[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)
[TILT  ] 上カメラの傾きのお手本 (各エピソードの 1 枚目の中央値) は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes から (安全範囲と同じ. 表示だけ. 依頼 142)
[LAB   ] 2026-11-10 19:09:16  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   ] 記録の Pod (id prm86xv997s945) は API で見ると残っていない. 新しく作ります
         古い記録は /Volumes/KIOXIA/r2r2r-data/lab/Log28/pod/lab_pod_20261110_190918.json に残しました
[POD   ] 作った: id 9qvy252fd9qgb4  GPU=NVIDIA A40  1時間 0.59 ドル  (記録 /Volumes/KIOXIA/r2r2r-data/lab/Log28/pod/lab_pod.json)
    (4 秒)

=== 2. Pod が立ち上がるまで待つ
[POD   ] SSH の IP とポートを API から受け取った (<POD_IP>:<SSH_PORT>)
[POD   ] 入れた: 0064877cc448
NVIDIA A40, 46068 MiB
    (41 秒)

=== 3a. スクリプトを送る
    (127 秒)

=== 3b. huggingface_hub を入れ, 鍵を渡す
WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager, possibly rendering your system unusable. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv. Use the --root-user-action option if you know what you are doing and want to suppress this warning.
Hint: The `hf-cli` skill is not installed. Run `hf skills add -g` to teach your AI agents how to use the `hf` CLI.
✓ Logged in
  user: PixelstoMotors
    (13 秒)

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

Fetching 34 files:   0%|          | 0/34 [00:00<?, ?it/s]
Fetching 34 files:   3%|▎         | 1/34 [00:00<00:09,  3.56it/s]
Fetching 34 files:  26%|██▋       | 9/34 [00:00<00:01, 18.70it/s]
Fetching 34 files:  35%|███▌      | 12/34 [00:00<00:01, 14.91it/s]
Fetching 34 files:  41%|████      | 14/34 [00:04<00:10,  1.92it/s]
Fetching 34 files:  44%|████▍     | 15/34 [00:05<00:09,  2.06it/s]
Fetching 34 files:  47%|████▋     | 16/34 [00:07<00:15,  1.19it/s]
Fetching 34 files:  50%|█████     | 17/34 [00:07<00:12,  1.37it/s]
Fetching 34 files:  53%|█████▎    | 18/34 [00:09<00:13,  1.20it/s]
Fetching 34 files:  56%|█████▌    | 19/34 [00:09<00:10,  1.43it/s]
Fetching 34 files:  59%|█████▉    | 20/34 [00:09<00:08,  1.57it/s]
Fetching 34 files:  62%|██████▏   | 21/34 [00:10<00:06,  1.91it/s]
Fetching 34 files:  65%|██████▍   | 22/34 [00:10<00:05,  2.21it/s]
Fetching 34 files:  68%|██████▊   | 23/34 [00:10<00:05,  2.18it/s]
Fetching 34 files:  74%|███████▎  | 25/34 [00:11<00:02,  3.01it/s]
Fetching 34 files:  79%|███████▉  | 27/34 [00:11<00:01,  3.93it/s]
Fetching 34 files:  85%|████████▌ | 29/34 [00:12<00:01,  3.43it/s]
Fetching 34 files:  88%|████████▊ | 30/34 [00:12<00:01,  3.38it/s]
Fetching 34 files:  94%|█████████▍| 32/34 [00:12<00:00,  3.94it/s]
Fetching 34 files:  97%|█████████▋| 33/34 [00:13<00:00,  2.40it/s]
Fetching 34 files: 100%|██████████| 34/34 [00:14<00:00,  2.03it/s]✓ Downloaded
  path: /workspace/ckpt/deep_v1_2999

Fetching 34 files: 100%|██████████| 34/34 [00:14<00:00,  2.34it/s]
6.0G	/workspace/ckpt/deep_v1_2999
    (19 秒)

