[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. 差だけ画像を回して AI に渡す. 依頼 144)
[LAB   ] 2026-11-11 09:44:11  GPU=NVIDIA A40  episode=run_0001_20261019_194818  log=/Volumes/KIOXIA/r2r2r-data/lab/Log30  
[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   ] 作った: id t3fnpcsccc95vo  GPU=NVIDIA A40  1時間 0.59 ドル  (記録 /Volumes/KIOXIA/r2r2r-data/lab/Log30/pod/lab_pod.json)
    (3 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: 3721f51751a9
NVIDIA A40, 46068 MiB
    (30 秒)

=== 3a. スクリプトを送る
    (128 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
    (15 秒)

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

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  path: /workspace/ckpt/deep_v1_2999

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    (22 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 3ms
   Building openpi-client @ file:///workspace/openpi/packages/openpi-client
   Building openpi @ file:///workspace/openpi
   Updating https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
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      Built evdev==1.9.2
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    Updated https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
   Building lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
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      Built lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
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Prepared 240 packages in 14.17s
Installed 240 packages in 2.15s
 + 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
    (22 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
    (54 秒)

=== 5. Mac の 8000 番へのトンネル
[TUNNEL] localhost:8000 → Pod の 8000 番 (pid 90795. 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
502 /usr/bin/python3 -u /home/ubuntu/mecharm_daemon.py
--- 5555
LISTEN   0         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: [-0.35, 94.39, -18.10, 0.96, -78.66, -30.05]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=82.52°
[WAIT] t=1.1s  max_err=66.70°
[WAIT] t=1.6s  max_err=50.97°
[WAIT] t=2.1s  max_err=35.15°
[WAIT] t=2.7s  max_err=19.33°
[WAIT] t=3.2s  max_err=3.51°
[WAIT] t=3.7s  max_err=1.31°
[DONE] HOME 到達 max_err=1.31°
[POST] 最終姿勢: [-0.26, 1.23, 0.79, 0.43, 1.31, -30.05]
  [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  ] 傾きはソフトでそろえる: ライブをお手本の中央値との差だけ回して重ねる (AI に渡す画像と同じ. 回す角度が 3° を超えたら画面の色を変える. 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=  -2.2  response=0.834  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -2.05° → -0.61° にソフトでそろえる (+1.43° 回して重ねる. プラス=右下がり)
[ALIGN ] dy=  +5.8  dx=  -1.6  response=0.334  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -5.82° → -0.61° にソフトでそろえる (+5.21° 回して重ねる. プラス=右下がり) → 回す角度が 3° を超える (TILT DIFFERS. iPhone の付け方を見直す)
[ALIGN ] dy=  +3.9  dx=  -1.9  response=0.861  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -2.05° → -0.61° にソフトでそろえる (+1.43° 回して重ねる. プラス=右下がり)
[DONE  ] 終了 (何も書いていません)
    (307 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_20261111_095426
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.3 dx=+4.8 response=0.619 → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  回したあとの画像で測った
[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 -2.01° → -0.61° にそろえて渡す (+1.40° 回す. プラス=右下がり) (お手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes  測れた 50/50 本・今 5/5 コマ)
[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_20261111_095426/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 52000ms  10ステップ先  Δ= -8.5 +17.8  +4.7  -2.0 -22.4  +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) [  -1.47,   +5.16,   +1.56,   -0.01,   -4.55,  -29.91]  speed=20 wait=0.0s  (pre max|Δ|=4.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.2  +3.9  +0.8  -0.3  -4.3  +0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -4.46,  +10.72,   +2.83,   -0.44,  -11.33,  -29.48]  speed=20 wait=0.0s  (pre max|Δ|=8.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.9  +4.7  +0.4  -0.7  -8.7  +0.6  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -7.62,  +17.21,   +4.95,   -1.43,  -20.05,  -28.66]  speed=20 wait=0.0s  (pre max|Δ|=10.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.1  +5.6  +1.4  -1.2 -10.4  +1.4  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  -8.76,  +19.02,   +5.50,   -1.69,  -22.62,  -28.45]  speed=20 wait=0.0s  (pre max|Δ|=3.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.6  +0.8  -0.2  -0.5  -3.6  +0.9  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.00°（関節 j4）
[001] 推論 806ms  10ステップ先  Δ=-13.3 +21.7  +5.3  +0.1 -28.8  +1.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -12.40,  +25.68,   +6.97,   -1.95,  -31.11,  -28.09]  speed=20 wait=0.0s  (pre max|Δ|=9.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.7  +5.7  +0.8  -0.1  -9.5  +0.8  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -16.47,  +32.38,   +8.71,   -1.89,  -39.50,  -27.91]  speed=20 wait=0.0s  (pre max|Δ|=9.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.6  +5.7  +1.1  +0.3  -9.1  +0.6  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -20.93,  +39.50,  +11.03,   -1.85,  -48.14,  -27.94]  speed=20 wait=0.0s  (pre max|Δ|=9.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.8  +6.1  +1.6  +0.4  -9.4  +0.4  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -21.86,  +41.64,  +11.49,   -1.74,  -50.45,  -27.91]  speed=20 wait=0.0s  (pre max|Δ|=2.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.4  +1.1  -0.1  +0.5  -3.0  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.98°（関節 j1）
[002] 推論 957ms  10ステップ先  Δ= -5.1 +13.1  +1.6  +0.7 -12.7  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -25.00,  +48.36,  +12.47,   -2.03,  -58.65,  -27.90]  speed=20 wait=0.0s  (pre max|Δ|=8.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.4  +5.7  +0.5  +0.1  -8.2  +0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -26.65,  +53.23,  +13.10,   -1.85,  -62.68,  -27.89]  speed=20 wait=0.0s  (pre max|Δ|=4.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  5  Δ= -1.9  +3.9  +0.2  -0.1  -4.7  +0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -26.92,  +55.24,  +13.50,   -1.44,  -63.09,  -27.87]  speed=20 wait=0.0s  (pre max|Δ|=0.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.18° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.2  +0.9  +0.6  +0.2  -0.7  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -26.88,  +55.69,  +13.55,   -1.35,  -63.12,  -27.87]  speed=20 wait=0.0s  (pre max|Δ|=0.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.82° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -0.7  -0.4  +0.1  -0.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.82°（関節 j1）
