[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 11:19:50  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
    (6 秒)

=== 3. Pod の中を確かめる (つなぎ直し)
[POD   ] serve_policy.py のプロセス: ある  8000 番の LISTEN: ある
[POD   ] モデル (/workspace/ckpt/deep_v1_2999): ある  openpi (215abfb): ある  .venv: ある
[POD   ] 動いているサーバーのモデル: --policy.dir=/workspace/ckpt/deep_v1_2999 (--model deep1 と同じ)
[POD   ] サーバーは 8000 番で待っています. 3b〜4 を飛ばします
INFO:websockets.server:server listening on 0.0.0.0:8000
    (8 秒)

=== 3a. スクリプトを送る
    (75 秒)

=== 3b〜4. 準備とサーバーの起動 → 飛ばす (サーバーが 8000 番で待っている)

=== 5. Mac の 8000 番へのトンネル
[TUNNEL] localhost:8000 → Pod の 8000 番 (pid 4875. 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, 0.17, -0.26, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=0.7s  max_err=1.23°
[DONE] HOME 到達 max_err=1.23°
[POST] 最終姿勢: [-0.08, 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=  +8.4  dx=  -1.7  response=0.780  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (141 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_112346
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=+1.8 dx=+4.9 response=0.617 → 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_112346/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 1107ms  10ステップ先  Δ=-11.7 +21.7  -0.1  -0.0 -23.4  +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 > 
[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) [  -2.10,   +4.79,   +1.18,   +0.32,   -4.06,  -30.22]  speed=20 wait=0.0s  (pre max|Δ|=3.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.48° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.0  +3.6  -0.1  +0.1  -3.8  +0.0  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -5.94,  +12.78,   +1.12,   +0.33,  -12.66,  -30.21]  speed=20 wait=0.0s  (pre max|Δ|=10.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=3.00° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.8  +7.2  -0.9  +0.1 -10.6  +0.0  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -10.35,  +20.74,   +1.18,   +0.16,  -21.34,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=10.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.0  +6.9  -0.8  -0.2 -10.4  +0.0  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -11.75,  +22.91,   +1.11,   +0.13,  -23.65,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=3.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.8  +1.0  -0.9  -0.2  -4.0  +0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.91°（関節 j2）
[001] 推論 827ms  10ステップ先  Δ=-16.9 +23.6  -1.0  +0.9 -29.3  +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_chunk001_via02: send_angles (single) [ -17.45,  +30.01,   +1.08,   +0.63,  -31.61,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=8.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.5  +6.2  -0.9  +0.6  -8.8  +0.1  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -22.52,  +37.24,   +1.10,   +0.93,  -40.11,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=9.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.5  +6.1  -0.9  +0.5  -9.3  -0.0  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -27.69,  +45.35,   +1.12,   +0.94,  -49.73,  -30.15]  speed=20 wait=0.0s  (pre max|Δ|=10.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.63° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.6  +7.0  -0.9  +0.1 -10.5  -0.1  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -28.96,  +47.44,   +0.99,   +0.92,  -52.02,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=3.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.6  +1.0  -1.0  +0.0  -3.2  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.16°（関節 j1）
[002] 推論 1541ms  10ステップ先  Δ=-11.6 +17.0  -1.0  +1.0 -16.4  -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_chunk002_via02: send_angles (single) [ -34.50,  +55.44,   +1.04,   +0.70,  -61.11,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=9.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.8  +6.8  -0.9  -0.1  -9.4  -0.1  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -38.89,  +62.51,   +0.89,   +0.95,  -68.11,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=7.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.81° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.5  +5.9  -1.0  -0.0  -7.7  -0.1  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -40.18,  +65.14,   +1.00,   +1.63,  -68.56,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=1.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.1  +1.4  -0.9  +0.3  -1.1  -0.1  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -40.20,  +65.63,   +0.95,   +1.74,  -67.97,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=0.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.6  -0.9  +0.4  +0.1  -0.2  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 744ms  10ステップ先  Δ= -0.1  +4.6  -1.5  +0.2  -3.5  -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_chunk003_via02: send_angles (single) [ -40.69,  +65.68,   +0.84,   +1.68,  -68.81,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  -0.9  -1.0  +0.3  -0.7  -0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -40.71,  +67.33,   +0.68,   +1.65,  -69.71,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=1.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  +0.8  -1.2  +0.3  -1.6  -0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -40.58,  +70.47,   +0.40,   +1.58,  -71.23,  -30.15]  speed=20 wait=0.0s  (pre max|Δ|=2.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  +2.0  -1.4  +0.2  -1.7  -0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -40.65,  +71.15,   +0.30,   +1.55,  -71.63,  -30.14]  speed=20 wait=0.0s  (pre max|Δ|=1.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.4  -1.5  +0.2  -1.1  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.54°（関節 j2）
[004] 推論 802ms  10ステップ先  Δ= +0.3  +7.1  -2.5  -0.1  -3.6  -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_chunk004_via02: send_angles (single) [ -40.47,  +74.73,   +0.01,   +1.43,  -72.84,  -30.10]  speed=20 wait=0.0s  (pre max|Δ|=2.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.30° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  +2.5  -1.8  +0.0  -1.8  -0.1  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -40.28,  +77.76,   -0.35,   +1.37,  -74.07,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=2.09°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +2.1  -1.6  -0.0  -1.6  -0.1  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -40.29,  +79.08,   -0.62,   +1.30,  -74.56,  -30.07]  speed=20 wait=0.0s  (pre max|Δ|=1.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.20° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +0.4  -1.4  -0.1  -0.4  -0.1  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -40.25,  +79.32,   -0.69,   +1.31,  -74.63,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=1.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.7  -1.0  -0.1  +1.1  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.13°（関節 j4）
[005] 推論 625ms  3ステップ先  Δ= +0.3  -0.1  -1.2  -0.1  +0.7  -0.2  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) [ -40.17,  +80.08,   -0.81,   +1.31,  -75.03,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=1.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -0.1  -1.2  -0.1  +0.7  -0.2  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 2.05°（関節 j4）
[006] 推論 638ms  10ステップ先  Δ= +0.9 -12.1  +1.3  +0.7  +8.2  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ -40.05,  +77.04,   -0.50,   +1.28,  -73.56,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=3.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -3.8  -0.2  +0.4  +3.5  -0.2  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -40.19,  +73.57,   +0.00,   +1.38,  -71.35,  -30.06]  speed=20 wait=0.0s  (pre max|Δ|=5.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -5.7  +0.3  +0.4  +3.4  -0.2  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -40.03,  +69.82,   +0.79,   +1.52,  -69.29,  -30.04]  speed=20 wait=0.0s  (pre max|Δ|=6.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.68° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -6.0  +1.0  +0.3  +2.5  -0.2  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -39.56,  +68.75,   +1.03,   +1.57,  -68.87,  -30.03]  speed=20 wait=0.0s  (pre max|Δ|=3.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.96° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  -3.2  +0.1  +0.3  +0.9  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.96°（関節 j1）

[007] 推論 1515ms  10ステップ先  Δ=+25.9 -15.3  +5.0  +3.9  +4.4  -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_chunk007_via02: send_angles (single) [ -33.18,  +65.01,   +2.39,   +2.54,  -67.41,  -30.07]  speed=20 wait=0.0s  (pre max|Δ|=6.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.57° (tol 3.0°)
       [VIA   ] step  2  Δ= +5.9  -6.7  +1.2  +1.1  +1.8  -0.3  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ -24.72,  +61.33,   +4.07,   +3.74,  -66.54,  -30.05]  speed=20 wait=0.0s  (pre max|Δ|=8.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.56° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.7  -6.3  +1.1  +1.2  +1.1  -0.3  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ -15.85,  +57.61,   +5.78,   +4.92,  -65.35,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=9.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.59° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.2  -6.3  +1.1  +1.1  +1.6  -0.3  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ -13.20,  +56.37,   +6.25,   +5.23,  -64.85,  -30.12]  speed=20 wait=0.0s  (pre max|Δ|=3.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.9  -3.8  +0.0  +0.1  +0.8  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.25°（関節 j1）
[008] 推論 732ms  10ステップ先  Δ=+29.2 -12.8  +4.4  +1.4  +4.4  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [  -4.68,  +53.31,   +7.48,   +6.09,  -63.50,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=8.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.7  -5.3  +0.7  +0.6  +1.5  -0.5  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [  +4.21,  +50.07,   +9.19,   +6.59,  -62.37,  -30.14]  speed=20 wait=0.0s  (pre max|Δ|=9.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.48° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.0  -5.5  +1.2  +0.3  +1.4  -0.4  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +13.03,  +46.72,  +10.81,   +6.76,  -60.81,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=8.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.58° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.0  -5.8  +1.1  +0.3  +1.9  -0.4  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +15.77,  +45.82,  +11.13,   +6.77,  -60.62,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=3.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.9  -3.5  -0.2  +0.0  +0.3  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.08°（関節 j1）
[009] 推論 1759ms  10ステップ先  Δ=+26.2  -9.8  +3.5  -0.6  +4.7  -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) [ +24.34,  +43.13,  +12.45,   +7.05,  -59.28,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=8.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.7  -4.8  +0.8  +0.1  +1.6  -0.4  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +33.33,  +39.91,  +14.01,   +7.02,  -57.77,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=9.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.62° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.1  -5.5  +1.0  -0.0  +1.6  -0.4  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +40.72,  +37.82,  +15.18,   +6.55,  -56.19,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=7.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  8  Δ= +7.1  -4.5  +0.8  -0.7  +1.8  -0.4  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +41.85,  +38.09,  +15.06,   +6.39,  -56.18,  -30.21]  speed=20 wait=0.0s  (pre max|Δ|=1.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.98° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.1  -2.0  -0.6  -0.4  +0.2  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.98°（関節 j1）
[010] 推論 986ms  10ステップ先  Δ= +1.3 +17.9  -8.4  +2.3 -11.7  -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) [ +42.52,  +43.21,  +13.36,   +6.80,  -58.72,  -30.25]  speed=20 wait=0.0s  (pre max|Δ|=3.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +3.1  -2.3  -0.1  -2.3  -0.5  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +43.00,  +50.47,  +10.40,   +7.99,  -63.41,  -30.31]  speed=20 wait=0.0s  (pre max|Δ|=6.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +6.1  -4.7  +0.9  -6.9  -0.5  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +43.08,  +57.06,   +7.66,   +9.12,  -67.81,  -30.33]  speed=20 wait=0.0s  (pre max|Δ|=6.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.37° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  +5.4  -4.2  +1.7  -6.3  -0.5  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +43.21,  +57.98,   +7.25,   +9.20,  -68.15,  -30.37]  speed=20 wait=0.0s  (pre max|Δ|=1.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -0.1  -1.7  +0.8  -1.7  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.45°（関節 j2）
[011] 推論 738ms  10ステップ先  Δ= +0.4  +2.0  -2.6  +1.3  -5.6  -0.7  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_chunk011_via02: send_angles (single) [ +43.17,  +60.01,   +6.38,   +9.65,  -69.71,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=2.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +0.9  -2.3  +1.0  -2.9  -0.6  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +43.13,  +60.82,   +6.17,   +9.82,  -70.96,  -30.43]  speed=20 wait=0.0s  (pre max|Δ|=1.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -0.3  -1.6  +0.4  -1.7  -0.6  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +43.15,  +61.03,   +6.13,   +9.86,  -72.35,  -30.47]  speed=20 wait=0.0s  (pre max|Δ|=2.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -0.8  -1.6  +0.4  -2.2  -0.5  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +43.15,  +61.03,   +6.13,   +9.86,  -72.35,  -30.47]  speed=20 wait=0.0s  (pre max|Δ|=1.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.60° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -1.0  -1.6  +0.4  -0.7  -0.5  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.60°（関節 j2）
[012] 推論 633ms  10ステップ先  Δ= +1.4 -21.7  +5.2  -1.7 +11.2  -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_chunk012_via02: send_angles (single) [ +43.40,  +58.28,   +7.12,   +9.57,  -71.66,  -30.49]  speed=20 wait=0.0s  (pre max|Δ|=3.77°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=2.10° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -3.8  -0.6  -0.0  -0.0  -0.4  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +43.60,  +50.84,   +9.75,   +8.87,  -67.51,  -30.48]  speed=20 wait=0.0s  (pre max|Δ|=9.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.77° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  -9.5  +2.0  -0.9  +5.3  -0.3  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +44.03,  +42.97,  +12.28,   +8.13,  -62.49,  -30.47]  speed=20 wait=0.0s  (pre max|Δ|=10.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.64° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7 -10.2  +2.1  -1.8  +6.6  -0.3  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +44.18,  +40.35,  +12.95,   +7.85,  -60.44,  -30.46]  speed=20 wait=0.0s  (pre max|Δ|=4.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.9  -4.6  +0.2  -1.4  +3.4  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.83°（関節 j1）
[013] 推論 1548ms  10ステップ先  Δ=-13.8 -20.0  -1.4  -5.0 +26.3  -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_chunk013_via02: send_angles (single) [ +42.44,  +33.99,  +14.82,   +6.91,  -55.66,  -30.37]  speed=20 wait=0.0s  (pre max|Δ|=8.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.4  -8.2  +1.4  -1.6  +5.6  -0.2  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +37.75,  +28.47,  +14.29,   +5.56,  -47.32,  -30.30]  speed=20 wait=0.0s  (pre max|Δ|=9.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.5  -7.7  -1.2  -1.9  +9.0  -0.2  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +31.70,  +23.37,  +12.66,   +4.09,  -37.74,  -30.24]  speed=20 wait=0.0s  (pre max|Δ|=10.07°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.5  -7.0  -2.8  -1.9 +10.1  -0.0  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +30.01,  +22.15,  +12.07,   +3.67,  -35.29,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=3.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.9  -3.1  -2.2  -0.8  +2.9  +0.1  着いた