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

=== 3e. uv sync
downloading uv 0.13.7 x86_64-unknown-linux-gnu
WARN: The following commands are shadowed by other commands in your PATH: uv uvx
Using CPython 3.11.13 interpreter at: /usr/bin/python3.11
Creating virtual environment at: .venv
Resolved 279 packages in 4ms
   Building openpi-client @ file:///workspace/openpi/packages/openpi-client
   Building openpi @ file:///workspace/openpi
   Updating https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
Downloading sympy (6.0MiB)
Downloading diffusers (3.4MiB)
Downloading virtualenv (5.8MiB)
Downloading labmaze (4.7MiB)
Downloading pyarrow (40.3MiB)
Downloading fonttools (4.7MiB)
Downloading nvidia-cuda-nvcc-cu12 (38.7MiB)
Downloading numpy (17.4MiB)
Downloading matplotlib (8.2MiB)
Downloading nvidia-cusparselt-cu12 (149.5MiB)
Downloading torchvision (7.1MiB)
Downloading ruff (11.0MiB)
Downloading pillow (4.4MiB)
Downloading numcodecs (8.4MiB)
Downloading jax-cuda12-plugin (15.9MiB)
Downloading jax-cuda12-pjrt (99.8MiB)
Downloading wandb (20.4MiB)
Downloading lxml (4.7MiB)
Downloading scipy (35.9MiB)
Downloading dm-control (37.5MiB)
Downloading pyopengl (3.0MiB)
Downloading llvmlite (40.4MiB)
Downloading polars (34.6MiB)
Downloading av (34.7MiB)
Downloading mujoco (4.4MiB)
Downloading transformers (10.3MiB)
Downloading nvidia-curand-cu12 (53.7MiB)
Downloading hf-xet (4.9MiB)
Downloading nvidia-cufft-cu12 (190.9MiB)
Downloading cmake (26.6MiB)
Downloading opencv-python-headless (47.7MiB)
Downloading nvidia-cublas-cu12 (374.9MiB)
Downloading nvidia-cusolver-cu12 (150.9MiB)
Downloading nvidia-nccl-cu12 (192.0MiB)
Downloading nvidia-nvjitlink-cu12 (18.8MiB)
Downloading nvidia-cuda-cupti-cu12 (8.5MiB)
Downloading numba (3.7MiB)
Downloading opencv-python (60.1MiB)
Downloading nvidia-cuda-nvrtc-cu12 (22.6MiB)
Downloading nvidia-cudnn-cu12 (544.5MiB)
Downloading pandas (12.5MiB)
Downloading tensorstore (17.5MiB)
Downloading h5py (4.3MiB)
Downloading torch (783.1MiB)
Downloading rerun-sdk (68.1MiB)
Downloading jaxlib (100.2MiB)
Downloading triton (148.5MiB)
Downloading hf-transfer (3.4MiB)
Downloading imageio-ffmpeg (28.1MiB)
Downloading nvidia-cusparse-cu12 (206.5MiB)
 Downloaded pyopengl
Downloading debugpy (3.0MiB)
 Downloaded diffusers
 Downloaded hf-transfer
Downloading jax (2.3MiB)
Downloading tokenizers (2.9MiB)
 Downloaded numba
Downloading widgetsnbextension (2.1MiB)
 Downloaded pillow
 Downloaded h5py
 Downloaded mujoco
Downloading networkx (1.9MiB)
Downloading ml-dtypes (2.1MiB)
Downloading pydantic-core (1.9MiB)
 Downloaded fonttools
 Downloaded labmaze
 Downloaded lxml
Downloading kiwisolver (1.4MiB)
Downloading jedi (1.5MiB)
Downloading aiohttp (1.6MiB)
 Downloaded hf-xet
Downloading torchcodec (1.3MiB)
 Downloaded virtualenv
 Downloaded sympy
 Downloaded widgetsnbextension
Downloading sentencepiece (1.2MiB)
Downloading pygments (1.2MiB)
 Downloaded jax
Downloading setuptools (1.1MiB)
Downloading nvidia-cufile-cu12 (1.1MiB)
 Downloaded kiwisolver
 Downloaded debugpy
 Downloaded torchcodec
Downloading pymunk (1.0MiB)
 Downloaded tokenizers
 Downloaded jedi
 Downloaded pydantic-core
 Downloaded networkx
 Downloaded aiohttp
 Downloaded ml-dtypes
 Downloaded pygments
 Downloaded torchvision
 Downloaded sentencepiece
 Downloaded nvidia-cufile-cu12
 Downloaded setuptools
 Downloaded pymunk