[003] 推論 2367ms  10ステップ先  Δ= +0.0  +2.4  -0.0  +0.2  -1.7  +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) [ -26.64,  +58.78,  +14.19,   -1.01,  -64.16,  -27.89]  speed=20 wait=0.0s  (pre max|Δ|=2.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  +2.3  +0.2  +0.5  -1.2  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -26.47,  +58.83,  +14.43,   -0.94,  -64.27,  -27.89]  speed=20 wait=0.0s  (pre max|Δ|=1.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  -1.0  +0.5  +0.6  -0.9  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -26.49,  +58.54,  +14.14,   -1.21,  -64.38,  -27.92]  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  8  Δ= +0.0  -1.3  -0.2  +0.2  -1.0  +0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -26.54,  +58.94,  +13.94,   -1.29,  -64.61,  -27.94]  speed=20 wait=0.0s  (pre max|Δ|=1.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.0  -0.9  -0.4  +0.1  -1.3  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.91°（関節 j1）
[004] 推論 986ms  7ステップ先  Δ= +0.3  +3.3  -0.5  -0.4  -0.0  +0.2  グリッパー→閉
       [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_chunk004_via02: send_angles (single) [ -26.30,  +62.56,  +13.93,   -1.43,  -64.45,  -27.91]  speed=20 wait=0.0s  (pre max|Δ|=2.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.80° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +2.7  -0.4  -0.0  -0.0  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -26.28,  +63.19,  +13.80,   -1.76,  -64.43,  -27.93]  speed=20 wait=0.0s  (pre max|Δ|=0.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -0.4  -0.5  -0.4  +0.1  +0.2  着いた
[SEND] pi05_chunk004_via06: send_angles (single) [ -26.28,  +63.19,  +13.80,   -1.76,  -64.43,  -27.93]  speed=20 wait=0.0s  (pre max|Δ|=0.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  6  Δ= +0.3  -1.0  -0.5  -0.4  +0.2  +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 1.13°（関節 j4）
[005] 推論 811ms  10ステップ先  Δ= +4.9  -9.7  +2.3  +1.5  -0.6  -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_chunk005_via02: send_angles (single) [ -26.15,  +61.60,  +14.60,   -1.70,  -65.16,  -27.90]  speed=20 wait=0.0s  (pre max|Δ|=2.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.38° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -2.6  +0.3  -0.3  +0.5  +0.3  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -26.00,  +58.90,  +15.88,   -1.30,  -66.31,  -27.92]  speed=20 wait=0.0s  (pre max|Δ|=5.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -5.1  +1.6  +0.1  -0.7  +0.0  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -23.34,  +55.32,  +16.60,   -0.16,  -66.34,  -28.06]  speed=20 wait=0.0s  (pre max|Δ|=5.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.3  -5.5  +0.4  +1.3  -0.7  -0.1  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -21.74,  +54.49,  +16.64,   +0.14,  -66.12,  -28.18]  speed=20 wait=0.0s  (pre max|Δ|=2.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.6  -2.6  +0.4  +0.4  -0.5  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.19°（関節 j1）
[006] 推論 991ms  10ステップ先  Δ=+27.2  -7.9  -5.5  +3.9  +5.6  -2.4
       [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) [ -13.90,  +52.67,  +14.84,   +1.39,  -64.39,  -28.98]  speed=20 wait=0.0s  (pre max|Δ|=8.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.1  -4.0  -1.6  +1.4  +1.3  -1.0  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [  -5.96,  +51.03,  +13.09,   +2.51,  -63.10,  -29.67]  speed=20 wait=0.0s  (pre max|Δ|=8.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.14° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.0  -3.7  -3.3  +1.1  +2.6  -1.7  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [  +2.64,  +49.21,  +11.35,   +3.58,  -60.90,  -30.21]  speed=20 wait=0.0s  (pre max|Δ|=8.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.7  -4.0  -3.0  +1.4  +3.7  -1.7  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [  +5.28,  +48.73,  +10.91,   +3.84,  -60.03,  -30.30]  speed=20 wait=0.0s  (pre max|Δ|=2.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.51° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.7  -2.7  -1.7  +0.3  +2.2  -1.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.51°（関節 j1）
[007] 推論 825ms  10ステップ先  Δ=+29.3  -9.2  -3.4  +0.7  +8.1  -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_chunk007_via02: send_angles (single) [ +13.96,  +46.81,   +9.74,   +4.15,  -57.91,  -30.40]  speed=20 wait=0.0s  (pre max|Δ|=8.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.8  -4.4  -2.9  +0.4  +3.1  -0.8  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +23.39,  +44.37,   +9.24,   +4.37,  -55.37,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=9.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.47° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.6  -4.7  -2.0  +0.5  +3.2  -0.5  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +32.66,  +42.06,   +9.21,   +4.43,  -53.11,  -30.42]  speed=20 wait=0.0s  (pre max|Δ|=9.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.3  -4.8  -1.6  +0.6  +2.9  -0.5  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +34.41,  +42.01,   +9.22,   +4.45,  -53.02,  -30.42]  speed=20 wait=0.0s  (pre max|Δ|=2.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.5  -2.3  -1.6  +0.1  +0.5  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.11°（関節 j1）
[008] 推論 2380ms  10ステップ先  Δ= +5.1 +11.1  -4.4  +0.7  -9.0  -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_chunk008_via02: send_angles (single) [ +39.90,  +42.86,   +9.04,   +4.16,  -52.24,  -30.42]  speed=20 wait=0.0s  (pre max|Δ|=5.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.64° (tol 3.0°)
       [VIA   ] step  2  Δ= +5.4  -1.3  -1.8  -0.2  +1.3  -0.4  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +40.67,  +47.72,   +8.25,   +4.35,  -56.09,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=3.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +3.6  -2.6  +0.7  -3.7  -0.4  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +39.98,  +53.71,   +6.87,   +4.80,  -61.38,  -30.45]  speed=20 wait=0.0s  (pre max|Δ|=7.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.8  +4.9  -2.9  +0.8  -7.3  -0.4  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +39.65,  +55.23,   +6.38,   +5.04,  -62.51,  -30.45]  speed=20 wait=0.0s  (pre max|Δ|=2.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  +0.3  -1.8  +0.4  -2.8  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.53°（関節 j2）