[STATE ] 目標を渡す  目標と実測の最大差 2.25°（関節 j2）
[014] 推論 564ms  10ステップ先  Δ=-21.1 -16.8  -9.6  -3.8 +28.5  +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 > 
[SEND] pi05_chunk014_via02: send_angles (single) [ +24.16,  +17.51,  +10.13,   +2.19,  -26.68,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=8.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.8  -6.4  -4.2  -1.4  +8.9  +0.2  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [ +17.94,  +12.70,   +7.93,   +0.89,  -18.13,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=8.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.4  -6.5  -3.9  -1.3  +8.7  +0.3  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [ +10.87,   +8.00,   +5.57,   +0.05,   -9.33,  -30.15]  speed=20 wait=0.0s  (pre max|Δ|=9.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.3  -6.2  -4.1  -1.2  +9.0  +0.3  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [  +8.86,   +7.07,   +4.74,   -0.08,   -7.07,  -30.14]  speed=20 wait=0.0s  (pre max|Δ|=2.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.5  -2.4  -2.5  -0.3  +2.6  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.85°（関節 j2）
[015] 推論 660ms  10ステップ先  Δ= -6.8  -6.4  -4.2  -0.1  +7.6  +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_chunk015_via02: send_angles (single) [  +3.15,   +2.96,   +2.82,   -0.15,   -0.73,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=6.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.4  -5.7  -3.8  -0.1  +6.6  +0.3  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [  +1.57,   +2.17,   +2.19,   -0.21,   +0.58,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=2.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  5  Δ= -1.9  -2.2  -2.2  -0.0  +1.6  +0.3  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [  +1.87,   +2.23,   +2.35,   -0.17,   +0.31,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=1.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.95° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  -1.4  -1.9  +0.1  +0.1  +0.3  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [  +1.85,   +2.25,   +2.37,   -0.16,   +0.31,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=1.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -1.3  -1.9  +0.1  +0.1  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.93°（関節 j2）
[016] 推論 555ms  10ステップ先  Δ= -1.3  -1.4  -2.1  +0.1  +1.5  +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 > 
[SEND] pi05_chunk016_via02: send_angles (single) [  +1.05,   +2.19,   +2.26,   -0.16,   +1.14,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=2.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.0  -1.4  -2.0  +0.2  +0.9  +0.3  着いた
[SEND] pi05_chunk016_via05: send_angles (single) [  +0.79,   +2.28,   +2.17,   -0.15,   +1.34,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=2.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.4  -1.3  -2.1  +0.2  +0.5  +0.3  着いた
[SEND] pi05_chunk016_via08: send_angles (single) [  +0.67,   +2.22,   +2.22,   -0.20,   +1.64,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=2.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  -1.4  -2.1  +0.1  +0.7  +0.3  着いた
[SEND] pi05_chunk016_via09: send_angles (single) [  +0.70,   +2.22,   +2.24,   -0.20,   +1.74,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=2.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -1.4  -2.1  +0.1  +0.4  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.06°（関節 j2）
[017] 推論 584ms  10ステップ先  Δ= -1.1  -1.1  -2.1  +0.3  -0.9  +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 > 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|=4.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.40° (tol 2.5°)
[RECORD] 記録終了 コマ 932 (8.887 fps) 実測角 757 回 (7.22 Hz)  電流 771 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112346/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_112346
[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))
    (110 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: [-0.17, 1.14, 1.23, -0.26, 0.26, -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: [-0.17, 1.14, 1.23, -0.26, 0.26, -30.23]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  +8.6  dx=  -2.2  response=0.733  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (28 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_112639
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=+1.8 dx=+4.1 response=0.666 → 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_112639/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 1564ms  10ステップ先  Δ=-12.1 +19.8  -0.5  +0.8 -19.6  -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 > 
[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) [  -1.26,   +2.49,   +1.12,   -0.26,   -0.97,  -30.26]  speed=20 wait=0.0s  (pre max|Δ|=1.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.84° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.1  +1.3  -0.1  +0.0  -1.2  -0.0  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -5.84,  +10.30,   +0.95,   +0.07,   -9.11,  -30.29]  speed=20 wait=0.0s  (pre max|Δ|=8.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.9  +6.9  -1.0  +0.3  -8.3  -0.1  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -10.80,  +18.43,   +0.76,   +0.46,  -17.15,  -30.32]  speed=20 wait=0.0s  (pre max|Δ|=8.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.6  +7.2  -1.2  +0.5  -8.4  -0.1  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -12.32,  +20.91,   +0.74,   +0.55,  -19.38,  -30.33]  speed=20 wait=0.0s  (pre max|Δ|=2.69°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=1.19° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.8  +1.4  -1.2  +0.2  -2.7  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.19°（関節 j2）
[001] 推論 868ms  10ステップ先  Δ=-15.9 +26.4  -2.1  +0.7 -28.9  -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_chunk001_via02: send_angles (single) [ -17.30,  +28.40,   +0.50,   +1.03,  -26.98,  -30.38]  speed=20 wait=0.0s  (pre max|Δ|=8.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.7  +6.5  -1.4  +0.2  -8.1  -0.2  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -22.49,  +36.82,   +0.25,   +1.36,  -35.87,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=8.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.6  +7.2  -1.7  -0.3  -8.9  -0.3  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -27.31,  +45.86,   +0.04,   +1.57,  -45.31,  -30.42]  speed=20 wait=0.0s  (pre max|Δ|=9.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.9  +7.9  -1.9  -0.4  -9.6  -0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -28.41,  +48.29,   -0.21,   +1.54,  -47.80,  -30.42]  speed=20 wait=0.0s  (pre max|Δ|=2.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.96° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.6  +1.3  -2.1  -0.7  -2.4  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.79°（関節 j2）
[002] 推論 596ms  10ステップ先  Δ=-13.0 +19.5  -2.1  -0.5 -19.6  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -34.34,  +56.42,   -0.35,   +1.37,  -56.19,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=8.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.0  +7.0  -1.9  -0.8  -8.7  -0.4  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -38.94,  +63.53,   -0.48,   +1.53,  -63.39,  -30.44]  speed=20 wait=0.0s  (pre max|Δ|=7.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.53° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.5  +6.0  -2.0  -0.3  -7.1  -0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -41.15,  +68.05,   -0.58,   +1.82,  -66.81,  -30.49]  speed=20 wait=0.0s  (pre max|Δ|=3.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
       [VIA   ] step  8  Δ= -2.6  +3.4  -1.6  -0.0  -3.5  -0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -41.37,  +68.93,   -0.52,   +1.88,  -67.18,  -30.51]  speed=20 wait=0.0s  (pre max|Δ|=1.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  -0.2  -1.3  -0.1  -0.6  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.31°（関節 j2）
[003] 推論 1548ms  10ステップ先  Δ= +0.3  +5.5  -2.5  -0.4  -3.2  -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 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ -41.12,  +70.45,   -0.75,   +1.78,  -67.87,  -30.48]  speed=20 wait=0.0s  (pre max|Δ|=1.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  +0.5  -1.5  -0.3  -0.9  -0.3  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -40.86,  +72.82,   -1.14,   +1.72,  -68.85,  -30.44]  speed=20 wait=0.0s  (pre max|Δ|=1.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.18° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +1.2  -1.8  -0.4  -0.7  -0.3  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -40.61,  +74.92,   -1.59,   +1.66,  -69.76,  -30.39]  speed=20 wait=0.0s  (pre max|Δ|=1.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  +0.9  -1.5  -0.4  -1.0  -0.3  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -40.70,  +75.44,   -1.72,   +1.67,  -70.13,  -30.40]  speed=20 wait=0.0s  (pre max|Δ|=1.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.6  -1.1  -0.4  -0.3  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.11°（関節 j2）
[004] 推論 552ms  9ステップ先  Δ= +1.1  +5.4  -2.3  -0.5  -5.3  -0.2  グリッパー→閉
       [VIA   ] 中継点 3 点: step 2, 5, 8
       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) [ -40.45,  +79.43,   -2.31,   +1.61,  -72.58,  -30.36]  speed=20 wait=0.0s  (pre max|Δ|=2.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.26° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +3.0  -1.7  -0.5  -2.7  -0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -40.24,  +81.91,   -2.83,   +1.57,  -74.50,  -30.37]  speed=20 wait=0.0s  (pre max|Δ|=1.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.14° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +1.7  -1.3  -0.5  -0.6  -0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -39.92,  +81.86,   -2.88,   +1.59,  -75.16,  -30.36]  speed=20 wait=0.0s  (pre max|Δ|=1.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  -0.7  -0.6  -0.4  +1.5  -0.2  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 2.44°（関節 j4）