 Downloaded matplotlib
 Downloaded numcodecs
 Downloaded nvidia-cuda-cupti-cu12
   Building evdev==1.9.2
 Downloaded transformers
 Downloaded ruff
   Building antlr4-python3-runtime==4.9.3
 Downloaded pandas
 Downloaded jax-cuda12-plugin
 Downloaded numpy
 Downloaded tensorstore
 Downloaded nvidia-nvjitlink-cu12
      Built openpi-client @ file:///workspace/openpi/packages/openpi-client
      Built openpi @ file:///workspace/openpi
 Downloaded wandb
 Downloaded nvidia-cuda-nvrtc-cu12
      Built antlr4-python3-runtime==4.9.3
 Downloaded imageio-ffmpeg
 Downloaded cmake
 Downloaded polars
 Downloaded av
 Downloaded scipy
 Downloaded dm-control
 Downloaded nvidia-cuda-nvcc-cu12
 Downloaded llvmlite
 Downloaded pyarrow
 Downloaded opencv-python-headless
 Downloaded nvidia-curand-cu12
 Downloaded opencv-python
      Built evdev==1.9.2
 Downloaded rerun-sdk
 Downloaded jax-cuda12-pjrt
 Downloaded jaxlib
    Updated https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
   Building lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
 Downloaded nvidia-cusparselt-cu12
 Downloaded nvidia-cusolver-cu12
 Downloaded triton
      Built lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
 Downloaded nvidia-cufft-cu12
 Downloaded nvidia-nccl-cu12
 Downloaded nvidia-cusparse-cu12
 Downloaded nvidia-cublas-cu12
 Downloaded nvidia-cudnn-cu12
 Downloaded torch
Prepared 240 packages in 13.72s
Installed 240 packages in 2.66s
 + absl-py==2.3.0
 + aiohappyeyeballs==2.6.1
 + aiohttp==3.12.4
 + aiosignal==1.3.2
 + annotated-types==0.7.0
 + antlr4-python3-runtime==4.9.3
 + asttokens==3.0.0
 + attrs==25.3.0
 + augmax==0.4.1
 + av==17.0.0
 + beartype==0.19.0
 + beautifulsoup4==4.13.4
 + blinker==1.9.0
 + cachetools==5.5.2
 + certifi==2025.4.26
 + cffi==1.17.1
 + cfgv==3.4.0
 + charset-normalizer==3.4.2
 + chex==0.1.90
 + click==8.2.1
 + cloudpickle==3.1.1
 + cmake==4.0.2
 + comm==0.2.2
 + contourpy==1.3.2
 + crc32c==2.7.1
 + cycler==0.12.1
 + datasets==3.6.0
 + debugpy==1.8.14
 + decorator==5.2.1
 + deepdiff==8.5.0
 + diffusers==0.33.1
 + dill==0.3.8
 + distlib==0.3.9
 + dm-control==1.0.14
 + dm-env==1.6
 + dm-tree==0.1.9
 + docker-pycreds==0.4.0
 + docstring-parser==0.16
 + donfig==0.8.1.post1
 + draccus==0.10.0
 + einops==0.8.1
 + equinox==0.12.2
 + etils==1.12.2
 + evdev==1.9.2
 + executing==2.2.0
 + farama-notifications==0.0.4
 + filelock==3.18.0
 + flask==3.1.1
 + flatbuffers==25.2.10
 + flax==0.10.2
 + fonttools==4.58.1
 + frozenlist==1.6.0
 + fsspec==2025.3.0
 + gcsfs==2025.3.0
 + gdown==5.2.0
 + gitdb==4.0.12
 + gitpython==3.1.44
 + glfw==2.9.0
 + google-api-core==2.24.2
 + google-auth==2.40.2
 + google-auth-oauthlib==1.2.2
 + google-cloud-core==2.4.3
 + google-cloud-storage==3.1.0
 + google-crc32c==1.7.1
 + google-resumable-media==2.7.2
 + googleapis-common-protos==1.70.0
 + gym-aloha==0.1.1
 + gymnasium==0.29.1
 + h5py==3.13.0
 + hf-transfer==0.1.9
 + hf-xet==1.1.2
 + huggingface-hub==0.32.3
 + humanize==4.12.3
 + identify==2.6.12
 + idna==3.10
 + imageio==2.37.0
 + imageio-ffmpeg==0.6.0
 + importlib-metadata==8.7.0
 + importlib-resources==6.5.2
 + iniconfig==2.1.0
 + inquirerpy==0.3.4
 + ipykernel==6.29.5
 + ipython==9.2.0
 + ipython-pygments-lexers==1.1.1
 + ipywidgets==8.1.7
 + itsdangerous==2.2.0
 + jax==0.5.3
 + jax-cuda12-pjrt==0.5.3
 + jax-cuda12-plugin==0.5.3
 + jaxlib==0.5.3
 + jaxtyping==0.2.36
 + jedi==0.19.2
