[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 10:01:29  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   ] Log30 の Pod (id t3fnpcsccc95vo) 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 2026-11-11 09:44:14)
[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: 3721f51751a9
NVIDIA A40, 46068 MiB
    (9 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
    (123 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 91463. このスクリプトが終わると閉じる)
    (4 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
    (2 秒)

=== 7. HOME → 爪を開く → 位置合わせ (1 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [0.08, 1.31, 1.66, 0.26, -0.17, -30.23]
[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: [0.08, 1.31, 1.66, 0.26, -0.17, -30.23]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[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=  -1.5  response=0.886  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -2.01° → -0.61° にソフトでそろえる (+1.39° 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)
    (179 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_100659
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.4 dx=+5.4 response=0.543 → 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_100659/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 1823ms  10ステップ先  Δ=-14.6 +12.7  +3.3  +0.0 -18.5  -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 > 
[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) [  -1.98,   +2.25,   +1.98,   +0.19,   -1.97,  -30.28]  speed=20 wait=0.0s  (pre max|Δ|=2.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.1  +0.9  +0.3  -0.1  -1.8  -0.0  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -6.64,   +6.89,   +3.00,   +0.17,   -9.02,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=8.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.6  +3.7  +0.1  +0.0  -8.5  -0.2  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -12.55,  +12.28,   +4.50,   +0.23,  -16.22,  -30.53]  speed=20 wait=0.0s  (pre max|Δ|=8.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.0  +4.4  +0.6  +0.1  -8.6  -0.3  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -14.51,  +13.99,   +4.95,   +0.28,  -18.66,  -30.60]  speed=20 wait=0.0s  (pre max|Δ|=3.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.4  +0.7  -0.4  +0.2  -3.8  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.17°（関節 j4）
[001] 推論 808ms  10ステップ先  Δ=-22.7 +20.7  +4.6  +1.8 -31.5  -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_chunk001_via02: send_angles (single) [ -21.96,  +20.33,   +6.43,   +0.70,  -27.27,  -30.77]  speed=20 wait=0.0s  (pre max|Δ|=9.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.2  +5.4  +0.7  +1.1  -9.8  -0.5  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -29.23,  +26.78,   +8.10,   +1.14,  -36.78,  -30.82]  speed=20 wait=0.0s  (pre max|Δ|=10.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.7  +5.4  +0.9  +0.5 -10.3  -0.5  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -35.71,  +33.64,   +9.89,   +1.30,  -46.49,  -30.75]  speed=20 wait=0.0s  (pre max|Δ|=10.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.6  +5.9  +1.1  +0.4 -10.6  -0.4  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -37.23,  +35.68,  +10.27,   +1.36,  -48.97,  -30.72]  speed=20 wait=0.0s  (pre max|Δ|=3.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.8  +1.1  -0.1  -0.0  -3.1  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.05°（関節 j1）
[002] 推論 826ms  10ステップ先  Δ=-22.1 +17.3  +4.8  +0.7 -22.3  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -45.24,  +41.90,  +11.93,   +1.46,  -57.42,  -30.76]  speed=20 wait=0.0s  (pre max|Δ|=8.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  2  Δ= -8.2  +5.2  +1.1  +0.1  -8.8  -0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -52.54,  +47.89,  +13.63,   +1.62,  -65.14,  -30.79]  speed=20 wait=0.0s  (pre max|Δ|=8.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.5  +4.9  +1.2  -0.1  -8.2  -0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -57.96,  +53.06,  +15.29,   +1.85,  -70.26,  -30.80]  speed=20 wait=0.0s  (pre max|Δ|=5.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.8  +4.2  +1.1  -0.2  -5.9  -0.4  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -58.96,  +54.04,  +15.64,   +1.94,  -70.91,  -30.81]  speed=20 wait=0.0s  (pre max|Δ|=1.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.2  -0.1  -0.1  -0.2  -1.0  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.97°（関節 j1）
[003] 推論 2522ms  10ステップ先  Δ= -0.8  +3.5  -0.6  -0.8  +2.5  -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 > 
       [VIA   ] step  2  Δ= -0.4  +0.5  +0.2  -0.5  -0.5  -0.4  送らず (0.5° 以下)
[SEND] pi05_chunk003_via05: send_angles (single) [ -59.81,  +56.35,  +15.93,   +1.77,  -70.76,  -30.81]  speed=20 wait=0.0s  (pre max|Δ|=1.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.6  +1.3  +0.2  -0.6  -0.1  -0.4  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -59.91,  +57.82,  +15.43,   +1.52,  -68.91,  -30.83]  speed=20 wait=0.0s  (pre max|Δ|=1.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.7  +0.3  -0.3  -0.8  +1.9  -0.4  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -60.01,  +58.55,  +15.10,   +1.44,  -68.12,  -30.85]  speed=20 wait=0.0s  (pre max|Δ|=2.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.3  -0.6  -0.7  +2.7  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.01°（関節 j4）
[004] 推論 831ms  8ステップ先  Δ= +0.0  +2.0  -1.1  -0.9  +5.7  -0.5  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) [ -60.04,  +60.63,  +14.85,   +1.19,  -66.63,  -30.85]  speed=20 wait=0.0s  (pre max|Δ|=2.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.0  +1.1  -0.9  -0.7  +2.9  -0.4  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -60.08,  +61.58,  +14.62,   +1.16,  -64.76,  -30.86]  speed=20 wait=0.0s  (pre max|Δ|=2.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  -0.2  -1.1  -0.4  +2.7  -0.5  着いた
[SEND] pi05_chunk004_via07: send_angles (single) [ -60.00,  +61.59,  +14.61,   +1.12,  -64.40,  -30.86]  speed=20 wait=0.0s  (pre max|Δ|=1.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  7  Δ= +0.0  -1.1  -1.1  -0.5  +1.2  -0.5  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 1.12°（関節 j2）