[009] 推論 1049ms  6ステップ先  Δ= -0.2  +3.1  -1.9  +0.6  -5.9  -0.4  グリッパー→開
       [VIA   ] 中継点 2 点: step 2, 5
       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) [ +39.76,  +59.06,   +6.15,   +5.21,  -66.18,  -30.48]  speed=20 wait=0.0s  (pre max|Δ|=4.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  +2.5  -1.7  +0.5  -4.9  -0.3  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +39.74,  +59.56,   +6.01,   +5.32,  -67.16,  -30.49]  speed=20 wait=0.0s  (pre max|Δ|=1.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.5  -0.4  -1.8  +0.8  -1.4  +0.3  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.46°（関節 j2）
[010] 推論 806ms  10ステップ先  Δ= -1.3 -17.5  -0.6  -0.3 +16.0  -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_chunk010_via02: send_angles (single) [ +39.83,  +55.47,   +6.29,   +5.23,  -63.25,  -30.64]  speed=20 wait=0.0s  (pre max|Δ|=5.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.58° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  -5.2  -1.2  +0.2  +3.4  -0.1  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +39.90,  +49.89,   +6.66,   +4.94,  -57.57,  -30.75]  speed=20 wait=0.0s  (pre max|Δ|=7.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.3  -7.5  -0.8  -0.1  +7.8  -0.2  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +39.35,  +44.65,   +6.77,   +4.64,  -52.16,  -30.83]  speed=20 wait=0.0s  (pre max|Δ|=7.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.7  -7.3  -0.7  -0.5  +7.4  -0.2  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +38.89,  +43.14,   +6.85,   +4.57,  -50.71,  -30.85]  speed=20 wait=0.0s  (pre max|Δ|=3.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -3.5  -0.6  -0.9  +3.1  -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）
[011] 推論 1079ms  10ステップ先  Δ=-14.0 -19.2  -0.2  -3.5 +21.8  -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_chunk011_via02: send_angles (single) [ +36.15,  +38.07,   +7.33,   +3.92,  -45.07,  -30.90]  speed=20 wait=0.0s  (pre max|Δ|=6.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.53° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.1  -6.9  -0.1  -1.4  +6.5  -0.3  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +32.39,  +33.58,   +7.43,   +3.31,  -40.05,  -30.91]  speed=20 wait=0.0s  (pre max|Δ|=6.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.0  -6.4  -0.0  -1.3  +5.9  -0.3  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +26.82,  +27.57,   +7.25,   +2.33,  -32.46,  -30.84]  speed=20 wait=0.0s  (pre max|Δ|=8.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.7  -7.8  -0.2  -1.6  +8.4  -0.3  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +25.26,  +25.77,   +7.24,   +2.07,  -30.04,  -30.82]  speed=20 wait=0.0s  (pre max|Δ|=3.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.6  -3.6  -0.8  -0.7  +3.2  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.73°（関節 j1）

[012] 推論 905ms  10ステップ先  Δ=-18.2 -17.4  -2.6  -1.6 +21.0  -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_chunk012_via02: send_angles (single) [ +21.76,  +22.93,   +7.02,   +1.64,  -26.41,  -30.76]  speed=20 wait=0.0s  (pre max|Δ|=4.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.7  -4.6  -1.1  -0.5  +4.2  -0.3  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +15.69,  +17.60,   +6.44,   +1.19,  -19.26,  -30.77]  speed=20 wait=0.0s  (pre max|Δ|=7.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.2  -7.0  -1.6  -0.5  +7.6  -0.3  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [  +8.92,  +11.66,   +5.66,   +0.71,  -11.52,  -30.79]  speed=20 wait=0.0s  (pre max|Δ|=8.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.0  -7.6  -2.4  -1.0  +8.1  -0.3  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [  +7.29,  +10.12,   +5.46,   +0.53,   -9.62,  -30.81]  speed=20 wait=0.0s  (pre max|Δ|=3.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.1  -3.1  -1.9  -0.6  +2.3  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.92°（関節 j2）
[013] 推論 2144ms  10ステップ先  Δ= -7.7  -8.8  -3.9  -0.4  +7.7  -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_chunk013_via02: send_angles (single) [  +1.67,   +4.36,   +4.08,   +0.44,   -3.34,  -30.79]  speed=20 wait=0.0s  (pre max|Δ|=7.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.3  -7.2  -3.3  -0.4  +6.6  -0.3  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [  -0.71,   +2.57,   +3.44,   +0.42,   -1.98,  -30.79]  speed=20 wait=0.0s  (pre max|Δ|=3.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.6  -3.1  -2.2  -0.3  +1.7  -0.3  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [  -0.78,   +2.79,   +3.48,   +0.37,   -2.18,  -30.78]  speed=20 wait=0.0s  (pre max|Δ|=1.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -1.0  -1.8  -0.3  -0.1  -0.3  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [  -0.80,   +2.82,   +3.51,   +0.42,   -2.19,  -30.78]  speed=20 wait=0.0s  (pre max|Δ|=1.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -1.0  -1.8  -0.3  -0.1  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.76°（関節 j2）
[014] 推論 1074ms  10ステップ先  Δ=-10.0 +18.2  +4.5  -2.6 -23.3  +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_chunk014_via02: send_angles (single) [  -3.09,   +8.23,   +5.27,   -0.23,   -8.02,  -30.36]  speed=20 wait=0.0s  (pre max|Δ|=5.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.2  +4.5  +0.0  -0.9  -5.9  +0.1  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [  -6.63,  +14.13,   +7.38,   -1.03,  -15.02,  -29.75]  speed=20 wait=0.0s  (pre max|Δ|=8.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.98° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.8  +5.0  +1.3  -1.3  -8.3  +0.7  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [  -9.94,  +20.08,   +9.31,   -1.70,  -22.93,  -29.24]  speed=20 wait=0.0s  (pre max|Δ|=9.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.40° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.7  +5.0  +1.2  -1.1  -9.6  +1.2  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [ -10.86,  +21.95,   +9.76,   -1.88,  -25.43,  -29.09]  speed=20 wait=0.0s  (pre max|Δ|=3.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.18° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +1.0  -0.2  -0.6  -3.9  +1.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.18°（関節 j4）