 + jinja2==3.1.6
 + jsonlines==4.0.0
 + jupyter-client==8.6.3
 + jupyter-core==5.8.1
 + jupyterlab-widgets==3.0.15
 + kiwisolver==1.4.8
 + labmaze==1.0.6
 + lerobot==0.1.0 (from git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
 + llvmlite==0.44.0
 + lxml==5.4.0
 + markdown-it-py==3.0.0
 + markupsafe==3.0.2
 + matplotlib==3.10.3
 + matplotlib-inline==0.1.7
 + mdurl==0.1.2
 + mergedeep==1.3.4
 + ml-collections==1.0.0
 + ml-dtypes==0.4.1
 + mpmath==1.3.0
 + msgpack==1.1.0
 + mujoco==2.3.7
 + multidict==6.4.4
 + multiprocess==0.70.16
 + mypy-extensions==1.1.0
 + nest-asyncio==1.6.0
 + networkx==3.5
 + nodeenv==1.9.1
 + numba==0.61.2
 + numcodecs==0.16.1
 + numpy==1.26.4
 + numpydantic==1.6.9
 + nvidia-cublas-cu12==12.6.4.1
 + nvidia-cuda-cupti-cu12==12.6.80
 + nvidia-cuda-nvcc-cu12==12.9.41
 + nvidia-cuda-nvrtc-cu12==12.6.77
 + nvidia-cuda-runtime-cu12==12.6.77
 + nvidia-cudnn-cu12==9.5.1.17
 + nvidia-cufft-cu12==11.3.0.4
 + nvidia-cufile-cu12==1.11.1.6
 + nvidia-curand-cu12==10.3.7.77
 + nvidia-cusolver-cu12==11.7.1.2
 + nvidia-cusparse-cu12==12.5.4.2
 + nvidia-cusparselt-cu12==0.6.3
 + nvidia-ml-py==12.575.51
 + nvidia-nccl-cu12==2.26.2
 + nvidia-nvjitlink-cu12==12.6.85
 + nvidia-nvtx-cu12==12.6.77
 + oauthlib==3.2.2
 + omegaconf==2.3.0
 + opencv-python==4.11.0.86
 + opencv-python-headless==4.11.0.86
 + openpi==0.1.0 (from file:///workspace/openpi)
 + openpi-client==0.1.0 (from file:///workspace/openpi/packages/openpi-client)
 + opt-einsum==3.4.0
 + optax==0.2.4
 + orbax-checkpoint==0.11.13
 + orderly-set==5.4.1
 + packaging==25.0
 + pandas==2.2.3
 + parso==0.8.4
 + pexpect==4.9.0
 + pfzy==0.3.4
 + pillow==11.2.1
 + platformdirs==4.3.8
 + pluggy==1.6.0
 + polars==1.30.0
 + pre-commit==4.2.0
 + prompt-toolkit==3.0.51
 + propcache==0.3.1
 + proto-plus==1.26.1
 + protobuf==4.25.8
 + psutil==7.0.0
 + ptyprocess==0.7.0
 + pure-eval==0.2.3
 + pyarrow==20.0.0
 + pyasn1==0.6.1
 + pyasn1-modules==0.4.2
 + pycparser==2.22
 + pydantic==2.11.5
 + pydantic-core==2.33.2
 + pygments==2.19.1
 + pymunk==7.0.0
 + pynput==1.8.1
 + pynvml==12.0.0
 + pyopengl==3.1.9
 + pyparsing==3.2.3
 + pysocks==1.7.1
 + pytest==8.3.5
 + python-dateutil==2.9.0.post0
 + python-xlib==0.33
 + pytz==2025.2
 + pyyaml==6.0.2
 + pyyaml-include==1.4.1
 + pyzmq==26.4.0
 + regex==2024.11.6
 + requests==2.32.3
 + requests-oauthlib==2.0.0
 + rerun-sdk==0.23.1
 + rich==14.0.0
 + rsa==4.9.1
 + ruff==0.11.12
 + safetensors==0.5.3
 + scipy==1.15.3
 + sentencepiece==0.2.0
 + sentry-sdk==2.29.1
 + setproctitle==1.3.6
 + setuptools==80.9.0
 + shtab==1.7.2
 + simplejson==3.20.1
 + six==1.17.0
 + smmap==5.0.2
 + soupsieve==2.7
 + stack-data==0.6.3
 + sympy==1.14.0
 + tensorstore==0.1.74
 + termcolor==3.1.0
 + tokenizers==0.21.1
 + toml==0.10.2
 + toolz==1.0.0
 + torch==2.7.1
 + torchcodec==0.4.0
 + torchvision==0.22.1
 + tornado==6.5.1
 + tqdm==4.67.1
 + tqdm-loggable==0.2
 + traitlets==5.14.3
 + transformers==4.53.2
 + treescope==0.1.9
 + triton==3.3.1
 + typeguard==4.4.2
 + typing-extensions==4.13.2
 + typing-inspect==0.9.0
 + typing-inspection==0.4.1
 + tyro==0.9.22
 + tzdata==2025.2
 + urllib3==2.4.0
 + virtualenv==20.31.2
 + wadler-lindig==0.1.6
 + wandb==0.19.11
 + wcwidth==0.2.13
 + websockets==15.0.1
 + werkzeug==3.1.3
 + widgetsnbextension==4.0.14
 + wrapt==1.14.1
 + xxhash==3.5.0
 + yarl==1.20.0
 + zarr==3.0.8
 + zipp==3.22.0
    (21 秒)