[005] 推論 554ms  10ステップ先  Δ= +0.3 -11.6  +0.8  +0.1  +9.1  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ -39.70,  +79.66,   -2.63,   +1.57,  -74.18,  -30.37]  speed=20 wait=0.0s  (pre max|Δ|=3.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -3.0  -0.3  -0.1  +3.4  -0.2  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -39.86,  +76.25,   -2.18,   +1.60,  -71.71,  -30.37]  speed=20 wait=0.0s  (pre max|Δ|=5.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.41° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -5.3  +0.1  -0.2  +4.5  -0.2  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -39.94,  +72.23,   -1.67,   +1.70,  -69.07,  -30.35]  speed=20 wait=0.0s  (pre max|Δ|=6.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.65° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -6.3  +0.6  -0.1  +2.6  -0.0  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -39.87,  +71.06,   -1.51,   +1.75,  -68.48,  -30.35]  speed=20 wait=0.0s  (pre max|Δ|=3.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.59° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -3.3  -0.4  -0.2  -0.0  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.59°（関節 j1）
[006] 推論 1549ms  10ステップ先  Δ=+21.8 -14.2  +3.8  +3.0  +3.4  -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_chunk006_via02: send_angles (single) [ -37.22,  +67.51,   -0.74,   +2.37,  -67.38,  -30.40]  speed=20 wait=0.0s  (pre max|Δ|=6.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  2  Δ= +2.9  -6.1  +0.4  +0.4  +0.6  -0.2  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -29.52,  +64.29,   +0.56,   +3.43,  -66.26,  -30.43]  speed=20 wait=0.0s  (pre max|Δ|=7.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.50° (tol 3.0°)
       [VIA   ] step  5  Δ= +7.7  -5.3  +0.8  +1.5  +1.4  -0.1  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -20.65,  +60.45,   +2.20,   +4.60,  -64.91,  -30.52]  speed=20 wait=0.0s  (pre max|Δ|=9.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.65° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.1  -6.2  +1.1  +2.5  +1.8  -0.2  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -18.39,  +59.40,   +2.62,   +4.90,  -64.53,  -30.59]  speed=20 wait=0.0s  (pre max|Δ|=3.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.4  -3.7  -0.1  +0.7  +0.6  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.21°（関節 j1）
[007] 推論 550ms  10ステップ先  Δ=+29.4 -12.4  +4.7  +2.5  +4.3  -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_chunk007_via02: send_angles (single) [  -9.81,  +56.88,   +3.87,   +6.02,  -63.52,  -30.66]  speed=20 wait=0.0s  (pre max|Δ|=8.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.6  -4.7  +0.7  +1.3  +1.1  -0.3  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [  -1.30,  +53.79,   +5.54,   +6.82,  -62.19,  -30.65]  speed=20 wait=0.0s  (pre max|Δ|=8.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.7  -5.5  +1.0  +1.2  +1.5  -0.3  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [  +8.02,  +50.22,   +7.34,   +7.22,  -60.61,  -30.70]  speed=20 wait=0.0s  (pre max|Δ|=9.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.4  -6.1  +1.1  +0.8  +1.9  -0.4  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +10.86,  +49.19,   +7.82,   +7.16,  -60.29,  -30.71]  speed=20 wait=0.0s  (pre max|Δ|=3.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.0  -3.5  -0.2  +0.2  +0.5  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.31°（関節 j1）
[008] 推論 575ms  10ステップ先  Δ=+29.3  -9.0  +2.3  +0.5  +6.4  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ +19.87,  +47.36,   +7.93,   +7.19,  -57.95,  -30.75]  speed=20 wait=0.0s  (pre max|Δ|=8.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.38° (tol 3.0°)
       [VIA   ] step  2  Δ= +9.0  -4.1  -0.1  +0.1  +2.6  -0.4  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +29.36,  +45.06,   +8.34,   +7.33,  -55.62,  -30.77]  speed=20 wait=0.0s  (pre max|Δ|=9.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.48° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.7  -4.7  +0.3  +0.3  +2.7  -0.5  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +38.50,  +42.72,   +9.78,   +7.49,  -54.31,  -30.80]  speed=20 wait=0.0s  (pre max|Δ|=8.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.28° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.0  -4.8  +1.8  +0.3  +1.5  -0.5  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +40.23,  +42.53,  +10.27,   +7.48,  -54.13,  -30.81]  speed=20 wait=0.0s  (pre max|Δ|=2.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.47° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.6  -2.5  -0.0  +0.0  +0.5  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.47°（関節 j1）
[009] 推論 1520ms  10ステップ先  Δ= +2.0 +15.2  -6.1  +1.5 -12.4  -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_chunk009_via02: send_angles (single) [ +41.57,  +47.09,   +9.06,   +7.49,  -56.62,  -30.83]  speed=20 wait=0.0s  (pre max|Δ|=2.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.5  +2.1  -1.8  -0.2  -2.2  -0.5  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +41.98,  +53.39,   +7.07,   +8.16,  -61.43,  -30.88]  speed=20 wait=0.0s  (pre max|Δ|=6.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  +5.1  -3.7  +0.3  -6.8  -0.6  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +42.12,  +58.99,   +5.14,   +9.09,  -66.05,  -30.96]  speed=20 wait=0.0s  (pre max|Δ|=6.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.77° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  +4.4  -3.4  +1.2  -6.7  -0.6  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +42.12,  +60.23,   +4.67,   +9.26,  -66.79,  -30.98]  speed=20 wait=0.0s  (pre max|Δ|=2.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.0  +0.2  -1.8  +1.1  -2.5  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.39°（関節 j2）
[010] 推論 580ms  7ステップ先  Δ= +0.0  +1.3  -2.2  +1.3  -3.5  -0.4  グリッパー→開
       [VIA   ] 中継点 3 点: step 2, 5, 6
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +42.12,  +62.57,   +3.86,   +9.63,  -68.60,  -31.01]  speed=20 wait=0.0s  (pre max|Δ|=2.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  +1.3  -2.2  +0.8  -2.5  -0.3  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +42.12,  +62.54,   +3.86,   +9.73,  -69.62,  -31.03]  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  5  Δ= -0.1  -1.0  -1.1  +0.4  -0.9  -0.4  着いた
[SEND] pi05_chunk010_via06: send_angles (single) [ +42.12,  +62.54,   +3.86,   +9.73,  -69.62,  -31.03]  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  6  Δ= -0.1  -1.0  -1.1  +0.4  -0.9  -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 1.06°（関節 j2）
[011] 推論 557ms  10ステップ先  Δ= +0.6 -16.1  +3.2  -1.2  +8.5  -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 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +42.29,  +61.47,   +4.06,   +9.52,  -69.40,  -30.99]  speed=20 wait=0.0s  (pre max|Δ|=2.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  -2.1  -0.9  +0.1  -0.7  -0.3  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +42.63,  +55.55,   +5.66,   +8.84,  -65.78,  -30.98]  speed=20 wait=0.0s  (pre max|Δ|=7.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.68° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -8.0  +0.7  -0.6  +3.0  -0.3  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +42.81,  +49.19,   +7.67,   +8.33,  -61.56,  -30.97]  speed=20 wait=0.0s  (pre max|Δ|=8.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -8.5  +1.4  -1.6  +6.9  -0.3  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +42.84,  +47.47,   +8.16,   +8.21,  -60.22,  -30.98]  speed=20 wait=0.0s  (pre max|Δ|=3.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  -3.8  -0.1  -1.3  +3.5  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.27°（関節 j1）
[012] 推論 1529ms  10ステップ先  Δ=-10.0 -21.5  +2.0  -4.2 +21.8  -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_chunk012_via02: send_angles (single) [ +42.41,  +40.87,  +10.47,   +7.52,  -56.26,  -30.86]  speed=20 wait=0.0s  (pre max|Δ|=8.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.4  -8.9  +1.8  -1.3  +5.0  -0.2  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +40.58,  +34.85,  +11.79,   +6.58,  -50.52,  -30.74]  speed=20 wait=0.0s  (pre max|Δ|=8.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.1  -8.2  +0.6  -1.4  +6.4  -0.1  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +34.82,  +29.62,  +11.04,   +5.36,  -42.50,  -30.68]  speed=20 wait=0.0s  (pre max|Δ|=8.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.10° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.0  -7.3  -1.3  -1.5  +8.7  -0.0  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +32.82,  +28.24,  +10.73,   +5.01,  -40.20,  -30.67]  speed=20 wait=0.0s  (pre max|Δ|=3.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.4  -3.5  -1.6  -0.7  +3.0  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.99°（関節 j1）
[013] 推論 555ms  10ステップ先  Δ=-19.4 -18.2  -5.6  -4.5 +29.3  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > p
objc[5037]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d608e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d609d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d7c8). 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 13 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 +32.95 +36.12 +13.00 +5.00 -38.58 -30.58
[止める] stop（released_while_sending）  止まった角度 None
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[送信] j0 -1.0° → +46.98 +36.12 +12.30 +5.09 -40.69 -30.58  届いた（ずれ 1.32°）  届いた角度 +46.84 +37.44 +12.39 +5.18 -39.46 -30.58
[送信] j0 -2.0° → +44.98 +36.12 +12.30 +5.09 -40.69 -30.58  届いた（ずれ 1.32°）  届いた角度 +44.82 +37.44 +12.39 +4.65 -39.46 -30.58
[止める] stop（released_while_sending）  止まった角度 +38.14 +38.75 +13.18 +4.65 -37.88 -30.58
[送信] j0 +2.0° → +40.14 +36.12 +12.30 +5.09 -40.69 -30.58  届いた（ずれ 2.55°）  届いた角度 +40.60 +38.49 +12.21 +4.30 -38.14 -30.67
[関節] 上下で動かす関節を j2 にしました
[関節] 上下で動かす関節を j3 にしました
[関節] 上下で動かす関節を j4 にしました
[送信] j4 -1.0° → +40.14 +36.12 +12.30 +5.09 -41.69 -30.58  届いた（ずれ 2.37°）  届いた角度 +40.42 +38.49 +12.21 +5.27 -41.92 -30.58
[長押し] j4 を -41.92° → -41.92° まで（目標を 1 回送信。止めます）
[長押し] j4 を -49.39° → -49.39° まで（目標を 1 回送信。止めます）
[関節] 上下で動かす関節を j5 にしました
[関節] 上下で動かす関節を j1 にしました
[送信] j1 +1.0° → +40.14 +40.46 +12.30 +5.09 -59.58 -30.58  手前で止まった（次の押しは この目標の先から）（ずれ 4.14°）  届いた角度 +40.25 +41.66 +11.95 +5.71 -63.72 -30.58
[止める] stop（released_while_sending）  止まった角度 +40.25 +47.54 +12.65 +5.62 -61.87 -30.58
[送信] j1 +1.0° → +40.14 +48.54 +12.30 +5.09 -59.58 -30.58  手前で止まった（次の押しは この目標の先から）（ずれ 2.64°）  届いた角度 +40.16 +49.74 +12.30 +5.71 -62.22 -30.58
  [Pi] GRIPPER: OPEN result= None
[爪] 爪を開く（待ち 0.8 秒のあと受付）
^C[PAD   ] 補正 1 を終えました (53.7 秒, 送った目標 12 回, 爪を動かした). この姿勢から推論に戻ります