[005] 推論 808ms  10ステップ先  Δ= -0.4  -4.6  +2.3  -0.0  -3.2  -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_chunk005_via02: send_angles (single) [ -60.21,  +60.85,  +14.94,   +1.01,  -64.83,  -30.86]  speed=20 wait=0.0s  (pre max|Δ|=1.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  -1.8  -0.8  -0.4  +0.5  -0.5  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -60.08,  +59.69,  +16.02,   +1.09,  -65.97,  -30.86]  speed=20 wait=0.0s  (pre max|Δ|=2.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  -3.0  +0.3  -0.3  -0.7  -0.5  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -60.16,  +58.43,  +17.58,   +1.31,  -68.11,  -30.88]  speed=20 wait=0.0s  (pre max|Δ|=3.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -3.5  +1.9  -0.1  -2.8  -0.5  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -60.43,  +58.11,  +18.01,   +1.35,  -68.54,  -30.89]  speed=20 wait=0.0s  (pre max|Δ|=2.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -2.2  +0.0  -0.1  -2.1  -0.5  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 908ms  10ステップ先  Δ= +3.0  -4.2  +2.3  +0.8  -6.9  -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_chunk006_via02: send_angles (single) [ -60.53,  +57.25,  +19.67,   +1.52,  -70.40,  -30.89]  speed=20 wait=0.0s  (pre max|Δ|=3.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.5  -3.0  +1.6  +0.0  -2.8  -0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -60.69,  +56.77,  +20.77,   +1.60,  -72.48,  -30.87]  speed=20 wait=0.0s  (pre max|Δ|=2.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.55° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.7  -2.5  +0.7  +0.2  -2.4  -0.4  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -58.83,  +56.45,  +20.68,   +1.98,  -73.24,  -31.03]  speed=20 wait=0.0s  (pre max|Δ|=2.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.61° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.2  -2.6  +0.0  +0.5  -1.6  -0.5  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -56.97,  +56.12,  +20.43,   +2.30,  -73.37,  -31.20]  speed=20 wait=0.0s  (pre max|Δ|=2.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.6  -2.9  -0.3  +0.8  -1.7  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.15°（関節 j1）
[007] 推論 2473ms  10ステップ先  Δ=+23.4  -5.0  -3.2  +3.9  +0.1  -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_chunk007_via02: send_angles (single) [ -51.26,  +55.44,  +20.01,   +2.96,  -73.30,  -31.56]  speed=20 wait=0.0s  (pre max|Δ|=5.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  2  Δ= +5.9  -2.8  -0.7  +0.9  -1.1  -0.8  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ -44.13,  +54.75,  +19.11,   +4.03,  -72.92,  -32.16]  speed=20 wait=0.0s  (pre max|Δ|=7.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  5  Δ= +7.3  -2.7  -1.6  +1.2  +1.6  -1.0  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ -36.27,  +53.58,  +17.97,   +5.47,  -72.29,  -32.96]  speed=20 wait=0.0s  (pre max|Δ|=7.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.24° (tol 3.0°)
       [VIA   ] step  8  Δ= +7.9  -3.4  -2.6  +1.6  +2.2  -1.1  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ -33.67,  +53.26,  +17.53,   +5.90,  -72.08,  -33.13]  speed=20 wait=0.0s  (pre max|Δ|=2.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.8  -2.3  -1.7  +0.5  +2.4  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.28°（関節 j1）
[008] 推論 867ms  10ステップ先  Δ=+31.0  -5.8  -6.2  +2.1  +7.7  -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) [ -24.51,  +52.09,  +16.25,   +6.71,  -70.53,  -33.47]  speed=20 wait=0.0s  (pre max|Δ|=9.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.40° (tol 3.0°)
       [VIA   ] step  2  Δ= +9.5  -3.5  -2.9  +1.0  +3.1  -0.7  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ -15.15,  +51.08,  +14.91,   +7.27,  -68.99,  -33.68]  speed=20 wait=0.0s  (pre max|Δ|=9.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.35° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.6  -3.4  -2.7  +0.7  +2.6  -0.5  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [  -5.62,  +50.03,  +13.38,   +7.70,  -67.25,  -33.80]  speed=20 wait=0.0s  (pre max|Δ|=9.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.52° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.8  -3.4  -2.8  +0.6  +2.6  -0.4  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [  -3.05,  +49.73,  +12.99,   +7.79,  -66.53,  -33.83]  speed=20 wait=0.0s  (pre max|Δ|=2.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.47° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.7  -2.8  -1.8  +0.4  +1.5  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.47°（関節 j1）
[009] 推論 806ms  10ステップ先  Δ=+29.3  -5.4  -5.7  +0.3  +6.4  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via02: send_angles (single) [  +5.88,  +48.49,  +11.77,   +7.99,  -64.79,  -33.88]  speed=20 wait=0.0s  (pre max|Δ|=9.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  2  Δ= +9.0  -3.7  -3.0  +0.3  +2.3  -0.4  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +14.88,  +47.55,  +10.39,   +7.93,  -62.87,  -33.90]  speed=20 wait=0.0s  (pre max|Δ|=9.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.1  -3.3  -2.8  +0.1  +2.3  -0.3  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +23.80,  +46.88,   +9.19,   +7.99,  -61.12,  -33.92]  speed=20 wait=0.0s  (pre max|Δ|=8.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.69° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.9  -2.9  -2.6  +0.1  +2.2  -0.4  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +26.11,  +46.78,   +9.02,   +8.02,  -60.69,  -33.93]  speed=20 wait=0.0s  (pre max|Δ|=2.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.79° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.3  -2.8  -1.6  +0.1  +0.8  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.79°（関節 j1）
[010] 推論 910ms  10ステップ先  Δ=+17.9  +2.9  -6.7  -0.8  +2.0  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +34.55,  +46.75,   +7.21,   +7.83,  -59.05,  -34.05]  speed=20 wait=0.0s  (pre max|Δ|=8.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.82° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.4  -2.8  -3.4  -0.3  +1.9  -0.4  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +41.21,  +47.04,   +5.96,   +7.35,  -57.89,  -34.12]  speed=20 wait=0.0s  (pre max|Δ|=6.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.53° (tol 3.0°)
       [VIA   ] step  5  Δ= +6.5  -2.5  -2.8  -0.7  +1.4  -0.4  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +44.02,  +51.02,   +4.39,   +7.30,  -58.54,  -34.24]  speed=20 wait=0.0s  (pre max|Δ|=3.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 3.0°)
       [VIA   ] step  8  Δ= +3.0  +1.4  -3.1  +0.0  -0.2  -0.4  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +44.01,  +52.45,   +3.92,   +7.38,  -58.95,  -34.27]  speed=20 wait=0.0s  (pre max|Δ|=1.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.52° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  +0.2  -1.9  +0.3  -0.7  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.52°（関節 j2）