[015] 推論 2411ms  10ステップ先  Δ=-12.6 +20.1  +5.0  -0.9 -28.5  +1.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk015_via02: send_angles (single) [ -14.71,  +27.94,  +11.44,   -2.32,  -34.14,  -28.80]  speed=20 wait=0.0s  (pre max|Δ|=9.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.1  +5.1  +1.2  -0.7  -9.8  +0.7  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [ -18.47,  +33.94,  +13.12,   -2.27,  -41.96,  -28.68]  speed=20 wait=0.0s  (pre max|Δ|=8.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.3  +5.0  +1.2  -0.3  -8.3  +0.5  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [ -22.62,  +40.65,  +14.92,   -2.32,  -50.30,  -28.60]  speed=20 wait=0.0s  (pre max|Δ|=8.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.6  +5.8  +1.1  -0.2  -8.4  +0.5  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [ -23.67,  +42.95,  +15.32,   -2.37,  -52.73,  -28.56]  speed=20 wait=0.0s  (pre max|Δ|=2.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.4  +1.4  -0.2  -0.4  -2.9  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.99°（関節 j1）
[016] 推論 1314ms  10ステップ先  Δ= -5.4 +14.6  +3.1  +0.1 -15.0  +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_chunk016_via02: send_angles (single) [ -26.29,  +48.60,  +16.54,   -2.63,  -60.04,  -28.54]  speed=20 wait=0.0s  (pre max|Δ|=7.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.4  +4.7  +1.0  -0.6  -7.7  +0.3  着いた
[SEND] pi05_chunk016_via05: send_angles (single) [ -28.46,  +53.67,  +17.96,   -2.50,  -65.09,  -28.49]  speed=20 wait=0.0s  (pre max|Δ|=5.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.5  +4.2  +1.0  +0.1  -5.7  +0.3  着いた
[SEND] pi05_chunk016_via08: send_angles (single) [ -29.17,  +57.42,  +18.61,   -2.09,  -67.19,  -28.45]  speed=20 wait=0.0s  (pre max|Δ|=2.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.9  +2.8  +0.3  +0.1  -2.3  +0.3  着いた
[SEND] pi05_chunk016_via09: send_angles (single) [ -29.35,  +58.49,  +18.68,   -1.97,  -67.35,  -28.46]  speed=20 wait=0.0s  (pre max|Δ|=0.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  +0.1  +0.4  +0.1  -0.6  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j1）
[017] 推論 1091ms  10ステップ先  Δ= +0.6  +4.6  -0.5  -1.7  +2.0  +0.4  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 > 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|=67.14°, post-send timeout 12.1s)
[SEND] arrival OK: max|Δ|=2.10° (tol 2.5°)
[RECORD] 記録終了 コマ 1310 (8.849 fps) 実測角 1341 回 (9.06 Hz)  電流 1352 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_095426/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_20261111_095426
[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))
    (157 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: [-0.35, 1.31, 1.66, -0.43, -0.61, -29.53]
[SEND] HOME へ移動指令
[WAIT] t=0.7s  max_err=1.66°
[DONE] HOME 到達 max_err=1.66°
[POST] 最終姿勢: [-0.35, 1.31, 1.66, -0.35, -0.52, -29.53]
  [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  ] 傾きはソフトでそろえる: ライブをお手本の中央値との差だけ回して重ねる (AI に渡す画像と同じ. 回す角度が 3° を超えたら画面の色を変える. 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=  +4.0  dx=  -2.4  response=0.864  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -2.05° → -0.61° にソフトでそろえる (+1.43° 回して重ねる. プラス=右下がり)
[DONE  ] 終了 (何も書いていません)
    (11 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_20261111_095717
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.1 dx=+4.3 response=0.632 → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  回したあとの画像で測った
[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 -2.09° → -0.61° にそろえて渡す (+1.48° 回す. プラス=右下がり) (お手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes  測れた 50/50 本・今 5/5 コマ)
[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_20261111_095717/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 991ms  10ステップ先  Δ= -7.9 +18.2  +6.0  -1.2 -24.3  +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) [  -1.96,   +5.21,   +2.97,   -0.47,   -4.81,  -29.70]  speed=20 wait=0.0s  (pre max|Δ|=4.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.71° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.6  +3.9  +1.3  -0.2  -4.5  +0.0  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -4.30,  +10.75,   +4.97,   -0.89,  -12.52,  -29.39]  speed=20 wait=0.0s  (pre max|Δ|=9.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.6  +4.6  +1.1  -0.7  -9.6  +0.3  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -7.42,  +17.26,   +7.05,   -1.38,  -21.62,  -28.74]  speed=20 wait=0.0s  (pre max|Δ|=10.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.32° (tol 3.0°)
       [VIA   ] step  8  Δ= -2.9  +5.6  +1.3  -1.1 -10.8  +1.0  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  -8.21,  +19.49,   +7.67,   -1.49,  -24.60,  -28.47]  speed=20 wait=0.0s  (pre max|Δ|=4.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.4  +1.3  +0.0  -1.3  -4.3  +1.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.14°（関節 j4）
[001] 推論 808ms  10ステップ先  Δ=-13.6 +21.9  +6.3  -1.4 -30.4  +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) [ -12.02,  +26.55,   +9.52,   -2.01,  -33.66,  -28.09]  speed=20 wait=0.0s  (pre max|Δ|=10.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.9  +6.1  +1.1  -1.3 -10.2  +1.2  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -16.02,  +33.09,  +11.66,   -2.13,  -42.33,  -27.93]  speed=20 wait=0.0s  (pre max|Δ|=9.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.5  +5.5  +1.6  -0.9  -9.3  +0.8  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -20.50,  +40.22,  +14.09,   -2.11,  -51.32,  -27.93]  speed=20 wait=0.0s  (pre max|Δ|=9.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.9  +6.1  +1.8  -0.6  -9.7  +0.5  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -21.62,  +42.41,  +14.72,   -2.06,  -53.81,  -27.94]  speed=20 wait=0.0s  (pre max|Δ|=3.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.52° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +1.2  -0.0  -0.4  -3.4  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.09°（関節 j1）
[002] 推論 2316ms  10ステップ先  Δ= -4.3 +10.7  +2.6  -0.7 -13.5  +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) [ -24.96,  +49.23,  +16.28,   -2.62,  -62.91,  -27.86]  speed=20 wait=0.0s  (pre max|Δ|=9.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.5  +5.7  +1.1  -1.0  -9.5  +0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -26.43,  +53.14,  +17.46,   -2.53,  -66.65,  -27.79]  speed=20 wait=0.0s  (pre max|Δ|=4.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.64° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.2  +3.0  +0.7  -0.4  -4.6  +0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -26.30,  +53.46,  +17.63,   -2.16,  -66.43,  -27.71]  speed=20 wait=0.0s  (pre max|Δ|=0.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.76° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -0.7  -0.2  -0.1  +0.0  +0.4  着いた