[STOP  ] Ctrl-C
[RECORD] 記録終了 コマ 1160 (8.607 fps) 実測角 1035 回 (7.68 Hz)  電流 1059 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112639/recording
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112639
[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))
    (138 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 (3 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [40.16, 49.74, 12.30, 5.18, -64.16, -30.58]
[SEND] HOME へ移動指令
[WAIT] t=0.7s  max_err=48.95°
[WAIT] t=1.2s  max_err=33.22°
[WAIT] t=1.7s  max_err=17.40°
[WAIT] t=2.2s  max_err=2.46°
[DONE] HOME 到達 max_err=2.46°
[POST] 最終姿勢: [0.17, 1.40, 1.93, -0.79, -2.46, -30.49]
  [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=  +8.4  dx=  -2.8  response=0.734  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (24 秒)

=== 8. 実機推論 (3 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_112924
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=+1.8 dx=+3.8 response=0.662 → 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_112924/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 590ms  10ステップ先  Δ=-12.5 +19.6  +0.8  -0.0 -21.9  +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 > 
[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) [  -3.19,   +5.19,   +2.06,   -0.16,   -4.67,  -30.22]  speed=20 wait=0.0s  (pre max|Δ|=4.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.8  +3.9  +0.1  +0.1  -4.4  +0.0  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -7.18,  +11.52,   +2.31,   -0.16,  -11.74,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=9.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.7  +5.5  -0.6  +0.0  -9.1  +0.0  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -11.53,  +18.58,   +2.69,   -0.25,  -19.82,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=9.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.7  +6.1  -0.3  -0.5  -9.8  +0.1  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -12.81,  +20.93,   +2.70,   -0.26,  -22.20,  -30.15]  speed=20 wait=0.0s  (pre max|Δ|=3.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.8  +1.3  -0.7  -0.5  -3.8  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.13°（関節 j1）
[001] 推論 759ms  10ステップ先  Δ=-16.0 +23.3  -0.1  +0.1 -29.1  +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_chunk001_via02: send_angles (single) [ -17.73,  +27.71,   +2.92,   +0.04,  -30.17,  -30.14]  speed=20 wait=0.0s  (pre max|Δ|=8.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.65° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.1  +5.7  -0.5  -0.0  -8.2  -0.0  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -22.73,  +35.50,   +3.33,   +0.49,  -39.11,  -30.12]  speed=20 wait=0.0s  (pre max|Δ|=8.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.1  +6.7  -0.1  +0.8  -8.8  +0.0  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -27.60,  +43.21,   +3.46,   +0.53,  -48.24,  -30.10]  speed=20 wait=0.0s  (pre max|Δ|=9.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.2  +6.6  -0.5  +0.4  -9.4  -0.4  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -28.62,  +45.35,   +3.32,   +0.51,  -50.31,  -30.11]  speed=20 wait=0.0s  (pre max|Δ|=2.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +1.0  -0.6  +0.3  -2.4  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.23°（関節 j1）
[002] 推論 568ms  10ステップ先  Δ=-11.6 +18.3  -0.3  +1.0 -18.0  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -34.77,  +53.62,   +3.52,   +0.24,  -60.31,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=9.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.4  +7.0  -0.4  +0.2  -9.7  -0.4  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -38.91,  +60.60,   +3.52,   +0.59,  -67.73,  -30.06]  speed=20 wait=0.0s  (pre max|Δ|=8.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.59° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.0  +5.9  -0.4  +0.2  -8.1  -0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -40.35,  +64.41,   +3.54,   +1.15,  -69.43,  -30.04]  speed=20 wait=0.0s  (pre max|Δ|=2.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.1  +2.6  -0.4  +0.0  -1.9  -0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -40.20,  +64.89,   +3.63,   +1.26,  -68.62,  -30.09]  speed=20 wait=0.0s  (pre max|Δ|=0.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -0.8  -0.3  +0.1  +0.4  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.94°（関節 j1）
[003] 推論 1594ms  10ステップ先  Δ= -0.0  +4.8  -0.9  +0.1  -4.3  -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 > 
       [VIA   ] step  2  Δ= -0.1  -0.5  -0.4  +0.2  -0.5  -0.3  送らず (0.5° 以下)
[SEND] pi05_chunk003_via05: send_angles (single) [ -40.83,  +67.00,   +3.43,   +1.18,  -71.01,  -30.10]  speed=20 wait=0.0s  (pre max|Δ|=1.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  +1.2  -0.5  +0.1  -1.9  -0.3  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -40.71,  +69.98,   +3.15,   +1.13,  -72.90,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=2.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.0  +1.9  -0.8  +0.1  -2.5  -0.3  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -40.70,  +70.67,   +3.01,   +1.11,  -73.39,  -30.07]  speed=20 wait=0.0s  (pre max|Δ|=1.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -0.5  -0.9  +0.1  -1.2  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.04°（関節 j1）
[004] 推論 621ms  9ステップ先  Δ= +0.3  +6.0  -1.5  -0.1  -3.6  -0.2  グリッパー→閉
       [VIA   ] 中継点 3 点: step 2, 5, 8
       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) [ -40.49,  +74.91,   +2.60,   +1.04,  -74.73,  -30.02]  speed=20 wait=0.0s  (pre max|Δ|=3.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.26° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +3.1  -1.3  -0.1  -2.1  -0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -40.54,  +77.33,   +2.31,   +1.01,  -75.75,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=1.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  +1.4  -1.6  -0.1  -1.0  -0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -40.36,  +77.73,   +2.35,   +1.04,  -76.17,  -30.01]  speed=20 wait=0.0s  (pre max|Δ|=0.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  -0.5  -1.0  -0.1  +0.3  -0.2  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 1.43°（関節 j4）
[005] 推論 757ms  10ステップ先  Δ= +0.6 -10.8  +0.2  +0.5  +7.4  -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_chunk005_via02: send_angles (single) [ -40.32,  +75.21,   +2.54,   +1.03,  -74.81,  -30.01]  speed=20 wait=0.0s  (pre max|Δ|=3.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.48° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -3.4  -0.8  +0.2  +2.9  -0.2  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -40.43,  +72.24,   +2.82,   +1.07,  -72.90,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=5.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.37° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -5.5  -0.5  +0.0  +3.8  -0.2  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -40.33,  +68.76,   +3.34,   +1.18,  -70.63,  -29.98]  speed=20 wait=0.0s  (pre max|Δ|=5.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -5.5  +0.0  +0.0  +3.9  -0.2  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -40.08,  +67.80,   +3.57,   +1.24,  -70.18,  -29.98]  speed=20 wait=0.0s  (pre max|Δ|=3.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.95° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -3.1  +0.2  +0.1  +1.9  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.86°（関節 j1）
[006] 推論 1558ms  10ステップ先  Δ=+24.4 -13.5  +4.8  +3.6  +5.2  -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 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ -33.99,  +64.96,   +4.77,   +2.14,  -68.80,  -30.04]  speed=20 wait=0.0s  (pre max|Δ|=6.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.1  -5.7  +1.4  +0.9  +2.2  -0.2  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -26.42,  +61.85,   +6.20,   +3.29,  -67.77,  -30.04]  speed=20 wait=0.0s  (pre max|Δ|=7.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.39° (tol 3.0°)
       [VIA   ] step  5  Δ= +7.9  -5.7  +1.0  +1.3  +1.6  -0.2  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -18.44,  +58.45,   +7.70,   +4.44,  -66.86,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=8.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.45° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.3  -5.8  +0.9  +1.3  +1.5  -0.3  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -15.71,  +57.12,   +8.15,   +4.80,  -66.28,  -30.12]  speed=20 wait=0.0s  (pre max|Δ|=3.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.9  -3.8  -0.0  +0.6  +1.0  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.29°（関節 j1）
[007] 推論 562ms  10ステップ先  Δ=+28.4 -13.4  +4.9  +2.0  +4.8  -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_chunk007_via02: send_angles (single) [  -7.15,  +53.91,   +9.56,   +5.82,  -64.98,  -30.11]  speed=20 wait=0.0s  (pre max|Δ|=8.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.86° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.6  -5.5  +0.9  +1.2  +1.6  -0.3  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [  +1.31,  +50.46,  +11.29,   +6.38,  -63.70,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=8.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.3  -5.9  +1.4  +1.6  +1.6  -0.3  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +10.14,  +46.97,  +13.12,   +6.61,  -62.35,  -30.11]  speed=20 wait=0.0s  (pre max|Δ|=9.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.60° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.2  -5.8  +1.4  +0.5  +1.7  -0.3  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +12.64,  +46.04,  +13.55,   +6.56,  -61.80,  -30.13]  speed=20 wait=0.0s  (pre max|Δ|=3.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.82° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.7  -3.5  -0.2  +0.3  +0.9  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.12°（関節 j1）
[008] 推論 704ms  10ステップ先  Δ=+27.8 -12.3  +4.9  +0.1  +5.0  -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_chunk008_via02: send_angles (single) [ +21.28,  +42.87,  +14.85,   +6.80,  -60.40,  -30.13]  speed=20 wait=0.0s  (pre max|Δ|=8.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.39° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.6  -5.3  +0.9  +0.3  +1.7  -0.3  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +30.21,  +39.29,  +16.80,   +6.80,  -58.83,  -30.11]  speed=20 wait=0.0s  (pre max|Δ|=8.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.63° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.9  -6.0  +1.4  +0.2  +1.9  -0.3  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +39.08,  +35.95,  +18.71,   +6.51,  -57.43,  -30.11]  speed=20 wait=0.0s  (pre max|Δ|=9.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.28° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.0  -6.0  +1.2  -0.3  +1.6  -0.3  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +40.67,  +35.83,  +18.90,   +6.30,  -57.12,  -30.11]  speed=20 wait=0.0s  (pre max|Δ|=2.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.40° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.7  -2.4  -0.4  -0.0  +0.6  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.40°（関節 j1）
[009] 推論 1566ms  10ステップ先  Δ= +2.1 +17.8  -8.4  +3.0 -12.2  -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) [ +42.33,  +40.48,  +17.56,   +6.90,  -59.85,  -30.15]  speed=20 wait=0.0s  (pre max|Δ|=2.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  +2.2  -1.8  +0.4  -2.4  -0.4  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +42.86,  +48.09,  +14.43,   +8.24,  -64.86,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=7.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +6.5  -4.9  +1.6  -7.3  -0.4  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +42.83,  +54.71,  +11.63,   +9.18,  -69.13,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=6.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +5.5  -4.2  +1.5  -6.2  -0.4  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +42.81,  +56.05,  +10.94,   +9.37,  -69.70,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=2.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  +0.2  -1.9  +0.9  -2.1  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.54°（関節 j2）
[010] 推論 589ms  10ステップ先  Δ= +0.7  +4.6  -3.7  +1.6  -7.4  -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_chunk010_via02: send_angles (single) [ +42.72,  +60.67,   +8.92,  +10.21,  -72.60,  -30.24]  speed=20 wait=0.0s  (pre max|Δ|=4.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  +3.5  -3.6  +1.3  -4.3  -0.5  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +42.74,  +61.78,   +8.63,  +10.58,  -74.44,  -30.28]  speed=20 wait=0.0s  (pre max|Δ|=2.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +0.1  -1.5  +0.9  -2.6  -0.3  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +42.85,  +61.99,   +8.66,  +10.63,  -75.24,  -30.33]  speed=20 wait=0.0s  (pre max|Δ|=1.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -0.8  -1.4  +0.6  -1.2  -0.4  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +42.93,  +61.73,   +8.77,  +10.61,  -75.68,  -30.40]  speed=20 wait=0.0s  (pre max|Δ|=1.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.24° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -1.2  -1.2  +0.6  -1.5  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.24°（関節 j2）
[011] 推論 742ms  1ステップ先  Δ= +0.0  +0.0  +0.0  +0.0  +0.0  +0.0  グリッパー→開
       [VIA   ] 中継点 1 点: step 0
       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 > 
       [VIA   ] step  0  Δ= +0.0  +0.0  +0.0  -0.1  +0.0  +0.0  送らず (0.5° 以下)
  [Pi] GRIPPER: OPEN result= None
[STATE ] 実測を渡す (直前に送った目標がない)
[012] 推論 583ms  10ステップ先  Δ= +1.9 -19.1  +6.1  -2.6 +13.1  -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_chunk012_via02: send_angles (single) [ +42.69,  +60.68,  +10.89,  +10.20,  -76.95,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=2.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.24° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -2.2  +0.9  -0.2  +0.1  -0.2  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +43.22,  +53.20,  +13.37,   +9.05,  -71.91,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=9.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.79° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  -9.7  +2.2  -1.3  +5.2  -0.2  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +44.13,  +46.10,  +15.57,   +8.11,  -66.24,  -30.25]  speed=20 wait=0.0s  (pre max|Δ|=9.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.0  -9.3  +1.8  -2.1  +8.5  -0.3  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +44.27,  +43.84,  +16.07,   +7.80,  -63.97,  -30.26]  speed=20 wait=0.0s  (pre max|Δ|=4.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -4.3  -0.0  -1.2  +4.5  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.86°（関節 j1）
[013] 推論 563ms  10ステップ先  Δ=-13.1 -19.8  -1.0  -4.5 +25.4  -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_chunk013_via02: send_angles (single) [ +43.63,  +37.46,  +18.01,   +7.00,  -59.57,  -30.24]  speed=20 wait=0.0s  (pre max|Δ|=8.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  -8.2  +1.6  -1.5  +5.8  -0.3  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +39.65,  +32.24,  +17.74,   +5.85,  -52.47,  -30.21]  speed=20 wait=0.0s  (pre max|Δ|=8.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.2  -7.1  -0.8  -1.8  +8.3  -0.2  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +32.72,  +27.23,  +15.99,   +4.49,  -43.01,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=10.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.3  -7.0  -2.6  -1.8 +10.5  -0.2  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +30.70,  +25.90,  +15.45,   +4.15,  -40.38,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=3.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.2  -3.2  -2.2  -0.8  +3.5  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.21°（関節 j2）
[014] 推論 1573ms  10ステップ先  Δ=-20.6 -17.2 -10.1  -4.9 +31.1  -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_chunk014_via02: send_angles (single) [ +24.95,  +21.61,  +13.77,   +2.78,  -32.27,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=8.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.7  -6.2  -3.9  -1.7  +8.8  -0.2  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [ +18.93,  +16.92,  +11.57,   +1.22,  -23.17,  -30.21]  speed=20 wait=0.0s  (pre max|Δ|=9.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.88° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.5  -6.5  -4.0  -1.9  +9.6  -0.2  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [ +12.01,  +11.68,   +8.43,   -0.15,  -12.68,  -30.23]  speed=20 wait=0.0s  (pre max|Δ|=10.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.4  -7.1  -4.9  -1.6 +10.9  -0.3  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [ +10.12,  +10.56,   +7.52,   -0.41,  -10.00,  -30.23]  speed=20 wait=0.0s  (pre max|Δ|=3.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.14° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.3  -2.7  -2.6  -0.6  +3.1  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.88°（関節 j2）
[015] 推論 603ms  10ステップ先  Δ= -8.4  -7.7  -6.3  -0.4  +9.0  -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_chunk015_via02: send_angles (single) [  +5.40,   +6.57,   +5.21,   -0.47,   -3.86,  -30.26]  speed=20 wait=0.0s  (pre max|Δ|=6.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.5  -5.6  -4.2  -0.3  +6.4  -0.3  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [  +2.43,   +4.57,   +3.79,   -0.54,   -1.21,  -30.26]  speed=20 wait=0.0s  (pre max|Δ|=3.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.74° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.2  -3.4  -3.0  -0.3  +3.1  -0.3  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [  +1.59,   +4.45,   +3.22,   -0.52,   -1.18,  -30.26]  speed=20 wait=0.0s  (pre max|Δ|=2.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.8  -1.6  -2.3  -0.3  +0.3  -0.3  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [  +1.55,   +4.54,   +3.15,   -0.55,   -1.29,  -30.28]  speed=20 wait=0.0s  (pre max|Δ|=2.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  -1.5  -2.2  -0.3  +0.2  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.21°（関節 j2）
[016] 推論 1762ms  10ステップ先  Δ= -1.8  -2.0  -2.4  -0.3  +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 > 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|=6.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 2.5°)
[RECORD] 記録終了 コマ 1016 (8.863 fps) 実測角 1004 回 (8.76 Hz)  電流 1014 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112924/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_112924
[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))
    (120 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 (4 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.17, 1.14, 1.23, -0.35, -0.26, -29.97]
[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: [-0.17, 1.14, 1.23, -0.35, -0.26, -29.97]
  [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=  +8.7  dx=  -2.1  response=0.766  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)