[011] 推論 2644ms  10ステップ先  Δ= -0.0  +8.9  -6.8  +0.3  -5.7  -0.8  グリッパー→開
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +43.98,  +57.39,   +1.31,   +7.62,  -60.84,  -34.47]  speed=20 wait=0.0s  (pre max|Δ|=4.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.46° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  +3.6  -4.1  +0.1  -2.6  -0.6  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +43.86,  +61.36,   -0.84,   +7.75,  -62.70,  -34.63]  speed=20 wait=0.0s  (pre max|Δ|=3.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.0  +2.9  -3.6  +0.0  -3.6  -0.4  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +43.81,  +62.65,   -1.34,   +7.89,  -63.96,  -34.75]  speed=20 wait=0.0s  (pre max|Δ|=2.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.60° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.0  +0.1  -1.8  +0.1  -2.7  -0.4  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +43.81,  +62.65,   -1.34,   +7.89,  -63.96,  -34.75]  speed=20 wait=0.0s  (pre max|Δ|=1.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.60° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -1.1  -1.6  +0.1  -1.0  -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 1.60°（関節 j2）
[012] 推論 829ms  10ステップ先  Δ= -0.4 -17.9  +4.5  +0.1 +10.0  -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) [ +44.04,  +58.20,   +0.38,   +7.94,  -61.76,  -34.81]  speed=20 wait=0.0s  (pre max|Δ|=5.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.96° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  -5.6  +0.1  +0.1  +1.9  -0.4  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +44.08,  +52.99,   +2.80,   +8.05,  -59.13,  -34.86]  speed=20 wait=0.0s  (pre max|Δ|=7.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -7.1  +2.5  +0.1  +4.6  -0.3  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +44.05,  +47.61,   +4.62,   +8.06,  -55.42,  -34.84]  speed=20 wait=0.0s  (pre max|Δ|=7.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -7.4  +1.3  -0.0  +5.7  -0.2  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +43.49,  +45.88,   +4.79,   +7.97,  -53.63,  -34.76]  speed=20 wait=0.0s  (pre max|Δ|=3.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -3.9  -0.5  -0.1  +3.4  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.02°（関節 j1）
[013] 推論 1053ms  10ステップ先  Δ=-19.4 -24.4  -1.0  -4.0 +28.7  +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 > h
[SEND] pi05_home: send_angles (single) [  +0.00,   +0.00,   +0.00,   +0.00,   +0.00,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=54.58°, post-send timeout 10.2s)
[SEND] arrival OK: max|Δ|=2.28° (tol 2.5°)
[RECORD] 記録終了 コマ 814 (8.925 fps) 実測角 748 回 (8.2 Hz)  電流 775 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_100659/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_100659
[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))
    (97 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (2 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.17, 1.49, 2.28, 0.35, -0.35, -30.41]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=2.28°
[DONE] HOME 到達 max_err=2.28°
[POST] 最終姿勢: [-0.17, 1.49, 2.28, 0.26, -0.35, -30.41]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[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=  +6.2  dx=  -1.7  response=0.182  → 測れない (相関が弱く dx/dy が当てにならない (response=0.182 < 0.20))  傾き -7.25° → -0.61° にソフトでそろえる (+6.63° 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=  +5.8  dx=  -1.6  response=0.367  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -6.86° → -0.61° にソフトでそろえる (+6.25° 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=  +5.8  dx=  -1.1  response=0.335  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -5.23° → -0.61° にソフトでそろえる (+4.62° 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=  +4.2  dx=  -2.0  response=0.570  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -2.05° → -0.61° にソフトでそろえる (+1.44° 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)
    (19 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_100857
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.5 dx=+4.4 response=0.604 → 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 (+1.39° 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_100857/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 2155ms  10ステップ先  Δ=-18.9 +16.1  +5.4  -0.1 -24.3  -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 > 
[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) [  -4.06,   +4.95,   +3.41,   +0.23,   -5.70,  -30.50]  speed=20 wait=0.0s  (pre max|Δ|=5.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.8  +3.5  +1.1  -0.0  -5.4  -0.3  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [ -10.10,  +10.31,   +5.11,   +0.27,  -13.60,  -30.75]  speed=20 wait=0.0s  (pre max|Δ|=9.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.8  +4.4  +0.8  +0.0  -9.7  -0.5  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -16.76,  +15.70,   +7.03,   +0.21,  -21.77,  -30.92]  speed=20 wait=0.0s  (pre max|Δ|=9.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.1  +4.5  +1.1  +0.2  -9.7  -0.7  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -19.17,  +17.59,   +7.66,   +0.20,  -24.54,  -30.98]  speed=20 wait=0.0s  (pre max|Δ|=4.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.7  +1.0  -0.1  +0.4  -4.2  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.08°（関節 j4）
[001] 推論 934ms  10ステップ先  Δ=-21.7 +18.9  +6.3  +1.1 -30.7  -0.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -26.22,  +23.73,   +9.67,   +0.47,  -33.40,  -31.02]  speed=20 wait=0.0s  (pre max|Δ|=9.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.7  +5.3  +1.3  +0.9  -9.9  -0.6  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -33.02,  +29.27,  +11.87,   +0.68,  -42.14,  -31.06]  speed=20 wait=0.0s  (pre max|Δ|=9.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.2  +4.5  +1.5  -0.0  -9.4  -0.7  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -39.60,  +35.45,  +14.15,   +0.67,  -51.45,  -31.08]  speed=20 wait=0.0s  (pre max|Δ|=10.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.7  +5.2  +1.6  +0.1 -10.1  -0.7  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -41.23,  +37.36,  +14.62,   +0.63,  -54.19,  -31.07]  speed=20 wait=0.0s  (pre max|Δ|=3.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.9  +1.0  -0.1  -0.2  -3.6  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.96°（関節 j1）
