着いた
[SEND] pi05_chunk016_via05: send_angles (single) [ +40.95,  +54.97,   +8.87,   +3.30,  -68.90,  -31.60]  speed=20 wait=0.0s  (pre max|Δ|=4.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.37° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +4.6  -2.8  -0.1  -4.0  -0.4  着いた
[SEND] pi05_chunk016_via08: send_angles (single) [ +41.05,  +58.93,   +7.63,   +3.69,  -71.74,  -31.71]  speed=20 wait=0.0s  (pre max|Δ|=4.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.61° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  +2.8  -2.5  +0.3  -4.3  -0.4  着いた
[SEND] pi05_chunk016_via09: send_angles (single) [ +41.05,  +58.93,   +7.63,   +3.69,  -71.74,  -31.71]  speed=20 wait=0.0s  (pre max|Δ|=1.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.52° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -1.1  -1.2  +0.3  -1.5  -0.3  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.24°（関節 j2）
[017] 推論 642ms  10ステップ先  Δ= +0.3 -14.2  -1.2  +0.2 +13.4  -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_chunk017_via02: send_angles (single) [ +41.16,  +54.58,   +7.79,   +3.64,  -67.02,  -31.75]  speed=20 wait=0.0s  (pre max|Δ|=5.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.67° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -5.4  -1.1  +0.2  +4.6  -0.4  着いた
[SEND] pi05_chunk017_via05: send_angles (single) [ +41.40,  +50.97,   +7.88,   +3.63,  -63.49,  -31.78]  speed=20 wait=0.0s  (pre max|Δ|=6.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.51° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  -5.5  -1.0  +0.2  +6.2  -0.1  着いた
[SEND] pi05_chunk017_via08: send_angles (single) [ +41.20,  +47.27,   +7.79,   +3.63,  -59.80,  -31.79]  speed=20 wait=0.0s  (pre max|Δ|=6.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  -5.6  -1.1  +0.3  +6.0  -0.1  着いた
[SEND] pi05_chunk017_via09: send_angles (single) [ +40.88,  +45.80,   +7.65,   +3.60,  -58.23,  -31.80]  speed=20 wait=0.0s  (pre max|Δ|=3.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  -3.3  -1.2  +0.1  +3.6  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.01°（関節 j1）
[018] 推論 560ms  10ステップ先  Δ=-13.8 -18.9  -1.2  -1.4 +21.5  -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_chunk018_via02: send_angles (single) [ +38.52,  +40.88,   +7.98,   +3.25,  -52.88,  -31.81]  speed=20 wait=0.0s  (pre max|Δ|=6.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.53° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.9  -6.9  -0.9  -0.3  +6.7  -0.2  着いた
[SEND] pi05_chunk018_via05: send_angles (single) [ +34.51,  +35.90,   +7.91,   +2.80,  -47.23,  -31.78]  speed=20 wait=0.0s  (pre max|Δ|=7.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.3  -7.1  -1.0  -1.1  +6.8  -0.1  着いた
[SEND] pi05_chunk018_via08: send_angles (single) [ +28.98,  +30.39,   +7.74,   +2.25,  -40.28,  -31.71]  speed=20 wait=0.0s  (pre max|Δ|=8.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.95° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.7  -7.4  -1.1  -1.4  +8.0  +0.0  着いた
[SEND] pi05_chunk018_via09: send_angles (single) [ +27.54,  +28.88,   +7.69,   +2.11,  -38.31,  -31.70]  speed=20 wait=0.0s  (pre max|Δ|=3.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  -3.5  -1.2  -0.9  +2.9  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.70°（関節 j1）
[019] 推論 1486ms  10ステップ先  Δ= -9.6 -10.8  -1.6  -1.5 +15.9  +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 > 
[SEND] pi05_chunk019_via02: send_angles (single) [ +24.25,  +25.12,   +7.57,   +1.51,  -31.99,  -31.59]  speed=20 wait=0.0s  (pre max|Δ|=7.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.3  -5.5  -1.3  -1.2  +7.0  +0.2  着いた
[SEND] pi05_chunk019_via05: send_angles (single) [ +20.55,  +21.27,   +7.47,   +1.09,  -26.42,  -31.55]  speed=20 wait=0.0s  (pre max|Δ|=6.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.1  -5.7  -1.4  -0.9  +6.1  +0.3  着いた
[SEND] pi05_chunk019_via08: send_angles (single) [ +17.91,  +19.73,   +7.29,   +1.00,  -23.29,  -31.54]  speed=20 wait=0.0s  (pre max|Δ|=3.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  8  Δ= -2.9  -3.2  -1.6  -0.5  +3.6  +0.3  着いた
[SEND] pi05_chunk019_via09: send_angles (single) [ +17.81,  +19.77,   +7.24,   +1.00,  -23.14,  -31.56]  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  9  Δ= -0.1  -1.7  -1.6  -0.1  +0.6  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.67°（関節 j1）
[020] 推論 615ms  10ステップ先  Δ=-15.6 -17.6  -3.6  -1.2 +19.2  +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_chunk020_via02: send_angles (single) [ +12.14,  +13.98,   +6.76,   +0.19,  -15.52,  -31.04]  speed=20 wait=0.0s  (pre max|Δ|=8.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.7  -7.5  -2.1  -1.0  +8.1  +0.7  着いた
[SEND] pi05_chunk020_via05: send_angles (single) [  +6.25,   +7.67,   +5.93,   -0.05,   -8.12,  -30.99]  speed=20 wait=0.0s  (pre max|Δ|=7.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.2  -8.0  -2.7  -0.8  +7.6  +0.7  着いた
[SEND] pi05_chunk020_via08: send_angles (single) [  +2.22,   +3.79,   +5.25,   -0.10,   -4.12,  -30.98]  speed=20 wait=0.0s  (pre max|Δ|=5.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.4  -5.4  -2.3  -0.5  +4.4  +0.7  着いた
[SEND] pi05_chunk020_via09: send_angles (single) [  +2.21,   +3.84,   +5.26,   -0.10,   -4.45,  -31.00]  speed=20 wait=0.0s  (pre max|Δ|=2.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -1.2  -2.3  -0.4  +0.0  +0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.29°（関節 j2）
[021] 推論 607ms  10ステップ先  Δ= -2.1  -2.5  -3.3  -0.3  +1.4  +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 > 
[SEND] pi05_chunk021_via02: send_angles (single) [  +0.78,   +2.86,   +4.36,   -0.08,   -3.06,  -31.00]  speed=20 wait=0.0s  (pre max|Δ|=3.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.53° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.7  -2.2  -3.2  -0.3  +1.4  +0.6  着いた
[SEND] pi05_chunk021_via05: send_angles (single) [  +0.42,   +2.78,   +4.34,   -0.09,   -3.09,  -31.01]  speed=20 wait=0.0s  (pre max|Δ|=1.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.61° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.6  -1.6  -1.5  -0.3  -0.0  +0.5  着いた
[SEND] pi05_chunk021_via08: send_angles (single) [  +0.37,   +2.66,   +4.26,   -0.09,   -3.04,  -31.01]  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  8  Δ= -0.1  -1.7  -1.6  -0.3  +0.0  +0.5  着いた
[SEND] pi05_chunk021_via09: send_angles (single) [  +0.38,   +2.64,   +4.25,   -0.08,   -3.03,  -31.01]  speed=20 wait=0.0s  (pre max|Δ|=1.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.63° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -1.8  -1.6  -0.3  +0.0  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.63°（関節 j2）
[022] 推論 1580ms  10ステップ先  Δ= -0.8  -1.5  -1.9  -0.2  +0.1  +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 > 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|=5.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 2.5°)
[RECORD] 記録終了 コマ 2737 (8.817 fps) 実測角 2912 回 (9.38 Hz)  電流 2918 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111034/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_20261110_111034
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1))
    (316 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 (2 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [0.43, 1.23, 1.23, 0.17, -0.26, -30.23]
[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)
[WAIT] t=3.5s  max_err=210.00°
[WAIT] t=4.1s  max_err=1.23°
[DONE] HOME 到達 max_err=1.23°
[POST] 最終姿勢: [0.00, 1.23, 1.23, 0.17, -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=  +1.2  dx=  -1.4  response=0.949  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (16 秒)