^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
    (184 秒)

=== 8. 実機推論 (4 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_113433
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=+2.0 dx=+4.2 response=0.595 → 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_113433/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 984ms  10ステップ先  Δ=-11.6 +21.0  -3.1  +2.5 -19.7  -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) [  -2.63,   +4.74,   +0.78,   +0.06,   -3.47,  -30.33]  speed=20 wait=0.0s  (pre max|Δ|=3.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.4  +3.6  -0.5  +0.3  -3.2  -0.4  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -6.41,  +11.61,   -0.16,   +0.90,  -10.43,  -30.87]  speed=20 wait=0.0s  (pre max|Δ|=9.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.6  +6.1  -1.4  +1.1  -9.0  -0.9  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -10.58,  +19.71,   -1.48,   +1.97,  -17.75,  -31.38]  speed=20 wait=0.0s  (pre max|Δ|=8.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.4  +7.1  -2.7  +1.1  -8.9  -1.3  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -11.89,  +22.11,   -1.87,   +2.24,  -19.92,  -31.54]  speed=20 wait=0.0s  (pre max|Δ|=3.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.7  +1.3  -2.2  +0.5  -3.5  -0.9  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.22°（関節 j2）
[001] 推論 970ms  10ステップ先  Δ=-14.9 +28.1  -8.2  +3.2 -28.6  -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 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -16.61,  +30.51,   -3.42,   +3.50,  -27.63,  -31.99]  speed=20 wait=0.0s  (pre max|Δ|=8.83°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.6  +7.5  -3.8  +1.1  -8.8  -1.1  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -21.50,  +39.48,   -5.25,   +4.68,  -36.48,  -32.19]  speed=20 wait=0.0s  (pre max|Δ|=9.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.1  +7.8  -3.6  +0.8  -9.5  -0.6  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -25.80,  +48.89,   -7.24,   +5.41,  -45.33,  -32.33]  speed=20 wait=0.0s  (pre max|Δ|=9.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.7  +8.3  -3.6  +0.1  -9.1  -0.4  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -26.85,  +51.14,   -7.87,   +5.57,  -47.42,  -32.36]  speed=20 wait=0.0s  (pre max|Δ|=2.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +1.1  -2.3  -0.3  -2.1  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.46°（関節 j2）
[002] 推論 987ms  10ステップ先  Δ=-11.0 +17.3  -3.6  +0.0 -13.6  -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_chunk002_via02: send_angles (single) [ -31.96,  +59.43,   -8.95,   +5.91,  -54.48,  -32.44]  speed=20 wait=0.0s  (pre max|Δ|=7.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.57° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.3  +7.1  -2.5  -0.5  -6.7  -0.4  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -35.63,  +65.73,   -9.55,   +6.14,  -59.43,  -32.53]  speed=20 wait=0.0s  (pre max|Δ|=5.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.7  +5.1  -2.2  -0.5  -4.9  -0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -37.19,  +68.88,   -9.94,   +6.31,  -61.30,  -32.62]  speed=20 wait=0.0s  (pre max|Δ|=2.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.8  +2.1  -1.9  -0.4  -2.3  -0.4  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -37.60,  +69.54,  -10.04,   +6.32,  -61.34,  -32.64]  speed=20 wait=0.0s  (pre max|Δ|=1.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.6  -0.4  -1.6  -0.5  -0.1  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.43°（関節 j2）
[003] 推論 986ms  10ステップ先  Δ= -0.8  +1.0  -2.7  -0.8  -1.2  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ -38.00,  +70.39,  -10.39,   +6.32,  -62.00,  -32.70]  speed=20 wait=0.0s  (pre max|Δ|=1.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.69° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.0  -0.4  -1.8  -0.4  -0.7  -0.4  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -37.85,  +70.68,  -10.72,   +6.21,  -62.32,  -32.74]  speed=20 wait=0.0s  (pre max|Δ|=1.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -0.9  -1.7  -0.5  -0.5  -0.4  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -37.78,  +71.47,  -11.21,   +6.02,  -62.51,  -32.85]  speed=20 wait=0.0s  (pre max|Δ|=2.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -0.2  -2.1  -0.6  -0.6  -0.4  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -37.79,  +71.72,  -11.32,   +6.01,  -62.57,  -32.87]  speed=20 wait=0.0s  (pre max|Δ|=1.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -1.1  -1.5  -0.4  -0.0  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.48°（関節 j2）
[004] 推論 1007ms  10ステップ先  Δ= +0.0  +7.0  -8.6  -0.5  +4.4  -1.2  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 > p
objc[5198]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8ca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8ca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8ccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d7c8). 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 4 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 +2.0° → -35.70 +72.77 -9.84 +6.32 -62.57 -32.51  届いた（ずれ 0.96°）  届いた角度 -35.68 +72.77 -9.84 +5.36 -62.57 -32.51
[送信] j0 +2.0° → -33.70 +72.77 -9.84 +6.32 -62.57 -32.51  届いた（ずれ 0.79°）  届いた角度 -33.75 +72.77 -9.84 +5.53 -62.57 -32.51
^C[PAD   ] 補正 1 を終えました (12.8 秒, 送った目標 2 回). この姿勢から推論に戻ります

[STOP  ] Ctrl-C
[RECORD] 記録終了 コマ 400 (8.151 fps) 実測角 353 回 (7.19 Hz)  電流 357 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113433/recording
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113433
[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))
    (52 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (5 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-33.92, 72.77, -9.84, 5.71, -62.57, -32.51]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=59.94°
[WAIT] t=1.1s  max_err=43.85°
[WAIT] t=1.6s  max_err=27.94°
[WAIT] t=2.1s  max_err=12.21°
[WAIT] t=2.6s  max_err=2.37°
[DONE] HOME 到達 max_err=2.37°
[POST] 最終姿勢: [-0.35, 1.31, 0.79, -0.26, -2.37, -30.84]
  [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=  +8.8  dx=  -2.2  response=0.790  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
    (29 秒)

=== 8. 実機推論 (5 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 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_113600
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=+2.1 dx=+4.4 response=0.584 → 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_113600/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 971ms  10ステップ先  Δ=-10.6 +18.1  -2.8  +2.2 -17.7  -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 > 
[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) [  -0.93,   +2.05,   +0.76,   -0.03,   -1.01,  -30.23]  speed=20 wait=0.0s  (pre max|Δ|=0.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.7  +0.7  -0.1  +0.2  -0.7  +0.0  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -4.67,   +9.18,   -0.14,   +0.77,   -8.22,  -30.60]  speed=20 wait=0.0s  (pre max|Δ|=7.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.6  +6.1  -1.7  +1.0  -8.0  -0.4  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -9.45,  +17.07,   -1.42,   +1.69,  -15.72,  -31.06]  speed=20 wait=0.0s  (pre max|Δ|=9.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.77° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.8  +6.9  -3.0  +1.8  -9.8  -0.8  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -10.85,  +19.45,   -1.92,   +1.90,  -17.95,  -31.18]  speed=20 wait=0.0s  (pre max|Δ|=3.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.2  +1.4  -2.3  +0.8  -3.9  -0.9  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.84°（関節 j2）
[001] 推論 997ms  10ステップ先  Δ=-16.4 +27.9  -7.1  +4.3 -29.0  -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 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -15.67,  +27.48,   -3.33,   +3.03,  -25.41,  -31.62]  speed=20 wait=0.0s  (pre max|Δ|=8.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.8  +6.9  -3.3  +1.6  -8.5  -1.2  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -20.89,  +36.37,   -5.07,   +4.34,  -34.12,  -31.83]  speed=20 wait=0.0s  (pre max|Δ|=9.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.4  +7.7  -3.4  +1.0  -9.1  -1.0  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -25.70,  +45.75,   -6.97,   +5.43,  -43.36,  -31.94]  speed=20 wait=0.0s  (pre max|Δ|=9.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.0  +8.2  -3.5  +0.6  -9.5  -0.7  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -27.33,  +48.43,   -7.20,   +5.65,  -45.85,  -31.96]  speed=20 wait=0.0s  (pre max|Δ|=3.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.2  +1.4  -1.8  -0.4  -3.2  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.84°（関節 j2）
[002] 推論 917ms  10ステップ先  Δ=-11.8 +18.2  -4.2  -0.0 -15.2  -1.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -33.17,  +57.26,   -8.64,   +5.99,  -53.55,  -32.06]  speed=20 wait=0.0s  (pre max|Δ|=8.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.61° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.0  +7.8  -3.3  -0.4  -8.0  -0.6  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -37.14,  +64.35,   -9.55,   +6.13,  -59.20,  -32.18]  speed=20 wait=0.0s  (pre max|Δ|=6.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.4  +5.9  -2.5  -0.6  -6.1  -0.5  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -38.79,  +67.38,   -9.59,   +6.38,  -61.09,  -32.30]  speed=20 wait=0.0s  (pre max|Δ|=2.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.9  +1.7  -1.5  -0.5  -2.4  -0.5  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -38.95,  +67.67,   -9.56,   +6.38,  -60.73,  -32.36]  speed=20 wait=0.0s  (pre max|Δ|=1.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -0.8  -1.5  -0.6  -0.3  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.48°（関節 j2）
[003] 推論 938ms  10ステップ先  Δ= -1.0  +3.9  -3.3  -1.3  -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
objc[5249]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4ca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4ca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4ccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd7c8). 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° → -37.67 +68.55 -8.08 +6.76 -60.38 -32.08  届いた（ずれ 0.09°）  届いた角度 -37.70 +68.55 -8.08 +6.67 -60.38 -32.08
[送信] j0 +1.0° → -36.67 +68.55 -8.08 +6.76 -60.38 -32.08  届いた（ずれ 0.52°）  届いた角度 -37.08 +68.55 -8.08 +6.24 -60.38 -32.08
[送信] j0 +2.0° → -34.67 +68.55 -8.08 +6.76 -60.38 -32.08  届いた（ずれ 1.05°）  届いた角度 -34.54 +68.55 -8.08 +5.71 -60.38 -32.08
[送信] j0 +1.0° → -33.67 +68.55 -8.08 +6.76 -60.38 -32.08  届いた（ずれ 0.79°）  届いた角度 -33.22 +68.55 -8.08 +5.97 -60.38 -32.08
[PAD   ] 補正 1 を終えました (14.1 秒, 送った目標 4 回). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[004] 推論 988ms  10ステップ先  Δ= -0.4  +4.8  -0.9  +0.1  -1.8  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ -33.82,  +70.75,   -8.32,   +6.28,  -61.49,  -32.15]  speed=20 wait=0.0s  (pre max|Δ|=2.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  +2.2  -0.2  +0.2  -1.1  -0.1  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -33.75,  +71.81,   -8.47,   +6.41,  -61.90,  -32.18]  speed=20 wait=0.0s  (pre max|Δ|=0.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.22° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.3  -0.1  -0.6  +0.3  +0.2  -0.1  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -33.79,  +72.90,   -8.80,   +6.29,  -62.13,  -32.25]  speed=20 wait=0.0s  (pre max|Δ|=1.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  -0.1  -1.1  +0.1  +0.6  -0.2  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -33.85,  +73.30,   -9.01,   +6.21,  -62.21,  -32.28]  speed=20 wait=0.0s  (pre max|Δ|=1.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.28° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -0.9  -1.3  +0.1  +0.6  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.28°（関節 j2）
[005] 推論 921ms  8ステップ先  Δ= -0.3  +4.7  -5.6  -0.2  +1.0  -0.6  グリッパー→閉
       [VIA   ] 中継点 3 点: step 2, 5, 7
       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) [ -33.89,  +75.70,  -10.69,   +6.10,  -62.09,  -32.45]  speed=20 wait=0.0s  (pre max|Δ|=2.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.82° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.4  +1.5  -3.0  -0.0  +0.8  -0.4  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -33.83,  +78.36,  -12.97,   +5.98,  -61.84,  -32.62]  speed=20 wait=0.0s  (pre max|Δ|=3.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.52° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.4  +1.4  -3.5  -0.2  +1.0  -0.4  着いた
[SEND] pi05_chunk005_via07: send_angles (single) [ -33.77,  +78.83,  -13.33,   +5.98,  -61.81,  -32.67]  speed=20 wait=0.0s  (pre max|Δ|=1.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.21° (tol 3.0°)
       [VIA   ] step  7  Δ= -0.3  -0.7  -1.5  -0.2  +1.0  -0.3  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.21°（関節 j2）
[006] 推論 969ms  10ステップ先  Δ= +6.7  -7.0  +1.5  +1.3  +0.4  -1.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > h
[SEND] pi05_home: send_angles (single) [  +0.00,   +0.00,   +0.00,   +0.00,   +0.00,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=79.89°, post-send timeout 14.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 2.5°)
[RECORD] 記録終了 コマ 466 (8.223 fps) 実測角 457 回 (8.06 Hz)  電流 466 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113600/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_20261110_113600
[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))
    (62 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (6 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.26, 1.49, 0.70, 0.26, -0.26, -30.41]
[SEND] HOME へ移動指令
[WAIT] t=0.7s  max_err=1.49°
[DONE] HOME 到達 max_err=1.49°
[POST] 最終姿勢: [-0.26, 1.49, 0.70, 0.26, -0.26, -30.32]
  [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=  +9.6  dx=  -2.4  response=0.669  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (37 秒)