[002] 推論 2413ms  10ステップ先  Δ=-17.6 +15.3  +4.5  +0.8 -22.4  -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) [ -48.81,  +43.13,  +16.04,   +1.19,  -62.89,  -31.13]  speed=20 wait=0.0s  (pre max|Δ|=9.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.5  +4.8  +1.3  +0.1  -9.1  -0.5  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -54.73,  +48.83,  +17.68,   +1.55,  -70.93,  -31.14]  speed=20 wait=0.0s  (pre max|Δ|=8.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.0  +4.7  +1.1  -0.0  -8.6  -0.5  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -58.41,  +52.93,  +19.19,   +1.69,  -75.61,  -31.16]  speed=20 wait=0.0s  (pre max|Δ|=5.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.1  +3.2  +1.0  -0.2  -5.3  -0.5  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -58.85,  +53.61,  +19.28,   +1.72,  -76.16,  -31.17]  speed=20 wait=0.0s  (pre max|Δ|=0.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  -0.3  -0.2  -0.4  -0.9  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.97°（関節 j1）
[003] 推論 1249ms  10ステップ先  Δ= -2.1  +2.8  -1.8  -0.4  +4.1  -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_chunk003_via02: send_angles (single) [ -60.06,  +53.73,  +19.84,   +2.22,  -76.26,  -31.35]  speed=20 wait=0.0s  (pre max|Δ|=1.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.85° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.7  -0.9  +0.3  +0.1  -0.8  -0.6  着いた
       [VIA   ] step  5  Δ= -0.1  +0.3  +0.1  +0.1  +0.3  -0.4  送らず (0.5° 以下)
[SEND] pi05_chunk003_via08: send_angles (single) [ -60.36,  +56.91,  +18.08,   +1.91,  -72.11,  -31.61]  speed=20 wait=0.0s  (pre max|Δ|=3.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.77° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  +2.3  -1.4  -0.4  +3.4  -0.5  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -60.44,  +57.43,  +17.66,   +1.81,  -71.42,  -31.63]  speed=20 wait=0.0s  (pre max|Δ|=3.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.40° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -0.5  -1.8  -0.5  +3.4  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.32°（関節 j4）
[004] 推論 1035ms  10ステップ先  Δ= -2.0  +3.9  -5.0  -1.0 +12.9  -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_chunk004_via02: send_angles (single) [ -61.07,  +59.35,  +16.07,   +1.61,  -67.14,  -31.67]  speed=20 wait=0.0s  (pre max|Δ|=5.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.24° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.0  +1.0  -3.0  -0.5  +5.5  -0.4  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -61.68,  +60.88,  +14.90,   +1.41,  -63.52,  -31.68]  speed=20 wait=0.0s  (pre max|Δ|=4.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.6  +0.6  -2.3  -0.5  +4.5  -0.4  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -62.07,  +61.97,  +14.12,   +1.23,  -61.23,  -31.69]  speed=20 wait=0.0s  (pre max|Δ|=3.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.9  +0.2  -2.0  -0.5  +3.0  -0.3  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -62.12,  +62.23,  +14.04,   +1.17,  -60.88,  -31.68]  speed=20 wait=0.0s  (pre max|Δ|=1.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -0.8  -1.0  -0.1  +1.4  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.17°（関節 j4）
[005] 推論 895ms  4ステップ先  Δ= -0.4  -1.0  -0.9  -0.1  +2.3  -0.4  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 3
       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) [ -62.18,  +62.03,  +14.13,   +1.17,  -59.79,  -31.65]  speed=20 wait=0.0s  (pre max|Δ|=2.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.4  -1.0  -0.9  -0.1  +2.2  -0.4  着いた
[SEND] pi05_chunk005_via03: send_angles (single) [ -62.18,  +62.03,  +14.13,   +1.17,  -59.79,  -31.65]  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  3  Δ= -0.4  -1.0  -0.9  -0.1  +1.6  -0.4  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.64°（関節 j4）
[006] 推論 2518ms  10ステップ先  Δ= -0.3  -3.1  +2.8  +0.5  -2.9  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ -62.13,  +61.86,  +14.13,   +0.58,  -60.08,  -31.63]  speed=20 wait=0.0s  (pre max|Δ|=1.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.4  -1.2  +0.2  +0.3  +1.3  -0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -62.20,  +61.48,  +14.21,   +0.19,  -60.63,  -31.61]  speed=20 wait=0.0s  (pre max|Δ|=1.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.27° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.6  -1.5  +0.2  +0.0  +0.8  -0.4  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -62.03,  +60.28,  +16.32,   +0.29,  -63.51,  -31.65]  speed=20 wait=0.0s  (pre max|Δ|=2.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.4  -2.5  +2.3  +0.1  -2.1  -0.4  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -62.04,  +59.87,  +16.90,   +0.43,  -64.34,  -31.66]  speed=20 wait=0.0s  (pre max|Δ|=2.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -1.8  +1.3  +0.0  -2.7  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.29°（関節 j4）
[007] 推論 813ms  10ステップ先  Δ= +0.5  -4.3  +5.8  +1.2 -13.9  -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_chunk007_via02: send_angles (single) [ -61.97,  +59.05,  +18.42,   +0.73,  -67.71,  -31.86]  speed=20 wait=0.0s  (pre max|Δ|=5.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.68° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.4  -2.3  +2.2  +0.2  -5.4  -0.4  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ -61.78,  +58.13,  +20.42,   +1.22,  -72.11,  -32.03]  speed=20 wait=0.0s  (pre max|Δ|=7.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  -3.1  +2.1  +0.2  -7.1  -0.4  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ -61.33,  +57.33,  +21.84,   +1.54,  -75.24,  -32.15]  speed=20 wait=0.0s  (pre max|Δ|=5.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -3.0  +1.5  -0.4  -5.5  +0.5  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ -61.14,  +57.02,  +22.01,   +1.68,  -75.91,  -32.21]  speed=20 wait=0.0s  (pre max|Δ|=2.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.70° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -2.4  +0.1  -0.3  -2.7  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.70°（関節 j4）
[008] 推論 2212ms  10ステップ先  Δ=+20.7  -7.2  -1.8  +2.9  +0.1  -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 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ -57.40,  +55.69,  +22.30,   +2.42,  -75.78,  -32.61]  speed=20 wait=0.0s  (pre max|Δ|=3.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.96° (tol 3.0°)