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

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

=== 5. Mac の 8000 番へのトンネル
[TUNNEL] localhost:8000 → Pod の 8000 番 (pid 23643. このスクリプトが終わると閉じる)
    (3 秒)

=== 6. デーモンの状態
--- process
512 /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
    (3 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: [0.00, 1.23, 1.05, 0.26, -0.26, -29.70]
[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: [0.00, 1.23, 1.05, 0.26, -0.26, -29.70]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[TILT  ] 傾きのお手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes  中央値 -0.61° (測れた 50/50 本. プラス=右下がり)
[TILT  ] 傾きの差が ±0.5° を超えたら画面の色を変える (表示だけ. 止めない)
[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=  +5.2  dx=  -5.8  response=0.676  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.61° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.23° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.2  dx=  -5.8  response=0.679  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.43° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.2  dx=  -5.8  response=0.675  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.61° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.23° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.3  dx=  -5.8  response=0.704  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.43° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.2  dx=  -5.7  response=0.698  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.61° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.23° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.3  dx=  -5.8  response=0.703  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.43° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.2  dx=  -5.7  response=0.692  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.61° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.23° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.2  dx=  -5.8  response=0.670  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.43° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.2  dx=  -5.8  response=0.678  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.61° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.23° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.2  dx=  -5.8  response=0.672  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.43° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.2  dx=  -5.8  response=0.679  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.61° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.23° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.1  dx=  -5.9  response=0.663  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.43° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.4  dx=  -6.0  response=0.713  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.61° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.23° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.3  dx=  -6.0  response=0.702  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.43° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.5  dx=  -5.2  response=0.679  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.61° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.23° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.2  dx=  -5.8  response=0.665  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.43° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.5  dx=  -6.0  response=0.716  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.61° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.23° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.4  dx=  -6.1  response=0.698  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.43° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.1  dx=  -6.7  response=0.687  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.61° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.23° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +6.1  dx=  -7.9  response=0.709  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.41° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.02° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +6.1  dx=  -6.8  response=0.671  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.61° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.23° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.7  dx=  -4.7  response=0.777  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.43° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +6.7  dx=  -3.8  response=0.720  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +1.02° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.64° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +6.3  dx=  -4.8  response=0.658  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.43° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +6.2  dx=  -4.7  response=0.654  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +1.02° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.64° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +6.6  dx=  -4.8  response=0.738  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.43° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.9  dx=  -7.8  response=0.824  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.41° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.02° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.3  dx= -11.3  response=0.706  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.00° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.61° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +5.4  dx= -10.6  response=0.803  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.20° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.82° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.9  dx= -10.8  response=0.845  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.20° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.41° (±0.5° 以内)
[ALIGN ] dy=  +2.7  dx= -12.9  response=0.847  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.41° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.20° (±0.5° 以内)
[ALIGN ] dy=  +2.6  dx= -11.7  response=0.838  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.20° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.41° (±0.5° 以内)
[ALIGN ] dy=  +2.8  dx= -12.7  response=0.859  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.41° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.20° (±0.5° 以内)
[ALIGN ] dy=  +3.3  dx= -14.0  response=0.750  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.20° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.41° (±0.5° 以内)
[ALIGN ] dy=  +4.6  dx= -17.6  response=0.806  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.00° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.61° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.6  dx= -17.0  response=0.795  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.20° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.82° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.5  dx= -17.9  response=0.772  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.00° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.61° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +2.8  dx= -16.3  response=0.787  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.20° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.82° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +2.0  dx= -15.5  response=0.865  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.00° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.61° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +2.4  dx= -12.6  response=0.811  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.41° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.20° (±0.5° 以内)
