[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 19:31:00  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 9qvy252fd9qgb4) 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 19:09:20)
[POD   ] 記録の最後のモデル: deep1  今回: --model deep1
    (1 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: 0064877cc448
NVIDIA A40, 46068 MiB
    (8 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
    (12 秒)

=== 3a. スクリプトを送る
    (121 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 24612. 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
9155 /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: [-37.17, 73.12, -14.06, 7.20, -54.05, -32.95]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=56.95°
[WAIT] t=1.2s  max_err=41.22°
[WAIT] t=1.7s  max_err=25.57°
[WAIT] t=2.2s  max_err=9.66°
[WAIT] t=2.7s  max_err=1.31°
[DONE] HOME 到達 max_err=1.31°
[POST] 最終姿勢: [0.35, 1.31, 0.79, -0.70, 0.61, -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=  +3.9  dx=  +0.1  response=0.818  → 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=  +3.8  dx=  +0.1  response=0.868  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -6.23° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -5.61° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.8  dx=  +0.1  response=0.842  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +2.45° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.07° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.8  dx=  +0.1  response=0.866  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +3.47° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +4.09° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.8  dx=  +0.1  response=0.852  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +3.88° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +4.50° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.8  dx=  +0.1  response=0.847  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +3.07° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.68° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.8  dx=  +0.1  response=0.851  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +2.45° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.07° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.8  dx=  +0.1  response=0.776  → 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=  +0.2  response=0.782  → 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=  +3.8  dx=  +0.2  response=0.781  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +3.07° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.68° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.8  dx=  +0.2  response=0.778  → 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=  +0.2  response=0.774  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き +3.07° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.68° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.9  dx=  +0.0  response=0.847  → 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=  +3.8  dx=  +0.0  response=0.852  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -4.07° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -3.46° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.8  dx=  +0.0  response=0.883  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -5.62° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -5.00° → 傾きがお手本と違う (±0.5° を超える)
[ALIGN ] dy=  +3.8  dx=  +0.1  response=0.886  → 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)
[DONE  ] 終了 (何も書いていません)
    (63 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_193431
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.5 dx=+6.9 response=0.602 → 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 -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) (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_193431/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 1367ms  10ステップ先  Δ=-13.3 +21.7  -5.0  +3.1 -21.0  -1.7
       [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 > 
[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) [  -2.68,   +5.93,   -0.25,   +0.40,   -4.77,  -30.57]  speed=20 wait=0.0s  (pre max|Δ|=4.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.6  +4.6  -1.0  +0.7  -4.5  -0.3  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -7.28,  +13.41,   -1.91,   +1.49,  -11.98,  -31.17]  speed=20 wait=0.0s  (pre max|Δ|=9.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.5  +6.6  -2.7  +1.3  -9.5  -0.9  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -12.20,  +21.20,   -3.80,   +2.57,  -19.09,  -31.78]  speed=20 wait=0.0s  (pre max|Δ|=8.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.3  +6.9  -3.6  +0.9  -8.9  -1.5  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -13.39,  +23.05,   -4.26,   +2.82,  -21.23,  -31.91]  speed=20 wait=0.0s  (pre max|Δ|=3.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.24° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +0.6  -2.2  -0.2  -3.6  -1.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.24°（関節 j2）
[001] 推論 811ms  10ステップ先  Δ=-17.5 +30.3  -9.6  +3.3 -28.6  -1.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -18.75,  +32.11,   -6.28,   +4.50,  -29.33,  -32.31]  speed=20 wait=0.0s  (pre max|Δ|=8.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.0  +8.0  -4.3  +1.2  -8.9  -1.2  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -24.35,  +41.76,   -8.57,   +5.88,  -38.24,  -32.41]  speed=20 wait=0.0s  (pre max|Δ|=9.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.2  +8.5  -4.1  +0.5  -9.7  -0.7  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -28.99,  +50.85,  -10.74,   +6.65,  -46.27,  -32.48]  speed=20 wait=0.0s  (pre max|Δ|=8.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.69° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.7  +7.8  -4.0  +0.2  -8.6  -0.7  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -30.61,  +54.38,  -11.67,   +6.93,  -49.01,  -32.51]  speed=20 wait=0.0s  (pre max|Δ|=3.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.0  +2.4  -2.6  -0.3  -3.2  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.57°（関節 j2）
[002] 推論 923ms  10ステップ先  Δ= -7.1 +11.8  -2.6  -0.1 -10.0  -0.8
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -35.00,  +62.46,  -12.42,   +7.23,  -54.82,  -32.57]  speed=20 wait=0.0s  (pre max|Δ|=6.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.32° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.2  +6.9  -2.3  -0.5  -6.7  -0.6  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -37.24,  +67.04,  -12.65,   +7.32,  -58.24,  -32.65]  speed=20 wait=0.0s  (pre max|Δ|=3.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.5  +3.3  -1.7  -0.8  -3.8  -0.5  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -37.48,  +67.60,  -12.67,   +7.27,  -58.24,  -32.77]  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  8  Δ= -0.7  -0.5  -1.6  -0.5  -0.6  -0.4  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -37.39,  +67.38,  -12.71,   +7.25,  -58.19,  -32.78]  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  9  Δ= -0.3  -1.4  -1.6  -0.7  -0.4  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.64°（関節 j2）