       [VIA   ] step  2  Δ= +3.9  -3.7  +0.4  +0.3  -1.3  -0.0  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ -50.75,  +54.50,  +21.54,   +3.33,  -74.64,  -33.33]  speed=20 wait=0.0s  (pre max|Δ|=6.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  5  Δ= +6.7  -3.2  -0.3  +0.6  +0.8  -0.7  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ -43.09,  +52.74,  +20.47,   +4.56,  -73.59,  -34.14]  speed=20 wait=0.0s  (pre max|Δ|=7.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.0  -3.9  -1.4  +0.8  +1.9  -1.3  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ -40.62,  +52.20,  +20.12,   +4.94,  -73.14,  -34.33]  speed=20 wait=0.0s  (pre max|Δ|=2.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.38° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.7  -2.7  -1.6  -0.1  +2.3  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.38°（関節 j1）
[009] 推論 994ms  10ステップ先  Δ=+29.9  -6.1  -6.6  +2.3  +6.2  -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_chunk009_via02: send_angles (single) [ -31.33,  +51.11,  +18.70,   +6.35,  -72.23,  -35.00]  speed=20 wait=0.0s  (pre max|Δ|=9.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.32° (tol 3.0°)
       [VIA   ] step  2  Δ= +9.4  -3.5  -3.0  +1.1  +2.2  -1.1  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ -22.79,  +49.85,  +17.19,   +7.03,  -71.15,  -35.22]  speed=20 wait=0.0s  (pre max|Δ|=8.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.35° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.8  -3.6  -2.8  +0.3  +2.1  -0.5  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ -13.10,  +48.82,  +15.45,   +7.45,  -69.48,  -35.25]  speed=20 wait=0.0s  (pre max|Δ|=9.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.9  -3.4  -3.0  +0.3  +2.6  -0.5  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ -10.71,  +48.49,  +15.08,   +7.46,  -68.97,  -35.24]  speed=20 wait=0.0s  (pre max|Δ|=2.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.6  -2.7  -1.7  -0.4  +1.3  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.31°（関節 j1）
[010] 推論 814ms  10ステップ先  Δ=+28.1  -4.9  -6.5  +0.5  +6.6  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [  -1.99,  +47.40,  +13.55,   +7.96,  -67.18,  -35.27]  speed=20 wait=0.0s  (pre max|Δ|=8.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.8  -3.4  -3.1  +0.1  +2.3  -0.3  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [  +6.42,  +46.63,  +12.04,   +8.28,  -65.50,  -35.24]  speed=20 wait=0.0s  (pre max|Δ|=8.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.14° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.6  -3.0  -2.9  +0.3  +2.2  -0.3  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +15.14,  +45.93,  +10.54,   +8.37,  -63.37,  -35.28]  speed=20 wait=0.0s  (pre max|Δ|=8.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.8  -2.8  -3.0  +0.0  +2.5  -0.3  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +17.28,  +45.86,  +10.22,   +8.31,  -62.85,  -35.27]  speed=20 wait=0.0s  (pre max|Δ|=2.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.3  -2.3  -1.7  -0.4  +1.0  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.30°（関節 j1）
[011] 推論 807ms  10ステップ先  Δ=+24.6  -1.8  -6.8  -1.7  +6.4  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +26.12,  +45.74,   +8.47,   +8.01,  -60.57,  -35.32]  speed=20 wait=0.0s  (pre max|Δ|=8.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  2  Δ= +9.0  -2.4  -3.4  -0.8  +2.4  -0.3  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +34.38,  +45.65,   +6.89,   +7.52,  -58.57,  -35.31]  speed=20 wait=0.0s  (pre max|Δ|=8.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.51° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.2  -2.5  -2.9  -0.7  +2.4  -0.3  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +40.90,  +45.87,   +5.45,   +7.12,  -56.88,  -35.36]  speed=20 wait=0.0s  (pre max|Δ|=6.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  8  Δ= +6.4  -2.3  -3.0  -0.8  +2.1  -0.4  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +41.78,  +46.38,   +5.09,   +7.09,  -56.58,  -35.39]  speed=20 wait=0.0s  (pre max|Δ|=1.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  -1.8  -1.9  -0.0  +0.7  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.94°（関節 j2）
[012] 推論 897ms  10ステップ先  Δ= +1.4 +13.2  -9.7  +0.2  -4.8  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk012_via02: send_angles (single) [ +42.31,  +50.28,   +3.01,   +7.14,  -57.66,  -35.46]  speed=20 wait=0.0s  (pre max|Δ|=4.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +2.1  -4.0  -0.3  -0.9  -0.4  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +42.94,  +55.64,   +0.32,   +7.40,  -59.23,  -35.55]  speed=20 wait=0.0s  (pre max|Δ|=4.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.1  +4.1  -4.1  -0.2  -2.5  -0.4  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +43.14,  +60.37,   -2.06,   +7.64,  -61.00,  -35.62]  speed=20 wait=0.0s  (pre max|Δ|=3.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +3.7  -3.7  -0.3  -3.4  -0.4  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +43.27,  +61.31,   -2.63,   +7.69,  -61.53,  -35.65]  speed=20 wait=0.0s  (pre max|Δ|=2.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -0.1  -1.8  -0.3  -2.2  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.58°（関節 j2）
[013] 推論 2261ms  5ステップ先  Δ= +0.3  +0.5  -2.2  -0.3  -1.9  -0.3  グリッパー→開
       [VIA   ] 中継点 2 点: step 2, 4
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk013_via02: send_angles (single) [ +43.20,  +62.88,   -3.30,   +7.69,  -62.16,  -35.66]  speed=20 wait=0.0s  (pre max|Δ|=2.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  +0.5  -2.2  -0.3  -1.8  -0.3  着いた
[SEND] pi05_chunk013_via04: send_angles (single) [ +43.19,  +62.92,   -3.30,   +7.74,  -62.32,  -35.65]  speed=20 wait=0.0s  (pre max|Δ|=1.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.37° (tol 3.0°)
       [VIA   ] step  4  Δ= +0.4  -1.2  -1.4  -0.3  +0.1  -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 1.37°（関節 j2）
[014] 推論 976ms  10ステップ先  Δ= -0.5 -17.9  +6.0  -0.2  +5.8  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk014_via02: send_angles (single) [ +43.23,  +59.06,   -1.70,   +7.74,  -61.17,  -35.70]  speed=20 wait=0.0s  (pre max|Δ|=5.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.28° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -5.1  +0.2  -0.3  +1.2  -0.4  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [ +43.17,  +53.48,   +1.08,   +7.82,  -59.37,  -35.73]  speed=20 wait=0.0s  (pre max|Δ|=7.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.85° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -7.4  +2.2  -0.3  +3.0  -0.3  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [ +42.66,  +48.05,   +3.52,   +7.89,  -57.42,  -35.70]  speed=20 wait=0.0s  (pre max|Δ|=7.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -7.5  +1.9  -0.2  +3.8  -0.3  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [ +42.30,  +46.23,   +4.02,   +7.85,  -56.58,  -35.66]  speed=20 wait=0.0s  (pre max|Δ|=3.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  -3.9  -0.0  -0.2  +2.5  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.93°（関節 j1）