[ALIGN ] dy=  +1.6  dx=  -6.1  response=0.825  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.00° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.61° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +0.4  dx=  -7.0  response=0.826  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.41° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.21° (±0.5° 以内)
[ALIGN ] dy=  -1.6  dx=  -2.0  response=0.779  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.20° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.41° (±0.5° 以内)
[ALIGN ] dy=  -1.2  dx=  -0.6  response=0.838  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.41° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.21° (±0.5° 以内)
[ALIGN ] dy=  +1.2  dx=  -0.2  response=0.746  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.61° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +0.00° (±0.5° 以内)
[ALIGN ] dy=  +4.1  dx=  +2.4  response=0.817  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.20° (±0.5° 以内)
[ALIGN ] dy=  +3.5  dx=  -0.0  response=0.889  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.22° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.61° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.0  dx=  +0.4  response=0.822  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.02° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.41° (±0.5° 以内)
[ALIGN ] dy=  +3.3  dx=  +0.3  response=0.869  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.22° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.61° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.4  dx=  +0.3  response=0.884  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.02° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.41° (±0.5° 以内)
[ALIGN ] dy=  +3.5  dx=  +0.4  response=0.724  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.20° (±0.5° 以内)
[ALIGN ] dy=  +3.7  dx=  +0.3  response=0.749  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -6.20° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -5.59° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.7  dx=  +0.4  response=0.725  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.20° (±0.5° 以内)
[ALIGN ] dy=  +3.6  dx=  +0.4  response=0.704  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +2.25° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +2.86° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.6  dx=  +0.4  response=0.711  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +3.27° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.88° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.7  dx=  +0.4  response=0.728  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.20° (±0.5° 以内)
[ALIGN ] dy=  +3.6  dx=  +0.5  response=0.786  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.03° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.41° (±0.5° 以内)
[ALIGN ] dy=  +3.7  dx=  +0.4  response=0.817  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.20° (±0.5° 以内)
[ALIGN ] dy=  +3.9  dx=  +0.9  response=0.875  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.03° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.41° (±0.5° 以内)
[ALIGN ] dy=  +3.8  dx=  +0.4  response=0.822  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.20° (±0.5° 以内)
[ALIGN ] dy=  +3.9  dx=  +0.9  response=0.876  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.03° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.41° (±0.5° 以内)
[ALIGN ] dy=  +3.6  dx=  +0.4  response=0.795  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.20° (±0.5° 以内)
[ALIGN ] dy=  +3.9  dx=  +1.1  response=0.823  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.03° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.41° (±0.5° 以内)
[ALIGN ] dy=  +3.7  dx=  +0.5  response=0.735  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.20° (±0.5° 以内)
[ALIGN ] dy=  +3.7  dx=  +0.5  response=0.740  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +2.05° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +2.66° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.8  dx=  +0.5  response=0.760  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +1.02° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.64° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.8  dx=  +0.5  response=0.741  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +2.25° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +2.86° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.9  dx=  +0.5  response=0.753  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +2.05° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +2.66° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.9  dx=  +0.5  response=0.755  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +1.23° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.84° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.9  dx=  +0.5  response=0.762  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +1.64° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +2.25° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.8  dx=  +0.5  response=0.738  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +2.25° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +2.86° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.9  dx=  +0.5  response=0.750  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +2.66° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.27° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.9  dx=  +0.5  response=0.756  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +2.86° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.48° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.8  dx=  +0.5  response=0.741  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +2.66° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.27° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.7  dx=  +0.5  response=0.699  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +0.41° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +1.02° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.6  dx=  +0.4  response=0.732  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -4.43° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -3.82° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.6  dx=  +0.4  response=0.751  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -5.37° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -4.76° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.6  dx=  +0.4  response=0.752  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.20° (±0.5° 以内)
2026-11-10 19:16:13.121 python3[23671:332823] error messaging the mach port for IMKCFRunLoopWakeUpReliable
[DONE  ] 終了 (何も書いていません)
    (110 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_191618
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.7 dx=+7.2 response=0.587 → 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
[CAMERA] 傾き -1.03° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.41° (±0.5° 以内) (お手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes)
[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_191618/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 61602ms  10ステップ先  Δ=-12.7 +23.9  -4.7  +2.7 -21.7  -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 > 