=== 8. 実機推論 (6 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 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_113741
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=+2.6 dx=+4.1 response=0.590 → 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_113741/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 920ms  10ステップ先  Δ=-13.1 +22.2  -3.6  +1.5 -21.9  -1.2
       [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 > 
[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) [  -2.78,   +5.72,   +0.23,   +0.40,   -4.42,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=4.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.5  +4.2  -0.5  +0.1  -4.2  -0.2  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -7.18,  +13.48,   -0.89,   +0.92,  -12.16,  -30.81]  speed=20 wait=0.0s  (pre max|Δ|=9.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.88° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.0  +6.9  -1.6  +0.7 -10.0  -0.6  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -11.88,  +21.47,   -2.38,   +1.59,  -19.90,  -31.25]  speed=20 wait=0.0s  (pre max|Δ|=9.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.77° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.0  +6.9  -3.1  +1.3  -9.5  -0.9  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -13.33,  +23.68,   -2.87,   +1.80,  -22.16,  -31.38]  speed=20 wait=0.0s  (pre max|Δ|=3.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.26° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.6  +1.1  -2.3  +1.2  -3.6  -1.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.26°（関節 j2）
[001] 推論 917ms  10ステップ先  Δ=-17.2 +27.9  -7.3  +3.6 -26.2  -1.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -18.87,  +31.97,   -4.32,   +2.94,  -29.48,  -31.64]  speed=20 wait=0.0s  (pre max|Δ|=8.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.2  +7.2  -3.7  +1.8  -8.1  -1.1  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -24.46,  +41.18,   -5.95,   +4.14,  -37.65,  -31.76]  speed=20 wait=0.0s  (pre max|Δ|=8.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.8  +8.1  -3.4  +0.6  -8.9  -0.8  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -29.35,  +50.36,   -7.59,   +4.68,  -45.55,  -31.84]  speed=20 wait=0.0s  (pre max|Δ|=8.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.0  +8.0  -3.3  +0.5  -8.5  -0.7  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -30.39,  +52.67,   -7.96,   +4.68,  -47.50,  -31.85]  speed=20 wait=0.0s  (pre max|Δ|=2.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.4  +1.1  -1.9  -0.8  -2.4  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.81°（関節 j2）
[002] 推論 987ms  10ステップ先  Δ= -9.3 +13.7  -2.7  +0.2 -12.6  -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) [ -35.75,  +60.67,   -8.57,   +5.03,  -54.67,  -31.98]  speed=20 wait=0.0s  (pre max|Δ|=7.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.6  +6.7  -2.4  -0.4  -7.4  -0.6  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -38.50,  +65.81,   -8.81,   +5.33,  -58.88,  -32.05]  speed=20 wait=0.0s  (pre max|Δ|=4.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.2  +3.8  -1.8  -0.2  -4.8  -0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -39.29,  +67.34,   -8.88,   +5.52,  -59.77,  -32.11]  speed=20 wait=0.0s  (pre max|Δ|=1.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.2  +0.5  -1.8  -0.2  -1.9  -0.4  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -39.37,  +67.65,   -8.81,   +5.60,  -59.90,  -32.15]  speed=20 wait=0.0s  (pre max|Δ|=1.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -0.9  -1.8  -0.4  -0.2  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.78°（関節 j2）
[003] 推論 990ms  10ステップ先  Δ= +0.1  +2.0  -2.9  -0.7  -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
objc[5303]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576ca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576ca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576ccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd7c8). 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 +2.0° → -37.55 +68.55 -7.03 +5.97 -59.67 -31.81  届いた（ずれ 0.97°）  届いた角度 -37.35 +68.55 -7.03 +5.00 -59.67 -31.81
[送信] j0 +2.0° → -35.55 +68.55 -7.03 +5.97 -59.67 -31.81  届いた（ずれ 1.32°）  届いた角度 -35.15 +68.55 -7.03 +4.65 -59.67 -31.81
[送信] j0 +2.0° → -33.55 +68.55 -7.03 +5.97 -59.67 -31.81  届いた（ずれ 0.97°）  届いた角度 -33.31 +68.55 -7.03 +5.00 -59.67 -31.90
[送信] j1 -1.0° → -33.55 +67.55 -7.03 +5.97 -59.67 -31.81  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 1.0°）  届いた角度 -33.75 +68.55 -7.03 +5.36 -59.67 -31.90
[送信] j1 -1.0° → -33.55 +66.55 -7.03 +5.97 -59.67 -31.81  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.0°）  届いた角度 -33.75 +68.55 -7.03 +5.36 -59.67 -31.90
[送信] j1 -1.0° → -33.55 +65.55 -7.03 +5.97 -59.67 -31.81  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.91°）  届いた角度 -33.75 +68.46 -7.03 +5.36 -59.67 -31.90
[送信] j1 -1.0° → -33.55 +64.55 -7.03 +5.97 -59.67 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 2.33°）  届いた角度 -33.75 +66.88 -7.03 +5.36 -59.67 -31.90
[止める] stop（released_while_sending）  止まった角度 -33.75 +55.72 -7.03 +5.36 -59.85 -31.99
[関節] 上下で動かす関節を j2 にしました
[送信] j2 -1.0° → -33.55 +55.72 -8.03 +5.97 -59.67 -31.81  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 1.0°）  届いた角度 -33.75 +55.72 -7.03 +5.36 -59.85 -31.99
[止める] stop（released_while_sending）  止まった角度 -33.75 +57.12 -9.49 +5.36 -58.18 -31.99
[送信] j2 -1.0° → -33.55 +55.72 -10.49 +5.97 -59.67 -31.81  届いた（ずれ 0.61°）  届いた角度 -33.75 +55.54 -10.81 +5.36 -59.58 -31.99
[関節] 上下で動かす関節を j3 にしました
[関節] 上下で動かす関節を j4 にしました
[関節] 上下で動かす関節を j5 にしました
[関節] 上下で動かす関節を j1 にしました
[送信] j1 +2.0° → -33.55 +57.72 -10.49 +5.97 -59.67 -31.81  届いた（ずれ 0.91°）  届いた角度 -33.75 +58.09 -9.58 +5.36 -59.67 -31.99
[止める] stop（released_while_sending）  止まった角度 -33.75 +64.42 -8.96 +5.44 -58.00 -31.99
[送信] j1 +2.0° → -33.55 +66.42 -10.49 +5.97 -59.67 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 1.67°）  届いた角度 -33.75 +67.58 -9.14 +5.44 -58.00 -31.99
[送信] j1 +2.0° → -33.55 +68.42 -10.49 +5.97 -59.67 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 1.36°）  届いた角度 -33.75 +69.78 -9.14 +5.44 -58.44 -31.99
[送信] j1 +2.0° → -33.55 +70.42 -10.49 +5.97 -59.67 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 1.38°）  届いた角度 -33.75 +71.80 -9.14 +5.44 -58.79 -31.99
[関節] 上下で動かす関節を j2 にしました
[送信] j2 +1.0° → -33.55 +70.42 -9.49 +5.97 -48.33 -31.81  届いた（ずれ 1.38°）  届いた角度 -33.75 +71.80 -9.22 +5.27 -48.33 -32.34
[長押し] j2 を -9.22° → -3.51° まで（目標を 1 回送信。止めます）
[長押し] j2 を +4.74° → -4.39° まで（目標を 1 回送信。止めます）
[止める] stop（released_while_sending）  止まった角度 -33.57 +74.79 -17.66 +5.44 -55.10 -31.37
[関節] 上下で動かす関節を j3 にしました
[関節] 上下で動かす関節を j4 にしました
[関節] 上下で動かす関節を j5 にしました
[関節] 上下で動かす関節を j1 にしました
[送信] j1 +1.0° → -33.55 +75.79 -17.66 +5.97 -54.75 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 5.98°）  届いた角度 -33.66 +77.25 -22.41 +5.53 -60.73 -31.37
[範囲] j1 を +92.25° → +90.87° に切った（j1 の上限 90.87 (PICK_J1_FIXED) +90.87°）
[送信] j1 +1.0° → -33.55 +76.79 -17.66 +5.97 -54.75 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 5.98°）  届いた角度 -33.66 +77.95 -22.41 +5.53 -60.73 -31.55
[送信] j1 +2.0° → -33.55 +78.79 -17.66 +5.97 -54.75 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 5.98°）  届いた角度 -33.66 +80.24 -22.41 +5.62 -60.73 -31.64
[送信] j1 +2.0° → -33.55 +80.79 -17.66 +5.97 -54.75 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 5.98°）  届いた角度 -33.75 +82.35 -22.41 +5.62 -60.73 -31.72
[送信] j1 +2.0° → -33.55 +82.79 -17.66 +5.97 -54.75 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 5.98°）  届いた角度 -33.75 +84.02 -22.41 +5.62 -60.73 -31.81
[送信] j1 +2.0° → -33.55 +84.79 -17.66 +5.97 -54.75 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 5.89°）  届いた角度 -33.75 +86.13 -22.41 +5.71 -60.64 -31.81
[PAD   ] 補正 1 を終えました (88.5 秒, 送った目標 27 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 916ms  6ステップ先  Δ= +0.2  +1.9  -5.3  -0.1  +2.3  -0.5  グリッパー→閉
       [LIMIT] j1 安全範囲でクランプ +89.9→+88.0
       [VIA   ] 中継点 2 点: step 2, 5
       [LIMIT] step 2: j1 安全範囲でクランプ +89.4→+88.0
       [LIMIT] step 5: j1 安全範囲でクランプ +89.9→+88.0
       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) [ -33.58,  +88.00,  -26.79,   +5.62,  -58.37,  -32.15]  speed=20 wait=0.0s  (pre max|Δ|=4.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +1.9  -4.4  -0.1  +1.8  -0.3  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -33.55,  +88.00,  -27.76,   +5.62,  -58.07,  -32.28]  speed=20 wait=0.0s  (pre max|Δ|=1.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -0.8  -1.6  +0.1  +1.6  -0.4  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 1.43°（関節 j4）
[005] 推論 986ms  10ステップ先  Δ= +1.5 -11.8  +5.5  +1.1  +0.9  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ -33.48,  +84.31,  -26.06,   +5.67,  -58.32,  -32.36]  speed=20 wait=0.0s  (pre max|Δ|=4.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.52° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -4.5  +0.8  +0.5  +1.3  -0.1  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -33.31,  +81.02,  -23.99,   +5.81,  -58.68,  -32.41]  speed=20 wait=0.0s  (pre max|Δ|=5.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.56° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -5.7  +2.1  +0.5  -1.6  +0.0  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -33.27,  +78.13,  -22.03,   +6.11,  -58.69,  -32.58]  speed=20 wait=0.0s  (pre max|Δ|=5.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.28° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -5.4  +1.3  +0.4  -1.8  -0.1  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -32.26,  +77.00,  -21.40,   +6.36,  -58.64,  -32.74]  speed=20 wait=0.0s  (pre max|Δ|=3.41°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.06° actual=[ -32.43,  +80.06,  -20.83,   +6.50,  -57.91,  -32.43]
[SEND] リトライしません: pre→last max|Δ| 1.32° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  9  Δ= +1.5  -3.4  -0.1  +0.7  -1.8  -0.3  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 3.06°（関節 j1）
[006] 推論 960ms  10ステップ先  Δ=+11.5 -12.2  +6.0  +2.2  -0.1  -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 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ -31.96,  +72.75,  -16.91,   +6.81,  -60.06,  -32.82]  speed=20 wait=0.0s  (pre max|Δ|=7.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.57° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -7.3  +3.9  +0.3  -1.9  -0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -30.81,  +71.38,  -15.43,   +7.47,  -60.42,  -33.26]  speed=20 wait=0.0s  (pre max|Δ|=3.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.62° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.6  -3.9  +0.6  +0.9  +1.0  -0.7  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -23.78,  +68.86,  -14.86,   +8.39,  -58.85,  -34.08]  speed=20 wait=0.0s  (pre max|Δ|=7.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.59° (tol 3.0°)
       [VIA   ] step  8  Δ= +7.1  -5.1  -0.2  +0.8  +2.6  -1.0  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -20.97,  +67.88,  -14.82,   +8.69,  -58.02,  -34.33]  speed=20 wait=0.0s  (pre max|Δ|=3.57°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.39° actual=[ -21.09,  +71.27,  -14.32,   +9.14,  -58.53,  -34.01]
[SEND] リトライしません: pre→last max|Δ| 2.90° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  9  Δ= +3.3  -3.6  -0.5  +0.1  +3.2  -0.7  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 3.39°（関節 j1）