       [VIA   ] step  9  Δ= +0.3  -0.0  -0.2  -0.1  -0.4  +0.3  送らず (0.5° 以下)
[STATE ] 目標を渡す  目標と実測の最大差 0.39°（関節 j4）
[003] 推論 1170ms  10ステップ先  Δ= +0.6  +1.9  +0.1  -0.2  -1.5  +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) [ -25.98,  +55.71,  +18.72,   -1.56,  -68.38,  -27.71]  speed=20 wait=0.0s  (pre max|Δ|=1.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +1.5  +0.9  +0.5  -1.9  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -25.92,  +56.19,  +18.95,   -1.59,  -68.65,  -27.72]  speed=20 wait=0.0s  (pre max|Δ|=0.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.0  -0.5  -0.0  +0.3  -0.5  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -25.87,  +56.18,  +18.28,   -1.95,  -68.32,  -27.78]  speed=20 wait=0.0s  (pre max|Δ|=0.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -0.9  -0.7  -0.0  -0.2  +0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -25.97,  +56.17,  +17.91,   -2.18,  -68.03,  -27.80]  speed=20 wait=0.0s  (pre max|Δ|=1.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -1.0  -1.1  -0.2  +0.1  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.07°（関節 j2）
[004] 推論 2649ms  10ステップ先  Δ= +0.1  +1.3  -1.0  -0.5  -0.1  +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_chunk004_via02: send_angles (single) [ -25.93,  +56.80,  +18.51,   -2.01,  -68.84,  -27.78]  speed=20 wait=0.0s  (pre max|Δ|=0.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.0  -0.3  -0.5  -0.1  -0.7  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -25.81,  +57.13,  +18.56,   -2.06,  -68.78,  -27.79]  speed=20 wait=0.0s  (pre max|Δ|=0.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  -0.7  -0.4  -0.1  -0.6  +0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -25.85,  +57.93,  +18.17,   -2.37,  -68.30,  -27.79]  speed=20 wait=0.0s  (pre max|Δ|=0.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -0.1  -0.8  -0.4  -0.1  +0.1  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -25.80,  +58.42,  +18.02,   -2.44,  -68.19,  -27.79]  speed=20 wait=0.0s  (pre max|Δ|=0.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.6  -1.0  -0.5  +0.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.96°（関節 j2）
[005] 推論 1075ms  10ステップ先  Δ= +0.6  +1.7  -2.0  -1.7  +2.1  +0.2  グリッパー→閉
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ -25.58,  +58.57,  +18.09,   -2.31,  -68.16,  -27.76]  speed=20 wait=0.0s  (pre max|Δ|=0.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -0.8  -0.9  -0.3  +0.2  +0.2  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -25.34,  +58.82,  +17.68,   -2.76,  -67.19,  -27.78]  speed=20 wait=0.0s  (pre max|Δ|=1.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.30° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -0.6  -1.3  -0.7  +1.2  +0.2  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -25.33,  +60.99,  +17.00,   -3.62,  -66.28,  -27.79]  speed=20 wait=0.0s  (pre max|Δ|=2.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.09° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.2  +1.2  -2.0  -1.3  +2.1  +0.2  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -25.33,  +60.99,  +17.00,   -3.62,  -66.28,  -27.79]  speed=20 wait=0.0s  (pre max|Δ|=2.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -0.9  -1.2  -0.4  +2.1  +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 1.65°（関節 j4）
[006] 推論 808ms  10ステップ先  Δ= +4.3  -2.7  -0.5  +1.3  -0.1  -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) [ -25.28,  +60.82,  +18.33,   -3.07,  -67.39,  -27.76]  speed=20 wait=0.0s  (pre max|Δ|=1.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  -1.0  +0.4  +0.3  +0.5  +0.2  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -25.08,  +60.78,  +18.81,   -2.82,  -68.47,  -27.76]  speed=20 wait=0.0s  (pre max|Δ|=1.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -1.1  +0.9  +0.5  -0.6  +0.2  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -22.96,  +59.77,  +18.16,   -2.33,  -68.39,  -28.07]  speed=20 wait=0.0s  (pre max|Δ|=2.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.4  -2.1  -0.0  +0.9  -0.5  -0.1  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -21.05,  +59.17,  +17.56,   -2.00,  -68.01,  -28.30]  speed=20 wait=0.0s  (pre max|Δ|=2.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.4  -2.3  -0.6  +0.4  -0.7  -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）
[007] 推論 933ms  10ステップ先  Δ=+24.8 -10.8  -6.3  +4.4  +5.3  -2.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ -14.17,  +56.45,  +16.13,   -0.53,  -66.49,  -29.14]  speed=20 wait=0.0s  (pre max|Δ|=6.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.6  -4.8  -2.0  +1.3  +0.6  -1.2  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [  -6.63,  +53.91,  +14.28,   +0.87,  -64.84,  -29.86]  speed=20 wait=0.0s  (pre max|Δ|=7.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  5  Δ= +7.9  -5.0  -3.0  +1.7  +1.2  -1.7  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [  +1.65,  +51.16,  +12.31,   +2.23,  -62.60,  -30.40]  speed=20 wait=0.0s  (pre max|Δ|=8.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.4  -4.9  -3.1  +1.7  +1.7  -1.7  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [  +4.11,  +50.41,  +11.76,   +2.54,  -61.80,  -30.50]  speed=20 wait=0.0s  (pre max|Δ|=3.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.6  -3.0  -1.9  +1.0  +0.3  -1.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.23°（関節 j1）
[008] 推論 861ms  10ステップ先  Δ=+30.8  -9.0  -7.5  +1.0  +8.8  -1.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ +13.37,  +48.11,   +9.93,   +2.90,  -59.21,  -30.62]  speed=20 wait=0.0s  (pre max|Δ|=9.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.51° (tol 3.0°)
       [VIA   ] step  2  Δ= +9.4  -4.5  -3.2  +0.8  +2.1  -0.8  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +22.52,  +45.86,   +8.10,   +2.99,  -56.56,  -30.65]  speed=20 wait=0.0s  (pre max|Δ|=9.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.3  -4.8  -3.2  +0.5  +2.8  -0.6  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +32.45,  +43.87,   +6.06,   +3.21,  -53.39,  -30.66]  speed=20 wait=0.0s  (pre max|Δ|=9.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.9  -4.3  -3.5  +0.9  +3.0  -0.6  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +34.77,  +43.60,   +5.56,   +3.23,  -52.59,  -30.68]  speed=20 wait=0.0s  (pre max|Δ|=2.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.1  -2.6  -2.1  +0.3  +1.0  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.27°（関節 j1）