[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) [  -2.55,   +6.57,   -0.06,   +0.82,   -5.00,  -30.05]  speed=20 wait=0.0s  (pre max|Δ|=5.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.5  +5.3  -1.1  +0.6  -4.7  -0.4  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -6.64,  +14.40,   -1.64,   +1.87,  -12.20,  -30.58]  speed=20 wait=0.0s  (pre max|Δ|=9.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.0  +6.9  -2.9  +1.6  -9.1  -0.9  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -11.00,  +22.67,   -3.13,   +2.71,  -19.50,  -31.01]  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  8  Δ= -4.4  +7.4  -3.3  +1.8  -8.9  -0.7  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -12.66,  +25.13,   -3.69,   +2.98,  -21.93,  -31.15]  speed=20 wait=0.0s  (pre max|Δ|=3.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.9  +1.5  -2.5  +1.0  -3.9  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.94°（関節 j2）
[001] 推論 811ms  10ステップ先  Δ=-15.9 +29.6  -8.4  +4.2 -27.7  -0.8
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -17.95,  +33.72,   -5.40,   +4.75,  -29.65,  -31.46]  speed=20 wait=0.0s  (pre max|Δ|=8.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.0  +7.5  -3.6  +2.5  -8.9  -0.5  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -23.18,  +43.59,   -7.45,   +6.13,  -38.55,  -31.56]  speed=20 wait=0.0s  (pre max|Δ|=9.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.7  +8.7  -3.8  +1.0  -9.2  -0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -27.28,  +52.83,   -9.50,   +6.45,  -46.27,  -31.69]  speed=20 wait=0.0s  (pre max|Δ|=8.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.59° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.4  +8.0  -3.7  +0.0  -8.3  -0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -28.28,  +55.75,  -10.17,   +6.52,  -48.48,  -31.70]  speed=20 wait=0.0s  (pre max|Δ|=2.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +1.7  -2.2  -0.5  -2.7  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.56°（関節 j2）
[002] 推論 916ms  10ステップ先  Δ= -6.9 +10.3  -2.5  -0.5  -8.9  -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) [ -33.20,  +63.82,  -10.83,   +6.80,  -54.84,  -31.79]  speed=20 wait=0.0s  (pre max|Δ|=6.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.34° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.2  +6.8  -2.2  -0.4  -6.9  -0.4  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -35.34,  +68.12,  -11.19,   +6.77,  -57.89,  -31.91]  speed=20 wait=0.0s  (pre max|Δ|=3.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.6  +3.0  -1.7  -0.5  -3.4  -0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -35.08,  +67.78,  -11.11,   +6.66,  -57.12,  -31.97]  speed=20 wait=0.0s  (pre max|Δ|=1.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -1.5  -1.6  -0.6  +0.4  -0.4  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -34.81,  +67.38,  -11.15,   +6.62,  -56.79,  -31.98]  speed=20 wait=0.0s  (pre max|Δ|=1.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.87° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -1.9  -1.7  -0.6  +0.8  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.87°（関節 j1）
[003] 推論 2349ms  10ステップ先  Δ= +0.1  +0.5  -2.5  -0.7  -1.3  -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) [ -35.25,  +68.37,  -11.13,   +6.64,  -58.01,  -32.06]  speed=20 wait=0.0s  (pre max|Δ|=1.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  -0.9  -1.6  -0.4  -0.5  -0.4  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -35.10,  +68.18,  -11.11,   +6.62,  -58.18,  -32.08]  speed=20 wait=0.0s  (pre max|Δ|=1.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.0  -1.1  -1.6  -0.4  -0.6  -0.4  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -35.03,  +68.98,  -11.60,   +6.48,  -58.50,  -32.12]  speed=20 wait=0.0s  (pre max|Δ|=2.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.41° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.0  -0.3  -2.1  -0.6  -0.9  -0.4  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -35.01,  +69.75,  -11.96,   +6.44,  -58.84,  -32.15]  speed=20 wait=0.0s  (pre max|Δ|=1.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.42° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.3  -1.8  -0.3  -0.9  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.42°（関節 j2）
[004] 推論 1472ms  10ステップ先  Δ= +0.5  +6.2  -8.8  -0.9  +0.4  -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_chunk004_via02: send_angles (single) [ -35.09,  +70.75,  -12.06,   +6.47,  -59.90,  -32.19]  speed=20 wait=0.0s  (pre max|Δ|=1.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.52° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.0  -0.2  -1.5  -0.3  -1.6  -0.3  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -34.85,  +71.93,  -13.08,   +6.30,  -60.31,  -32.32]  speed=20 wait=0.0s  (pre max|Δ|=2.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.37° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +0.0  -2.5  -0.5  -0.7  -0.4  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -34.74,  +76.03,  -18.14,   +5.94,  -58.65,  -32.68]  speed=20 wait=0.0s  (pre max|Δ|=6.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.37° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  +2.7  -6.4  -0.7  +1.4  -0.6  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -34.52,  +77.13,  -19.30,   +5.87,  -57.98,  -32.80]  speed=20 wait=0.0s  (pre max|Δ|=2.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -0.0  -2.2  -0.4  +2.0  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.69°（関節 j4）
[005] 推論 871ms  10ステップ先  Δ= +1.5  +9.7 -16.7  -0.4  +8.2  -1.6
       [LIMIT] j1 安全範囲でクランプ +93.7→+88.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       [LIMIT] step 5: j1 安全範囲でクランプ +88.2→+88.0
       [LIMIT] step 8: j1 安全範囲でクランプ +92.8→+88.0
       [LIMIT] step 9: j1 安全範囲でクランプ +93.7→+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 > p
objc[23749]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7c890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7c8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7c958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7c980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7c9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7ca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7ca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7cae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7cb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7cb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7cbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7cbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7cc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7ccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7cd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7cd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[23749]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x116b7cd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x137bed7c8). 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 5 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
./lab_start.sh: line 340: 23749 Segmentation fault: 11  python3 pi05/run_policy_client.py --raw-dir "$RAW_RANGE" --steps-per-chunk 10 --via-stride 3 --settle-retries 0 --state-from-target --execute --ignore-framing --model "$MODEL_TAG" --framing-raw-dir "$RAW"
[CLIENT] run_policy_client.py が終わった (終了コード 139. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1))
    (147 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: [-35.06, 78.31, -18.19, 6.06, -58.27, -32.69]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=62.13°
[WAIT] t=1.2s  max_err=46.75°
[WAIT] t=1.7s  max_err=31.02°
[WAIT] t=2.2s  max_err=15.11°
[WAIT] t=2.7s  max_err=1.49°
[DONE] HOME 到達 max_err=1.49°
[POST] 最終姿勢: [0.35, 1.31, -0.08, -0.87, 1.58, -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
[TILT  ] 傾きのお手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes  中央値 -0.61° (測れた 50/50 本. プラス=右下がり)
[TILT  ] 傾きの差が ±0.5° を超えたら画面の色を変える (表示だけ. 止めない)
[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=  +3.7  dx=  -0.3  response=0.926  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.20° (±0.5° 以内)
[DONE  ] 終了 (何も書いていません)
    (16 秒)