[007] 推論 922ms  10ステップ先  Δ=+28.1 -10.4  +2.5  +3.8  +4.3  -3.2
       [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) [ -12.71,  +65.79,  -13.69,  +10.07,  -57.34,  -35.27]  speed=20 wait=0.0s  (pre max|Δ|=8.38°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.02° actual=[ -12.91,  +68.81,  -13.09,   +9.84,  -57.30,  -34.98]
[SEND] リトライしません: pre→last max|Δ| 8.18° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  2  Δ= +8.4  -5.5  +0.6  +0.9  +1.0  -1.3  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[SEND] pi05_chunk007_via05: send_angles (single) [  -4.07,  +63.55,  -12.78,  +11.49,  -56.26,  -36.24]  speed=20 wait=0.0s  (pre max|Δ|=8.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.80° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.8  -5.3  +0.3  +1.7  +1.0  -1.3  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [  +4.45,  +61.46,  -11.98,  +12.69,  -55.00,  -37.02]  speed=20 wait=0.0s  (pre max|Δ|=8.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.78° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.6  -4.9  +0.1  +1.3  +1.1  -1.1  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [  +7.04,  +60.85,  -11.86,  +12.98,  -54.21,  -37.22]  speed=20 wait=0.0s  (pre max|Δ|=3.39°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.31° actual=[  +7.03,  +64.16,  -11.16,  +13.35,  -54.05,  -36.91]
[SEND] リトライしません: pre→last max|Δ| 2.73° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  9  Δ= +2.7  -3.4  -0.4  +0.2  +0.5  -0.6  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 3.31°（関節 j1）
[008] 推論 916ms  10ステップ先  Δ=+29.0 -12.4  +0.3  +3.7  +4.0  -2.3
       [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_chunk008_via02: send_angles (single) [ +15.17,  +58.22,  -11.66,  +14.06,  -52.98,  -38.19]  speed=20 wait=0.0s  (pre max|Δ|=8.14°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.03° actual=[ +15.11,  +61.25,  -11.16,  +13.79,  -52.47,  -37.88]
[SEND] リトライしません: pre→last max|Δ| 8.08° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  2  Δ= +8.1  -5.9  -0.5  +0.8  +1.1  -1.3  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[SEND] pi05_chunk008_via05: send_angles (single) [ +24.07,  +55.31,  -11.30,  +15.40,  -52.03,  -38.91]  speed=20 wait=0.0s  (pre max|Δ|=8.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.96° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.0  -5.9  -0.1  +1.6  +0.4  -1.0  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +32.92,  +52.71,  -10.96,  +16.64,  -50.64,  -39.25]  speed=20 wait=0.0s  (pre max|Δ|=9.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.83° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.0  -5.6  -0.2  +1.3  +1.8  -0.7  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +36.04,  +51.76,  -10.90,  +16.95,  -50.03,  -39.26]  speed=20 wait=0.0s  (pre max|Δ|=3.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.55° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.9  -3.8  -0.3  +0.3  +1.5  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.55°（関節 j1）
[009] 推論 911ms  10ステップ先  Δ= +8.5  +8.2  -1.2  -2.3  -7.2  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 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|=54.31°, post-send timeout 10.1s)
[SEND] arrival OK: max|Δ|=1.58° (tol 2.5°)
[RECORD] 記録終了 コマ 1559 (8.666 fps) 実測角 1621 回 (9.01 Hz)  電流 1644 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113741/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_20261110_113741
[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))
    (184 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 (7 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.43, 1.58, 0.79, 0.00, -0.26, -30.49]
[SEND] HOME へ移動指令
[WAIT] t=0.7s  max_err=1.58°
[DONE] HOME 到達 max_err=1.58°
[POST] 最終姿勢: [-0.43, 1.58, 0.79, 0.00, -0.26, -30.41]
  [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=  +9.4  dx=  -2.8  response=0.675  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (18 秒)