[009] 推論 894ms  10ステップ先  Δ= +4.6 +10.4  -2.8  +0.6  -9.2  -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) [ +39.24,  +45.21,   +5.27,   +2.87,  -52.71,  -30.68]  speed=20 wait=0.0s  (pre max|Δ|=4.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  2  Δ= +4.3  -0.7  -1.8  -0.2  -0.4  -0.4  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +40.14,  +50.28,   +4.98,   +3.13,  -57.28,  -30.70]  speed=20 wait=0.0s  (pre max|Δ|=4.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  +4.0  -2.1  +0.6  -5.0  -0.4  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +39.49,  +55.31,   +4.55,   +3.59,  -61.02,  -30.64]  speed=20 wait=0.0s  (pre max|Δ|=5.92°, 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|=1.77° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.8  +4.0  -1.8  +1.1  -5.9  -0.3  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +39.45,  +56.30,   +4.43,   +3.69,  -61.53,  -30.63]  speed=20 wait=0.0s  (pre max|Δ|=1.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.2  -1.9  +0.4  -1.0  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.89°（関節 j2）
[010] 推論 2424ms  7ステップ先  Δ= +0.1  +4.4  -2.2  +0.4  -6.2  -0.2  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) [ +39.55,  +60.74,   +4.25,   +3.82,  -65.97,  -30.68]  speed=20 wait=0.0s  (pre max|Δ|=4.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  +3.3  -2.0  +0.2  -4.5  -0.2  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +39.66,  +61.84,   +4.13,   +3.96,  -67.65,  -30.72]  speed=20 wait=0.0s  (pre max|Δ|=1.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.0  +0.1  -1.4  +0.4  -0.2  -0.2  着いた
[SEND] pi05_chunk010_via06: send_angles (single) [ +39.66,  +61.84,   +4.13,   +3.96,  -67.65,  -30.72]  speed=20 wait=0.0s  (pre max|Δ|=1.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 3.0°)
       [VIA   ] step  6  Δ= -0.2  -1.0  -1.2  +0.4  +1.2  -0.1  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.23°（関節 j2）
[011] 推論 904ms  10ステップ先  Δ= -0.7 -16.0  -1.2  -0.2 +16.9  -0.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +39.68,  +58.25,   +4.17,   +3.94,  -64.01,  -30.91]  speed=20 wait=0.0s  (pre max|Δ|=4.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  -4.6  -1.2  -0.4  +4.6  -0.3  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +39.79,  +53.16,   +4.21,   +3.88,  -58.80,  -31.17]  speed=20 wait=0.0s  (pre max|Δ|=7.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  -7.0  -1.2  -0.4  +5.9  -0.6  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +39.46,  +48.20,   +4.15,   +3.75,  -53.47,  -31.39]  speed=20 wait=0.0s  (pre max|Δ|=6.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  -6.8  -1.2  -0.6  +6.0  -0.6  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +39.15,  +46.80,   +4.15,   +3.77,  -51.91,  -31.47]  speed=20 wait=0.0s  (pre max|Δ|=3.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.6  -3.5  -1.2  -0.5  +2.2  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.06°（関節 j1）
[012] 推論 2569ms  10ステップ先  Δ=-17.3 -22.9  -1.2  -3.0 +25.2  +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) [ +35.55,  +41.34,   +4.17,   +3.23,  -45.14,  -31.45]  speed=20 wait=0.0s  (pre max|Δ|=7.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.2  -7.5  -1.2  -1.2  +7.2  -0.3  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +30.71,  +35.23,   +4.22,   +2.58,  -38.06,  -31.35]  speed=20 wait=0.0s  (pre max|Δ|=8.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.0  -8.1  -1.1  -1.3  +7.6  -0.2  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +24.20,  +28.13,   +4.20,   +1.63,  -29.61,  -31.20]  speed=20 wait=0.0s  (pre max|Δ|=9.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.4  -9.0  -1.2  -1.3  +8.9  +0.1  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +22.45,  +26.00,   +4.20,   +1.37,  -27.06,  -31.15]  speed=20 wait=0.0s  (pre max|Δ|=3.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.2  -3.9  -1.2  -0.7  +2.8  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.68°（関節 j1）
[013] 推論 1629ms  10ステップ先  Δ=-18.7 -22.3  -1.0  -1.3 +22.9  +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 > 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|=27.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[RECORD] 記録終了 コマ 873 (8.814 fps) 実測角 798 回 (8.06 Hz)  電流 817 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_095717/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_20261111_095717
[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))
    (111 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: [0.08, 1.31, 1.66, 0.26, -0.26, -30.32]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.66°
[DONE] HOME 到達 max_err=1.66°
[POST] 最終姿勢: [0.08, 1.31, 1.66, 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  ] 傾きはソフトでそろえる: ライブをお手本の中央値との差だけ回して重ねる (AI に渡す画像と同じ. 回す角度が 3° を超えたら画面の色を変える. 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=  +4.1  dx=  -1.3  response=0.836  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -2.05° → -0.61° にソフトでそろえる (+1.43° 回して重ねる. プラス=右下がり)
[DONE  ] 終了 (何も書いていません)
    (8 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_20261111_095917
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.1 dx=+5.6 response=0.584 → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  回したあとの画像で測った
[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 -1.97° → -0.61° にそろえて渡す (+1.35° 回す. プラス=右下がり) (お手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes  測れた 50/50 本・今 5/5 コマ)
[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_20261111_095917/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 1119ms  10ステップ先  Δ= -7.1 +16.6  +4.6  -2.0 -20.0  +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 > 