[015] 推論 818ms  10ステップ先  Δ=-17.9 -24.2  -1.7  -4.4 +27.5  +2.8
       [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_chunk015_via02: send_angles (single) [ +38.63,  +40.27,   +4.59,   +6.97,  -50.68,  -35.00]  speed=20 wait=0.0s  (pre max|Δ|=7.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.09° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.1  -7.9  +0.0  -1.1  +7.1  +0.4  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [ +32.69,  +33.28,   +3.93,   +5.54,  -41.65,  -33.92]  speed=20 wait=0.0s  (pre max|Δ|=9.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.1  -9.1  -1.3  -1.8  +9.8  +1.6  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [ +26.67,  +26.55,   +3.19,   +4.04,  -33.06,  -32.94]  speed=20 wait=0.0s  (pre max|Δ|=9.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.4  -8.8  -2.0  -1.8  +9.2  +2.1  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [ +24.81,  +24.00,   +2.82,   +3.67,  -30.22,  -32.64]  speed=20 wait=0.0s  (pre max|Δ|=4.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.3  -4.5  -2.4  -0.6  +3.6  +1.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.01°（関節 j2）
[016] 推論 2473ms  10ステップ先  Δ=-20.8 -22.4  -2.2  -2.9 +26.1  +2.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 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|=30.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[RECORD] 記録終了 コマ 895 (8.918 fps) 実測角 847 回 (8.44 Hz)  電流 867 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_100857/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_100857
[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))
    (115 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: [-0.26, 1.49, 1.75, 0.26, -0.26, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [-0.26, 1.49, 1.75, 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=  -2.1  response=0.654  → 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)
    (9 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_101102
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.0 dx=+4.3 response=0.669 → 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 -2.05° → -0.61° にそろえて渡す (+1.43° 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_101102/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 1194ms  10ステップ先  Δ=-17.6 +15.1  +6.1  -0.2 -22.9  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[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) [  -4.22,   +4.53,   +2.88,   +0.19,   -4.72,  -30.36]  speed=20 wait=0.0s  (pre max|Δ|=4.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.0  +3.0  +1.1  +0.0  -4.5  -0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -9.65,   +9.50,   +4.83,   +0.10,  -12.53,  -30.51]  speed=20 wait=0.0s  (pre max|Δ|=9.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.6  +4.1  +1.1  -0.1  -9.6  -0.3  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -16.13,  +15.04,   +7.10,   -0.05,  -20.77,  -30.78]  speed=20 wait=0.0s  (pre max|Δ|=9.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.9  +4.7  +1.4  -0.0  -9.6  -0.5  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -17.86,  +16.57,   +7.80,   -0.06,  -23.12,  -30.85]  speed=20 wait=0.0s  (pre max|Δ|=4.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.25° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.0  +0.6  -0.1  +0.0  -4.0  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.00°（関節 j1）
[001] 推論 873ms  10ステップ先  Δ=-23.9 +19.0  +5.8  +1.3 -30.1  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -25.84,  +22.58,   +9.62,   +0.32,  -31.53,  -30.93]  speed=20 wait=0.0s  (pre max|Δ|=9.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.7  +5.0  +1.2  +1.1  -9.1  -0.6  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -33.21,  +28.65,  +11.74,   +0.55,  -40.71,  -30.94]  speed=20 wait=0.0s  (pre max|Δ|=10.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.7  +5.3  +1.5  +0.3 -10.2  -0.5  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -39.69,  +34.61,  +13.86,   +0.59,  -49.57,  -30.93]  speed=20 wait=0.0s  (pre max|Δ|=9.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.7  +5.0  +1.4  +0.2  -9.8  -0.5  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -41.60,  +36.60,  +14.26,   +0.55,  -52.44,  -30.91]  speed=20 wait=0.0s  (pre max|Δ|=3.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.3  +1.0  -0.3  -0.3  -3.8  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j1）
[002] 推論 808ms  10ステップ先  Δ=-16.8 +14.0  +5.0  +0.7 -20.1  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -49.06,  +42.25,  +16.13,   +1.14,  -61.18,  -30.93]  speed=20 wait=0.0s  (pre max|Δ|=9.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.4  +4.6  +1.5  +0.1  -9.2  -0.5  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -54.77,  +47.94,  +17.97,   +1.49,  -68.67,  -30.93]  speed=20 wait=0.0s  (pre max|Δ|=8.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.8  +4.7  +1.3  -0.0  -8.3  -0.5  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -58.06,  +51.31,  +19.47,   +1.57,  -72.10,  -30.94]  speed=20 wait=0.0s  (pre max|Δ|=4.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.6  +2.5  +1.1  -0.4  -4.2  -0.5  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -58.38,  +51.64,  +19.60,   +1.52,  -72.02,  -30.96]  speed=20 wait=0.0s  (pre max|Δ|=0.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  -0.7  -0.3  +0.0  -0.0  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.91°（関節 j1）