=== 8. 実機推論 (2 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 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[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_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111726
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-5.4 dx=+5.7 response=0.607 → 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_20261110_111726/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 561ms  10ステップ先  Δ= +2.0  +9.7  +7.2  -1.2 -15.5  +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 > q
[RECORD] 記録終了 コマ 151 (8.874 fps) 実測角 170 回 (9.99 Hz)  電流 170 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111726/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > 
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111726
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1))
    (23 秒)
もう1回やりますか? y=やる / 他=終わる > 

=== かかった時間 (Log28 の Pod (id prm86xv997s945) につなぎ直し)  モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
  1. Pod につなぎ直す             2 秒
  2. Pod が立ち上がるまで待つ      5 秒
  3. Pod の中を確かめる (つなぎ直し)      6 秒
  3a. スクリプトを送る         76 秒
  3b. huggingface_hub を入れ, 鍵を渡す      9 秒
  3c. モデルを取る (hf download PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)    133 秒
  3d. openpi を取る (215abfb)       14 秒
  3e. uv sync                          55 秒
  3f. addon・設定・assets (pi05_mecharm_deep_even10_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              2 秒
  7. HOME → 爪を開く → 位置合わせ (1 回目)     13 秒
  8. 実機推論 (1 回目)          316 秒
  7. HOME → 爪を開く → 位置合わせ (2 回目)     16 秒
  8. 実機推論 (2 回目)           23 秒

[LAB   ] Pod は残しています (id prm86xv997s945). 片付けは ./lab_stop.sh --log Log28
[TUNNEL] 8000 番のトンネルを閉じました