[003] 推論 2258ms  10ステップ先  Δ= +1.0  +7.5 -11.3  -1.2  +4.1  -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 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ -37.51,  +67.70,  -12.76,   +7.12,  -59.01,  -32.81]  speed=20 wait=0.0s  (pre max|Δ|=10.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  -1.0  -1.2  -0.4 -10.3  -0.4  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -37.32,  +69.79,  -15.01,   +6.95,  -58.18,  -33.01]  speed=20 wait=0.0s  (pre max|Δ|=3.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.40° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +1.1  -3.4  -0.3  +0.4  -0.4  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -36.30,  +74.93,  -20.96,   +6.85,  -54.46,  -33.56]  speed=20 wait=0.0s  (pre max|Δ|=7.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.2  +3.7  -7.2  -0.3  +4.2  -0.9  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -36.05,  +76.21,  -22.35,   +6.82,  -53.72,  -33.70]  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  9  Δ= -0.2  +0.2  -2.5  +0.3  +1.7  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.30°（関節 j1）
[004] 推論 867ms  10ステップ先  Δ= +0.9 +10.5 -12.5  +0.3  +7.1  -1.1  グリッパー→閉
       [LIMIT] j1 安全範囲でクランプ +88.4→+88.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       [LIMIT] step 8: j1 安全範囲でクランプ +88.4→+88.0
       [LIMIT] step 9: j1 安全範囲でクランプ +88.4→+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 > 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|=77.51°, post-send timeout 13.6s)
[SEND] arrival OK: max|Δ|=1.49° (tol 2.5°)
[RECORD] 記録終了 コマ 830 (8.795 fps) 実測角 884 回 (9.37 Hz)  電流 890 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_193431/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_193431
[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))
    (328 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: [-0.26, 1.49, 0.70, 0.26, -0.26, -30.23]
[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, -30.23]
  [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
[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=  +4.2  dx=  -0.4  response=0.810  → 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)
    (14 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_194015
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.0 dx=+6.2 response=0.499 → 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 +4.59° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +5.20° → 傾きがお手本と違う (±0.5° を超える) (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_194015/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 870ms  10ステップ先  Δ=-10.8 +20.7  -4.1  +1.5 -18.7  -1.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[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) [  -0.65,   +1.97,   +0.54,   +0.35,   -0.84,  -30.22]  speed=20 wait=0.0s  (pre max|Δ|=0.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.4  +0.5  -0.2  +0.1  -0.6  +0.0  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -5.28,  +11.62,   -1.18,   +0.83,   -9.32,  -30.77]  speed=20 wait=0.0s  (pre max|Δ|=9.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.0  +8.6  -2.6  +0.7  -9.1  -0.5  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -9.50,  +19.67,   -2.82,   +1.57,  -16.70,  -31.33]  speed=20 wait=0.0s  (pre max|Δ|=9.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.3  +6.9  -3.5  +1.4  -9.3  -1.0  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -11.08,  +22.14,   -3.44,   +1.78,  -19.00,  -31.50]  speed=20 wait=0.0s  (pre max|Δ|=3.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.9  +1.3  -2.3  +1.3  -3.8  -1.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.30°（関節 j2）
[001] 推論 855ms  10ステップ先  Δ=-17.0 +28.5  -9.0  +4.9 -28.9  -1.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -16.38,  +30.30,   -5.18,   +2.84,  -26.08,  -31.91]  speed=20 wait=0.0s  (pre max|Δ|=8.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.1  +7.2  -4.0  +1.8  -8.4  -1.2  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -21.80,  +39.03,   -7.32,   +4.27,  -34.75,  -32.04]  speed=20 wait=0.0s  (pre max|Δ|=9.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.7  +7.6  -4.1  +1.3  -9.4  -0.8  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -27.17,  +48.61,   -9.51,   +5.51,  -43.93,  -32.12]  speed=20 wait=0.0s  (pre max|Δ|=9.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.69° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.9  +8.4  -4.0  +1.0  -9.7  -0.7  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -28.24,  +51.64,  -10.13,   +5.86,  -46.56,  -32.11]  speed=20 wait=0.0s  (pre max|Δ|=3.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.61° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.1  +1.9  -2.3  +0.1  -3.5  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.61°（関節 j2）
[002] 推論 2367ms  10ステップ先  Δ= -8.7 +16.3  -2.7  +0.4 -14.6  -1.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -33.31,  +61.16,  -11.28,   +6.21,  -54.42,  -32.22]  speed=20 wait=0.0s  (pre max|Δ|=8.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.1  +8.3  -2.8  -0.0  -8.6  -0.5  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -36.45,  +67.45,  -11.51,   +6.49,  -59.71,  -32.33]  speed=20 wait=0.0s  (pre max|Δ|=5.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.35° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.1  +5.0  -1.6  -0.3  -5.1  -0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -37.10,  +69.18,  -11.34,   +6.58,  -60.62,  -32.46]  speed=20 wait=0.0s  (pre max|Δ|=1.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.33° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.6  +0.6  -1.4  -0.7  -1.6  -0.4  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -36.92,  +69.12,  -11.26,   +6.62,  -60.43,  -32.52]  speed=20 wait=0.0s  (pre max|Δ|=1.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.36° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -1.4  -1.2  -0.7  +0.3  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.36°（関節 j1）
[003] 推論 871ms  10ステップ先  Δ= +0.2  +5.8  -7.4  -1.1  +1.2  -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[24773]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffc890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1328592c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffc8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffc958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffc980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1328593b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffc9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1328594d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1328595c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1328595e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[24773]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1328597c8). 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
^C
^C
^C
^C