[003] 推論 2515ms  10ステップ先  Δ= -2.2  +3.8  +1.0  -0.2  -0.7  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ -59.58,  +53.79,  +21.08,   +1.65,  -73.90,  -30.97]  speed=20 wait=0.0s  (pre max|Δ|=1.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.6  +1.2  +1.2  -0.3  -1.9  -0.5  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -59.86,  +55.07,  +21.57,   +1.82,  -74.10,  -31.03]  speed=20 wait=0.0s  (pre max|Δ|=0.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.82° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.4  +0.3  +0.1  +0.1  -0.3  -0.5  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -60.11,  +56.07,  +20.96,   +1.84,  -73.15,  -31.07]  speed=20 wait=0.0s  (pre max|Δ|=1.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.5  -0.1  -0.5  -0.2  +1.1  -0.5  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -60.23,  +56.37,  +20.83,   +1.86,  -72.71,  -31.07]  speed=20 wait=0.0s  (pre max|Δ|=1.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.6  -0.7  -0.6  -0.2  +1.5  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.55°（関節 j4）
[004] 推論 807ms  10ステップ先  Δ= -1.8  +3.6  -5.7  -0.7 +13.2  -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 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ -60.47,  +57.77,  +19.09,   +1.79,  -69.00,  -31.22]  speed=20 wait=0.0s  (pre max|Δ|=5.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.9  +0.5  -2.4  -0.2  +5.3  -0.5  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -60.92,  +59.43,  +17.23,   +1.60,  -64.77,  -31.29]  speed=20 wait=0.0s  (pre max|Δ|=5.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.4  +0.7  -3.1  -0.5  +5.5  -0.5  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -61.33,  +60.74,  +15.92,   +1.44,  -61.92,  -31.32]  speed=20 wait=0.0s  (pre max|Δ|=3.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.8  +0.4  -2.4  -0.6  +4.0  -0.5  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -61.38,  +60.94,  +15.69,   +1.36,  -61.06,  -31.32]  speed=20 wait=0.0s  (pre max|Δ|=1.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.27° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -0.7  -1.3  -0.5  +1.9  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.27°（関節 j2）
[005] 推論 824ms  4ステップ先  Δ= -0.2  -0.6  -1.3  -0.4  +2.1  -0.4  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 3
       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) [ -61.59,  +61.19,  +15.65,   +1.39,  -60.23,  -31.32]  speed=20 wait=0.0s  (pre max|Δ|=1.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  -0.6  -1.3  -0.4  +1.8  -0.4  着いた
[SEND] pi05_chunk005_via03: send_angles (single) [ -61.59,  +61.19,  +15.65,   +1.39,  -60.23,  -31.32]  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  3  Δ= -0.2  -0.6  -1.3  -0.3  +1.7  -0.4  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.73°（関節 j4）
[006] 推論 2520ms  10ステップ先  Δ= -0.8  -2.0  +1.7  +0.6  -1.8  -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) [ -61.50,  +60.89,  +15.46,   +0.64,  -60.24,  -31.22]  speed=20 wait=0.0s  (pre max|Δ|=1.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.5  -0.9  -0.8  +0.1  +1.7  -0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -61.57,  +60.61,  +15.35,   +0.14,  -60.37,  -31.10]  speed=20 wait=0.0s  (pre max|Δ|=1.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.59° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.6  -1.2  -0.5  -0.2  +1.6  -0.3  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -61.71,  +60.11,  +17.15,   +0.62,  -62.58,  -31.18]  speed=20 wait=0.0s  (pre max|Δ|=1.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.41° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.7  -1.7  +1.2  +0.3  -0.6  -0.3  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -61.79,  +59.81,  +17.95,   +0.84,  -63.74,  -31.20]  speed=20 wait=0.0s  (pre max|Δ|=1.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.8  -1.5  +1.6  +0.5  -1.8  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.44°（関節 j1）
[007] 推論 808ms  10ステップ先  Δ= +1.1  -4.7  +4.3  +1.1  -8.6  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ -61.78,  +59.10,  +18.75,   +0.73,  -65.61,  -31.22]  speed=20 wait=0.0s  (pre max|Δ|=2.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.5  -2.1  +1.5  +0.3  -2.8  -0.3  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ -61.55,  +57.99,  +20.41,   +0.83,  -68.68,  -31.21]  speed=20 wait=0.0s  (pre max|Δ|=4.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.94° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  -2.8  +2.1  +0.1  -5.0  -0.1  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ -60.89,  +56.84,  +21.48,   +1.43,  -71.03,  -31.39]  speed=20 wait=0.0s  (pre max|Δ|=5.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -3.3  +1.2  +0.4  -5.3  +0.2  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ -60.12,  +56.50,  +21.48,   +1.56,  -71.26,  -31.49]  speed=20 wait=0.0s  (pre max|Δ|=2.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.53° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  -2.5  +0.1  -0.3  -2.5  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.53°（関節 j4）
[008] 推論 974ms  10ステップ先  Δ= +1.3  -2.5  +1.1  -0.8  -5.4  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ -60.16,  +56.37,  +22.65,   +1.63,  -73.17,  -31.46]  speed=20 wait=0.0s  (pre max|Δ|=3.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.51° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  -2.5  +1.3  -0.6  -3.7  +0.4  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ -60.10,  +56.46,  +22.75,   +1.39,  -73.82,  -31.48]  speed=20 wait=0.0s  (pre max|Δ|=2.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  -2.4  -0.0  -1.0  -1.4  +0.4  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ -59.88,  +56.59,  +22.49,   +1.31,  -74.11,  -31.53]  speed=20 wait=0.0s  (pre max|Δ|=2.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -2.3  -0.3  -1.0  -1.7  +0.4  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ -58.51,  +56.39,  +22.43,   +1.53,  -74.09,  -31.64]  speed=20 wait=0.0s  (pre max|Δ|=2.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.49° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.4  -2.5  -0.3  -0.6  -1.7  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.49°（関節 j1）
[009] 推論 994ms  10ステップ先  Δ=+18.1  -5.3  -2.4  +2.4  -0.8  -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_chunk009_via02: send_angles (single) [ -57.15,  +56.20,  +22.70,   +1.69,  -75.06,  -31.80]  speed=20 wait=0.0s  (pre max|Δ|=2.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.68° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.3  -2.7  -0.1  -0.2  -1.3  +0.1  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ -50.37,  +55.45,  +21.93,   +2.76,  -74.56,  -32.38]  speed=20 wait=0.0s  (pre max|Δ|=6.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  5  Δ= +6.5  -3.4  -0.8  +0.9  +0.3  -0.5  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ -42.35,  +53.85,  +20.78,   +4.15,  -73.58,  -33.13]  speed=20 wait=0.0s  (pre max|Δ|=8.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.2  -3.6  -2.0  +1.3  +1.3  -1.1  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ -40.27,  +53.54,  +20.39,   +4.50,  -73.21,  -33.31]  speed=20 wait=0.0s  (pre max|Δ|=2.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.2  -2.5  -2.2  +0.4  +1.7  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.00°（関節 j1）