[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) [  -0.46,   +3.23,   +2.15,   +0.13,   -2.42,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=2.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.5  +1.9  +0.5  -0.1  -2.2  +0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -3.72,  +10.32,   +3.86,   -0.50,  -10.31,  -29.66]  speed=20 wait=0.0s  (pre max|Δ|=9.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.53° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.8  +6.2  +0.8  -0.8  -9.6  +0.6  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -6.52,  +15.99,   +5.80,   -1.49,  -17.70,  -28.89]  speed=20 wait=0.0s  (pre max|Δ|=8.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.27° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.1  +4.7  +1.2  -1.3  -8.9  +1.0  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  -7.07,  +17.94,   +6.29,   -1.79,  -20.29,  -28.60]  speed=20 wait=0.0s  (pre max|Δ|=3.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  +1.0  -0.2  -0.6  -3.9  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.04°（関節 j1）
[001] 推論 1075ms  10ステップ先  Δ=-15.2 +21.3  +5.1  -1.0 -31.3  +1.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -11.10,  +24.42,   +7.80,   -2.35,  -28.71,  -28.06]  speed=20 wait=0.0s  (pre max|Δ|=9.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.3  +5.4  +0.8  -0.9  -9.3  +0.8  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -15.78,  +31.19,   +9.51,   -2.57,  -38.00,  -27.69]  speed=20 wait=0.0s  (pre max|Δ|=9.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.5  +5.8  +1.0  -0.2 -10.0  +0.6  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -20.62,  +38.22,  +11.67,   -2.50,  -47.91,  -27.68]  speed=20 wait=0.0s  (pre max|Δ|=10.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.5  +6.1  +1.6  +0.3 -10.6  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -21.89,  +40.25,  +12.16,   -2.47,  -50.74,  -27.68]  speed=20 wait=0.0s  (pre max|Δ|=3.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +1.1  -0.1  +0.6  -3.5  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.88°（関節 j1）
[002] 推論 1076ms  10ステップ先  Δ= -4.2 +11.4  +2.2  +0.7 -12.9  +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_chunk002_via02: send_angles (single) [ -24.59,  +46.76,  +13.12,   -2.99,  -59.12,  -27.69]  speed=20 wait=0.0s  (pre max|Δ|=8.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.6  +5.6  +0.8  -0.1  -8.8  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -26.18,  +51.35,  +13.99,   -2.87,  -63.28,  -27.69]  speed=20 wait=0.0s  (pre max|Δ|=4.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 3.0°)
       [VIA   ] step  5  Δ= -1.5  +3.5  +0.3  -0.2  -4.8  +0.2  着いた
       [VIA   ] step  8  Δ= +0.2  -0.3  -0.1  +0.4  -0.4  +0.2  送らず (0.5° 以下)
       [VIA   ] step  9  Δ= +0.1  +0.1  -0.0  +0.5  -0.3  +0.2  送らず (0.5° 以下)
[STATE ] 目標を渡す  目標と実測の最大差 0.32°（関節 j4）
[003] 推論 809ms  10ステップ先  Δ= +0.0  +7.1  +1.3  +1.0  -3.1  +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_chunk003_via02: send_angles (single) [ -26.27,  +54.98,  +15.22,   -1.34,  -65.03,  -27.69]  speed=20 wait=0.0s  (pre max|Δ|=2.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.0  +2.6  +0.7  +1.1  -2.1  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -26.22,  +57.19,  +15.70,   -1.17,  -65.64,  -27.70]  speed=20 wait=0.0s  (pre max|Δ|=1.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  +1.1  +0.1  +1.1  -1.2  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -26.21,  +58.79,  +15.90,   -1.49,  -65.90,  -27.75]  speed=20 wait=0.0s  (pre max|Δ|=0.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +0.6  +0.0  +0.5  -0.3  +0.1  着いた
       [VIA   ] step  9  Δ= +0.0  -0.4  -0.3  +0.4  -0.2  +0.1  送らず (0.5° 以下)
[STATE ] 目標を渡す  目標と実測の最大差 0.42°（関節 j3）
[004] 推論 2277ms  8ステップ先  Δ= +0.4  +0.5  -0.6  -0.2  +2.8  +0.1  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_chunk004_via02: send_angles (single) [ -25.94,  +59.55,  +15.52,   -1.79,  -64.07,  -27.73]  speed=20 wait=0.0s  (pre max|Δ|=1.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -0.3  -0.6  +0.1  +1.8  +0.1  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -25.83,  +59.85,  +15.40,   -2.07,  -63.20,  -27.72]  speed=20 wait=0.0s  (pre max|Δ|=2.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -0.8  -0.7  -0.2  +2.6  +0.1  着いた
[SEND] pi05_chunk004_via07: send_angles (single) [ -25.85,  +60.31,  +15.43,   -2.16,  -63.03,  -27.73]  speed=20 wait=0.0s  (pre max|Δ|=2.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  7  Δ= +0.4  -0.4  -0.6  -0.3  +2.0  +0.1  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.39°（関節 j4）
[005] 推論 1017ms  10ステップ先  Δ= +5.2  -6.8  +1.8  +1.3  -0.6  -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) [ -25.49,  +58.46,  +16.59,   -2.00,  -63.89,  -27.75]  speed=20 wait=0.0s  (pre max|Δ|=2.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  -2.8  +0.5  -0.1  +0.6  +0.1  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -25.42,  +56.62,  +18.07,   -1.65,  -65.35,  -27.78]  speed=20 wait=0.0s  (pre max|Δ|=3.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -3.8  +1.9  -0.4  -1.9  -0.0  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -22.98,  +54.87,  +18.09,   -0.94,  -65.24,  -27.94]  speed=20 wait=0.0s  (pre max|Δ|=3.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.6  -3.7  -0.4  +0.2  -1.8  -0.3  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -21.05,  +54.50,  +17.92,   -0.62,  -65.06,  -28.05]  speed=20 wait=0.0s  (pre max|Δ|=2.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.4  -2.3  -0.5  +0.8  -1.6  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.18°（関節 j1）
[006] 推論 863ms  10ステップ先  Δ=+27.0  -6.8  -7.2  +3.8  +4.3  -2.7
       [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_chunk006_via02: send_angles (single) [ -13.16,  +52.77,  +15.91,   +0.61,  -63.34,  -28.86]  speed=20 wait=0.0s  (pre max|Δ|=7.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  2  Δ= +7.8  -3.9  -2.5  +1.1  +0.1  -1.2  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [  -5.05,  +51.61,  +13.88,   +1.79,  -61.87,  -29.60]  speed=20 wait=0.0s  (pre max|Δ|=8.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.2  -3.3  -3.2  +1.1  +1.6  -1.8  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [  +3.25,  +50.18,  +11.86,   +3.00,  -60.14,  -30.24]  speed=20 wait=0.0s  (pre max|Δ|=8.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.5  -3.6  -3.2  +1.2  +3.3  -1.7  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [  +6.27,  +49.86,  +11.22,   +3.42,  -59.17,  -30.40]  speed=20 wait=0.0s  (pre max|Δ|=3.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.1  -2.5  -2.0  +0.2  +2.7  -1.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.43°（関節 j1）