=== 8. 実機推論 (7 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_114106
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=+2.7 dx=+3.7 response=0.585 → 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_114106/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 971ms  10ステップ先  Δ=-13.3 +22.9  -4.1  +2.4 -22.1  -1.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[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) [  -3.08,   +5.95,   -0.12,   +0.60,   -4.33,  -30.61]  speed=20 wait=0.0s  (pre max|Δ|=4.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.7  +4.4  -0.9  +0.6  -4.1  -0.4  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -7.61,  +13.80,   -1.49,   +1.49,  -11.77,  -31.17]  speed=20 wait=0.0s  (pre max|Δ|=9.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.28° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.1  +6.9  -2.3  +1.5  -9.7  -0.9  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -12.21,  +21.93,   -2.88,   +2.19,  -19.61,  -31.54]  speed=20 wait=0.0s  (pre max|Δ|=9.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.0  +7.1  -3.4  +1.7  -9.5  -1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -13.76,  +24.50,   -3.29,   +2.40,  -22.31,  -31.66]  speed=20 wait=0.0s  (pre max|Δ|=4.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.9  +1.6  -2.3  +1.2  -4.3  -1.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.98°（関節 j2）
[001] 推論 923ms  10ステップ先  Δ=-17.3 +29.5  -8.0  +4.0 -27.4  -1.2
       [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) [ -19.55,  +33.91,   -5.01,   +4.03,  -30.19,  -31.97]  speed=20 wait=0.0s  (pre max|Δ|=8.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.5  +8.3  -3.7  +2.2  -8.9  -1.0  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -24.80,  +43.29,   -6.92,   +5.13,  -38.31,  -32.02]  speed=20 wait=0.0s  (pre max|Δ|=8.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.8  +8.2  -3.7  +0.5  -8.4  -0.7  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -29.35,  +52.21,   -8.80,   +5.62,  -46.18,  -32.08]  speed=20 wait=0.0s  (pre max|Δ|=8.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.77° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.8  +7.6  -3.5  -0.2  -8.2  -0.5  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -30.88,  +55.05,   -9.34,   +5.70,  -48.67,  -32.08]  speed=20 wait=0.0s  (pre max|Δ|=2.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.87° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.8  +1.5  -2.2  -0.4  -2.9  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.70°（関節 j2）
[002] 推論 1002ms  10ステップ先  Δ= -6.3 +10.7  -2.4  +0.4 -10.7  -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_chunk002_via02: send_angles (single) [ -35.15,  +62.66,   -9.87,   +6.15,  -55.40,  -32.19]  speed=20 wait=0.0s  (pre max|Δ|=7.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.6  +6.2  -2.2  -0.3  -7.1  -0.5  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -36.63,  +66.84,  -10.07,   +6.33,  -58.81,  -32.30]  speed=20 wait=0.0s  (pre max|Δ|=3.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  5  Δ= -1.7  +3.0  -1.6  -0.3  -4.0  -0.5  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -36.76,  +67.15,  -10.09,   +6.35,  -58.85,  -32.35]  speed=20 wait=0.0s  (pre max|Δ|=1.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -1.0  -1.7  -0.6  -0.7  -0.5  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -36.74,  +67.08,  -10.06,   +6.37,  -58.96,  -32.37]  speed=20 wait=0.0s  (pre max|Δ|=1.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.63° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -1.0  -1.6  -0.5  -0.8  -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）
[003] 推論 915ms  10ステップ先  Δ= -0.7  +5.2  -5.2  -0.7  -2.7  -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 > p
objc[5357]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7512c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba088e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7513b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba089d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7514d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7515c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7515e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7517c8). 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 +2.0° → -34.65 +68.11 -8.43 +6.76 -58.27 -31.99  届いた（ずれ 1.05°）  届いた角度 -34.54 +68.11 -8.43 +5.71 -59.15 -32.08
[送信] j0 +2.0° → -32.65 +68.11 -8.43 +6.76 -58.27 -31.99  届いた（ずれ 1.05°）  届いた角度 -32.43 +68.11 -8.43 +5.71 -59.15 -32.08
[関節] 上下で動かす関節を j2 にしました
[長押し] j2 を -8.43° → -8.43° まで（目標を 1 回送信。止めます）
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[送信] j2 -1.0° → -32.65 +68.11 +5.50 +6.76 -58.27 -31.99  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 3.42°）  届いた角度 -33.04 +68.73 +6.32 +5.88 -61.69 -31.72
[送信] j2 -2.0° → -32.65 +68.11 +3.50 +6.76 -58.27 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 1.31°）  届いた角度 -33.04 +68.73 +4.30 +6.06 -59.58 -31.81
[送信] j2 -2.0° → -32.65 +68.11 +1.50 +6.76 -58.27 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 0.97°）  届いた角度 -33.04 +68.73 +2.46 +6.06 -57.30 -31.90
[長押し] j2 を +2.37° → -4.21° まで（目標を 1 回送信。止めます）
[送信] j2 -2.0° → -32.65 +68.11 -13.68 +6.76 -58.27 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 1.76°）  届いた角度 -33.04 +69.87 -12.48 +6.15 -58.88 -31.90
[送信] j2 +2.0° → -32.65 +68.11 -11.68 +6.76 -58.27 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 1.76°）  届いた角度 -33.04 +69.87 -11.07 +6.15 -58.88 -31.90
[送信] j2 +2.0° → -32.65 +68.11 -9.68 +6.76 -58.27 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 1.76°）  届いた角度 -33.04 +69.87 -9.05 +6.15 -58.88 -31.90
[関節] 上下で動かす関節を j3 にしました
[関節] 上下で動かす関節を j4 にしました
[関節] 上下で動かす関節を j5 にしました
[関節] 上下で動かす関節を j1 にしました
[送信] j1 -1.0° → -32.65 +67.11 -9.68 +6.76 -58.27 -31.99  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.76°）  届いた角度 -33.04 +69.87 -8.96 +6.15 -58.88 -31.99
[送信] j1 +1.0° → -32.65 +68.11 -9.68 +6.76 -58.27 -31.99  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 13.63°）  届いた角度 -33.04 +69.87 -8.96 +5.97 -44.64 -32.87
[送信] j1 +1.0° → -32.65 +69.11 -9.68 +6.76 -44.56 -31.99  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 0.96°）  届いた角度 -33.04 +69.87 -8.96 +5.88 -44.56 -32.95
[送信] j1 -1.0° → -32.65 +68.11 -9.68 +6.76 -44.56 -31.99  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 1.85°）  届いた角度 -33.04 +69.96 -8.96 +6.15 -45.70 -32.95
[長押し] j1 を +69.96° → +62.92° まで（目標を 1 回送信。止めます）
[止める] stop（released_while_sending）  止まった角度 -33.04 +62.05 -7.55 +6.24 -55.98 -32.95
[止める] stop（released_while_sending）  止まった角度 -33.04 +69.08 -7.64 +6.32 -55.10 -32.87
[送信] j1 +1.0° → -32.65 +70.08 -9.68 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 1.42°）  届いた角度 -33.04 +71.36 -8.26 +6.32 -56.60 -32.87
[関節] 上下で動かす関節を j2 にしました
[長押し] j2 を -8.26° → -15.82° まで（目標を 1 回送信。止めます）
[送信] j2 +1.0° → -32.65 +70.08 -20.18 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 2.78°）  届いた角度 -33.04 +72.86 -19.42 +6.41 -56.51 -32.78
[送信] j2 +2.0° → -32.65 +70.08 -18.18 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 2.78°）  届いた角度 -33.04 +72.86 -17.40 +6.41 -57.56 -32.78
[送信] j2 +2.0° → -32.65 +70.08 -16.18 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 2.78°）  届いた角度 -33.04 +72.86 -15.46 +6.41 -58.18 -32.78
[送信] j2 +2.0° → -32.65 +70.08 -14.18 +6.76 -57.83 -31.99  届いた（ずれ 2.78°）  届いた角度 -33.04 +72.86 -13.71 +6.41 -58.35 -32.78
[長押し] j2 を -13.44° → -13.44° まで（目標を 1 回送信。止めます）
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[送信] j2 -1.0° → -32.65 +70.08 +0.84 +6.76 -57.83 -31.99  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 5.18°）  届いた角度 -33.04 +72.15 +1.84 +6.24 -63.01 -31.90
[送信] j2 -1.0° → -32.65 +70.08 -0.16 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 4.39°）  届いた角度 -33.04 +72.15 +0.79 +6.32 -62.22 -31.99
[送信] j2 -2.0° → -32.65 +70.08 -2.16 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 3.95°）  届いた角度 -33.04 +72.15 -1.31 +6.41 -61.78 -32.08
[長押し] j2 を -1.31° → -1.31° まで（目標を 1 回送信。止めます）
[止める] stop（released_while_sending）  止まった角度 -33.04 +74.97 -17.49 +6.41 -56.60 -32.16
[関節] 上下で動かす関節を j3 にしました
[関節] 上下で動かす関節を j4 にしました
[関節] 上下で動かす関節を j5 にしました
[関節] 上下で動かす関節を j1 にしました
[送信] j1 +1.0° → -32.65 +75.97 -17.49 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 4.39°）  届いた角度 -33.04 +77.51 -21.88 +6.50 -59.06 -32.16
[送信] j1 +1.0° → -32.65 +76.97 -17.49 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 4.39°）  届いた角度 -33.04 +78.13 -21.88 +6.59 -59.06 -32.16
[送信] j1 +1.0° → -32.65 +77.97 -17.49 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 4.39°）  届いた角度 -33.04 +79.36 -21.88 +6.59 -59.06 -32.08
[送信] j1 +2.0° → -32.65 +79.97 -17.49 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 4.39°）  届いた角度 -33.04 +81.38 -21.88 +6.59 -59.06 -32.16
[送信] j1 +2.0° → -32.65 +81.97 -17.49 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 4.48°）  届いた角度 -33.04 +83.32 -21.97 +6.59 -59.06 -32.08
[送信] j1 +2.0° → -32.65 +83.97 -17.49 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 4.48°）  届いた角度 -33.04 +85.25 -21.97 +6.59 -59.06 -32.25
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[爪] 爪を閉じる（待ち 0.8 秒のあと受付）
[PAD   ] 補正 1 を終えました (91.8 秒, 送った目標 36 回, 爪を動かした). 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 998ms  10ステップ先  Δ= +2.3 -11.6 +10.3  +1.5  -2.2  -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_chunk004_via02: send_angles (single) [ -32.94,  +80.36,  -17.34,   +6.91,  -61.04,  -32.53]  speed=20 wait=0.0s  (pre max|Δ|=4.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  -4.9  +4.6  +0.5  -1.2  -0.0  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -32.86,  +77.30,  -14.23,   +7.32,  -61.97,  -32.62]  speed=20 wait=0.0s  (pre max|Δ|=5.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.68° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -5.3  +3.0  +1.1  -1.4  -0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -32.04,  +74.56,  -11.86,   +7.77,  -62.29,  -32.93]  speed=20 wait=0.0s  (pre max|Δ|=5.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.0  -5.3  +1.9  +1.0  -1.7  -0.4  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -30.76,  +73.67,  -11.66,   +7.93,  -62.01,  -33.08]  speed=20 wait=0.0s  (pre max|Δ|=3.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.97° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  -3.3  -0.6  +0.0  -1.5  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.97°（関節 j1）
[005] 推論 983ms  10ステップ先  Δ=+21.4 -12.8  +2.8  +3.1  +0.2  -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_chunk005_via02: send_angles (single) [ -26.54,  +71.16,  -10.77,   +8.82,  -61.71,  -33.62]  speed=20 wait=0.0s  (pre max|Δ|=5.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.49° (tol 3.0°)
       [VIA   ] step  2  Δ= +3.9  -5.5  +0.3  +0.7  -1.2  -1.1  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -19.41,  +68.28,   -9.84,   +9.97,  -60.99,  -34.36]  speed=20 wait=0.0s  (pre max|Δ|=7.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.64° (tol 3.0°)
       [VIA   ] step  5  Δ= +7.0  -5.4  +0.3  +0.6  +0.9  -1.1  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -11.23,  +64.99,   -8.63,  +10.98,  -60.23,  -35.14]  speed=20 wait=0.0s  (pre max|Δ|=8.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.86° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.5  -5.9  +0.5  +0.9  +1.6  -1.2  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [  -8.90,  +63.88,   -8.29,  +11.20,  -60.30,  -35.30]  speed=20 wait=0.0s  (pre max|Δ|=3.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.56° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.2  -4.0  -0.4  +0.3  +1.6  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.56°（関節 j1）
[006] 推論 975ms  10ステップ先  Δ=+28.8  -9.5  +0.6  +3.2  +4.1  -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 > r
       爪を締め直します (開かずに閉じる指令をもう一度)
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [  -0.76,  +61.79,   -7.91,  +12.51,  -59.32,  -35.95]  speed=20 wait=0.0s  (pre max|Δ|=8.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.3  -4.7  -0.1  +0.8  +1.7  -1.0  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [  +8.02,  +59.51,   -7.60,  +13.91,  -58.66,  -36.84]  speed=20 wait=0.0s  (pre max|Δ|=9.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.80° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.1  -4.8  -0.4  +1.8  +1.0  -1.2  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +17.29,  +57.50,   -7.28,  +15.08,  -58.04,  -37.75]  speed=20 wait=0.0s  (pre max|Δ|=9.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.88° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.6  -4.8  -0.1  +1.5  +1.0  -1.3  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +19.88,  +56.93,   -7.23,  +15.25,  -57.81,  -37.93]  speed=20 wait=0.0s  (pre max|Δ|=3.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.92° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.7  -3.5  -0.6  +0.4  +0.6  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.92°（関節 j1）
[007] 推論 999ms  10ステップ先  Δ=+22.2  -8.2  -0.4  +1.9  +2.3  -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_chunk007_via02: send_angles (single) [ +26.40,  +54.62,   -7.32,  +16.01,  -56.88,  -38.37]  speed=20 wait=0.0s  (pre max|Δ|=6.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.68° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.5  -5.2  -0.7  +0.6  +1.1  -0.8  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +33.92,  +52.63,   -7.30,  +16.80,  -56.31,  -38.81]  speed=20 wait=0.0s  (pre max|Δ|=7.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.65° (tol 3.0°)
       [VIA   ] step  5  Δ= +7.6  -4.7  -0.6  +0.8  +0.9  -0.7  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +40.83,  +51.70,   -7.08,  +17.25,  -55.77,  -38.99]  speed=20 wait=0.0s  (pre max|Δ|=6.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.79° (tol 3.0°)
       [VIA   ] step  8  Δ= +6.8  -3.6  -0.4  +0.6  +0.9  -0.5  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +42.14,  +51.66,   -7.06,  +17.25,  -55.72,  -38.98]  speed=20 wait=0.0s  (pre max|Δ|=2.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.83° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.4  -2.8  -0.4  -0.2  +0.4  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.83°（関節 j1）
[008] 推論 991ms  10ステップ先  Δ= +1.2 +10.2  -0.6  -3.1  -8.0  +0.2  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_chunk008_via02: send_angles (single) [ +42.66,  +56.47,   -7.13,  +16.31,  -58.48,  -38.84]  speed=20 wait=0.0s  (pre max|Δ|=2.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +2.0  -0.5  -1.3  -2.4  -0.2  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +43.07,  +61.71,   -7.22,  +15.20,  -62.25,  -38.64]  speed=20 wait=0.0s  (pre max|Δ|=5.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.84° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  +3.8  -0.6  -1.6  -5.9  +0.0  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +43.29,  +64.69,   -7.22,  +14.47,  -64.07,  -38.50]  speed=20 wait=0.0s  (pre max|Δ|=4.31°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=1.22° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +1.6  -0.6  -1.1  -4.4  +0.2  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +43.29,  +64.69,   -7.22,  +14.47,  -64.07,  -38.50]  speed=20 wait=0.0s  (pre max|Δ|=1.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.22° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -1.2  -0.6  -0.3  -0.1  +0.2  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.22°（関節 j1）
[009] 推論 918ms  10ステップ先  Δ= -0.4 -18.5  -0.3  +1.2 +13.3  -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 > 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|=65.91°, post-send timeout 11.9s)
[SEND] arrival OK: max|Δ|=2.10° (tol 2.5°)
[RECORD] 記録終了 コマ 1394 (8.699 fps) 実測角 1247 回 (7.78 Hz)  電流 1276 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_114106/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_114106
[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))
    (167 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      6 秒
  3. Pod の中を確かめる (つなぎ直し)      8 秒
  3a. スクリプトを送る         75 秒
  3b〜4. 準備とサーバーの起動 (飛ばした)      0 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)    141 秒
  8. 実機推論 (1 回目)          110 秒
  7. HOME → 爪を開く → 位置合わせ (2 回目)     28 秒
  8. 実機推論 (2 回目)          138 秒
  7. HOME → 爪を開く → 位置合わせ (3 回目)     24 秒
  8. 実機推論 (3 回目)          120 秒
  7. HOME → 爪を開く → 位置合わせ (4 回目)    184 秒
  8. 実機推論 (4 回目)           52 秒
  7. HOME → 爪を開く → 位置合わせ (5 回目)     29 秒
  8. 実機推論 (5 回目)           62 秒
  7. HOME → 爪を開く → 位置合わせ (6 回目)     37 秒
  8. 実機推論 (6 回目)          184 秒
  7. HOME → 爪を開く → 位置合わせ (7 回目)     18 秒
  8. 実機推論 (7 回目)          167 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