=== 8. 実機推論 (2 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_191905
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.6 dx=+6.7 response=0.591 → 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
[CAMERA] 傾き -1.03° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.41° (±0.5° 以内) (お手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes)
[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_191905/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)
^C
[STOP  ] Ctrl-C
[RECORD] 記録終了 コマ 10 (8.67 fps) 実測角 11 回 (9.54 Hz)  電流 11 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_191905/recording
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_191905
[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))
    (4 秒)
もう1回やりますか? y=やる / 他=終わる > ^C

=== かかった時間  モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
  1. Pod を作る                      4 秒
  2. Pod が立ち上がるまで待つ     41 秒
  3a. スクリプトを送る        127 秒
  3b. huggingface_hub を入れ, 鍵を渡す     13 秒
  3c. モデルを取る (hf download PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)     19 秒
  3d. openpi を取る (215abfb)       23 秒
  3e. uv sync                          21 秒
  3f. addon・設定・assets (pi05_mecharm_deep_even10_lora)      4 秒
  4. サーバーの起動             53 秒
  5. Mac の 8000 番へのトンネル      3 秒
  6. デーモンの状態              3 秒
  7. HOME → 爪を開く → 位置合わせ (1 回目)    110 秒
  8. 実機推論 (1 回目)          147 秒
  7. HOME → 爪を開く → 位置合わせ (2 回目)     16 秒
  8. 実機推論 (2 回目)            4 秒

[LAB   ] Pod は残しています (id 9qvy252fd9qgb4). 片付けは ./lab_stop.sh --log Log28
[TUNNEL] 8000 番のトンネルを閉じました