[007] 推論 2266ms  10ステップ先  Δ=+30.8  -9.7  -5.4  +0.4  +9.3  -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_chunk007_via02: send_angles (single) [ +15.17,  +47.43,   +9.67,   +3.69,  -56.56,  -30.51]  speed=20 wait=0.0s  (pre max|Δ|=8.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.9  -4.9  -3.1  +0.2  +3.5  -0.6  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +24.66,  +44.84,   +8.38,   +3.74,  -53.83,  -30.58]  speed=20 wait=0.0s  (pre max|Δ|=9.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.35° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.6  -4.9  -2.7  +0.2  +3.4  -0.5  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +34.32,  +42.84,   +7.52,   +3.92,  -51.66,  -30.59]  speed=20 wait=0.0s  (pre max|Δ|=9.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.7  -4.3  -2.4  +0.4  +2.6  -0.5  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +37.04,  +42.60,   +7.39,   +3.98,  -51.22,  -30.60]  speed=20 wait=0.0s  (pre max|Δ|=2.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.40° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.4  -2.7  -1.7  +0.1  +0.9  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.40°（関節 j1）
[008] 推論 1401ms  10ステップ先  Δ= +3.4 +11.7  -3.1  +0.1  -7.5  -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_chunk008_via02: send_angles (single) [ +40.78,  +44.78,   +7.24,   +3.69,  -51.73,  -30.59]  speed=20 wait=0.0s  (pre max|Δ|=3.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  2  Δ= +3.6  -0.2  -1.8  -0.5  -0.1  -0.3  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +40.93,  +49.91,   +6.92,   +3.83,  -55.08,  -30.59]  speed=20 wait=0.0s  (pre max|Δ|=3.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +3.9  -2.1  -0.0  -3.5  -0.3  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +40.59,  +55.30,   +6.22,   +4.25,  -58.55,  -30.61]  speed=20 wait=0.0s  (pre max|Δ|=5.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.2  +4.2  -2.4  +0.4  -5.6  -0.3  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +40.52,  +56.67,   +5.91,   +4.34,  -59.11,  -30.60]  speed=20 wait=0.0s  (pre max|Δ|=1.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.6  +0.3  -1.6  +0.8  -1.6  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.20°（関節 j2）
[009] 推論 879ms  8ステップ先  Δ= -0.6  +5.5  -1.3  +1.2  -8.5  +0.7  グリッパー→開
       [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_chunk009_via02: send_angles (single) [ +40.57,  +60.63,   +5.83,   +4.55,  -63.61,  -30.62]  speed=20 wait=0.0s  (pre max|Δ|=4.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.20° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.6  +3.2  -1.3  +0.8  -4.5  +0.7  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +40.57,  +63.08,   +5.78,   +4.82,  -66.86,  -30.65]  speed=20 wait=0.0s  (pre max|Δ|=1.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.6  +1.8  -0.9  +1.0  -1.8  +1.0  着いた
[SEND] pi05_chunk009_via07: send_angles (single) [ +40.58,  +62.99,   +5.77,   +4.90,  -67.58,  -30.65]  speed=20 wait=0.0s  (pre max|Δ|=1.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  7  Δ= -0.6  -0.6  -0.6  +1.0  +1.1  +1.0  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 0.88°（関節 j4）
[010] 推論 807ms  10ステップ先  Δ= -1.2 -15.1  -0.6  -0.9 +17.0  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +40.68,  +59.74,   +5.71,   +4.79,  -63.93,  -30.88]  speed=20 wait=0.0s  (pre max|Δ|=4.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  -3.9  -0.7  -0.7  +4.5  +0.1  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +40.64,  +55.27,   +5.77,   +4.68,  -58.90,  -31.05]  speed=20 wait=0.0s  (pre max|Δ|=6.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  -6.2  -0.6  -0.8  +5.6  -0.0  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +40.33,  +49.95,   +5.81,   +4.54,  -53.02,  -31.25]  speed=20 wait=0.0s  (pre max|Δ|=7.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.5  -7.3  -0.7  -1.0  +5.0  -0.7  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +39.99,  +48.54,   +5.80,   +4.52,  -51.44,  -31.30]  speed=20 wait=0.0s  (pre max|Δ|=3.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.8  -3.5  -0.7  -1.2  +0.7  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.17°（関節 j1）
[011] 推論 828ms  10ステップ先  Δ=-13.9 -21.0  -0.7  -3.5 +21.2  -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_chunk011_via02: send_angles (single) [ +38.34,  +43.81,   +5.84,   +4.14,  -45.98,  -31.32]  speed=20 wait=0.0s  (pre max|Δ|=6.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.98° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.6  -6.9  -0.7  -1.1  +4.6  -0.7  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +33.81,  +38.31,   +5.84,   +3.37,  -39.36,  -31.25]  speed=20 wait=0.0s  (pre max|Δ|=7.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.9  -7.5  -0.7  -1.3  +7.0  -0.8  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +27.73,  +31.76,   +5.86,   +2.37,  -31.85,  -31.12]  speed=20 wait=0.0s  (pre max|Δ|=8.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.2  -8.4  -0.6  -1.6  +7.8  -0.4  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +26.00,  +29.69,   +5.84,   +2.04,  -29.45,  -31.09]  speed=20 wait=0.0s  (pre max|Δ|=3.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.77° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.9  -4.0  -0.7  -0.8  +2.6  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.77°（関節 j1）
[012] 推論 948ms  10ステップ先  Δ=-14.1 -16.3  -0.7  -1.5 +18.5  -0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 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|=31.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 2.5°)
[RECORD] 記録終了 コマ 615 (8.856 fps) 実測角 585 回 (8.42 Hz)  電流 592 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_095917/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_20261111_095917
[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))
    (77 秒)
もう1回やりますか? y=やる / 他=終わる > 

=== かかった時間  モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
  1. Pod を作る                      3 秒
  2. Pod が立ち上がるまで待つ     30 秒
  3a. スクリプトを送る        128 秒
  3b. huggingface_hub を入れ, 鍵を渡す     15 秒
  3c. モデルを取る (hf download PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)     22 秒
  3d. openpi を取る (215abfb)       23 秒
  3e. uv sync                          22 秒
  3f. addon・設定・assets (pi05_mecharm_deep_even10_lora)      4 秒
  4. サーバーの起動             54 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)    307 秒
  8. 実機推論 (1 回目)          157 秒
  7. HOME → 爪を開く → 位置合わせ (2 回目)     11 秒
  8. 実機推論 (2 回目)          111 秒
  7. HOME → 爪を開く → 位置合わせ (3 回目)      8 秒
  8. 実機推論 (3 回目)           77 秒

[LAB   ] Pod は残しています (id t3fnpcsccc95vo). 片付けは ./lab_stop.sh --log Log30
[TUNNEL] 8000 番のトンネルを閉じました