h[010] 推論 2214ms  10ステップ先  Δ=+29.3  -5.9  -5.1  +2.6  +7.4  -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 > 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|=74.17°, post-send timeout 13.1s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[RECORD] 記録終了 コマ 511 (8.906 fps) 実測角 500 回 (8.71 Hz)  電流 504 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_101102/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_20261111_101102
[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))
    (64 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (4 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.52, 1.49, 1.75, 0.35, -0.35, -30.32]
[SEND] HOME へ移動指令
[WAIT] t=0.7s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [-0.52, 1.49, 1.75, 0.35, -0.35, -30.32]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[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=  +4.2  dx=  -3.1  response=0.663  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.97° → -0.61° にソフトでそろえる (+1.35° 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 (4 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_101217
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.5 dx=+3.8 response=0.570 → 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_101217/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 837ms  10ステップ先  Δ=-18.8 +16.0  +5.0  -0.1 -22.8  -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 > 
[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) [  -4.48,   +4.67,   +2.69,   +0.15,   -4.98,  -30.28]  speed=20 wait=0.0s  (pre max|Δ|=4.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.0  +3.2  +0.9  -0.1  -4.7  -0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [ -10.00,   +9.38,   +4.15,   +0.11,  -12.22,  -30.39]  speed=20 wait=0.0s  (pre max|Δ|=9.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.77° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.4  +3.9  +0.6  -0.1  -9.2  -0.2  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -17.01,  +15.31,   +6.01,   +0.10,  -20.37,  -30.57]  speed=20 wait=0.0s  (pre max|Δ|=9.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.3  +5.0  +1.0  +0.2  -9.9  -0.3  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -19.30,  +17.44,   +6.73,   +0.15,  -23.03,  -30.67]  speed=20 wait=0.0s  (pre max|Δ|=4.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.8  +1.3  -0.0  +0.3  -4.2  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j1）
[001] 推論 838ms  10ステップ先  Δ=-22.8 +18.3  +5.6  +1.2 -30.2  -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_chunk001_via02: send_angles (single) [ -26.29,  +22.72,   +8.55,   +0.27,  -30.85,  -30.69]  speed=20 wait=0.0s  (pre max|Δ|=8.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.6  +4.3  +1.0  +1.0  -8.8  -0.5  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -33.50,  +28.49,  +10.66,   +0.48,  -39.93,  -30.71]  speed=20 wait=0.0s  (pre max|Δ|=9.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.18° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.4  +4.8  +1.3  +0.1 -10.0  -0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -40.33,  +34.79,  +12.77,   +0.47,  -49.64,  -30.71]  speed=20 wait=0.0s  (pre max|Δ|=10.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.4  +5.3  +1.4  -0.0 -10.9  -0.4  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -42.25,  +36.78,  +13.17,   +0.43,  -52.24,  -30.71]  speed=20 wait=0.0s  (pre max|Δ|=3.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.3  +0.9  -0.2  -0.2  -3.6  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j1）
[002] 推論 2364ms  10ステップ先  Δ=-15.1 +12.9  +3.8  +0.8 -17.4  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -49.45,  +42.78,  +14.80,   +0.71,  -60.71,  -30.74]  speed=20 wait=0.0s  (pre max|Δ|=9.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.4  +5.0  +1.3  +0.1  -9.0  -0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -54.79,  +47.81,  +16.16,   +1.14,  -67.27,  -30.76]  speed=20 wait=0.0s  (pre max|Δ|=7.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.1  +4.0  +0.8  -0.1  -7.2  -0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -56.95,  +50.81,  +17.27,   +1.22,  -69.70,  -30.85]  speed=20 wait=0.0s  (pre max|Δ|=2.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  8  Δ= -2.3  +2.0  +0.7  -0.5  -2.7  -0.4  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -57.09,  +50.74,  +17.33,   +1.24,  -69.04,  -30.86]  speed=20 wait=0.0s  (pre max|Δ|=1.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.8  -1.0  +0.5  +0.5  +0.3  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.11°（関節 j1）
[003] 推論 742ms  10ステップ先  Δ= -2.3  +4.8  +1.0  +0.0  -1.5  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ -58.61,  +52.76,  +18.19,   +1.52,  -70.60,  -30.86]  speed=20 wait=0.0s  (pre max|Δ|=1.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.9  +0.9  +0.5  -0.1  -1.2  -0.5  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -58.86,  +54.09,  +18.74,   +1.66,  -71.07,  -30.89]  speed=20 wait=0.0s  (pre max|Δ|=0.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.3  +0.3  +0.3  +0.1  -0.6  -0.5  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -59.15,  +56.04,  +18.80,   +1.65,  -71.03,  -30.92]  speed=20 wait=0.0s  (pre max|Δ|=0.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.5  +0.9  +0.3  -0.3  -0.1  -0.5  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -58.96,  +56.63,  +18.62,   +1.69,  -70.93,  -30.94]  speed=20 wait=0.0s  (pre max|Δ|=0.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  -0.5  +0.2  -0.2  +0.3  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.93°（関節 j1）
[004] 推論 859ms  10ステップ先  Δ= -1.2  +2.3  -1.8  -0.6  +5.5  -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_chunk004_via02: send_angles (single) [ -59.82,  +57.54,  +18.69,   +1.70,  -70.94,  -30.99]  speed=20 wait=0.0s  (pre max|Δ|=1.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.0  -0.0  +0.2  -0.2  +0.3  -0.6  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -59.90,  +58.22,  +18.17,   +1.60,  -69.31,  -31.05]  speed=20 wait=0.0s  (pre max|Δ|=1.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.96° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -0.3  -0.3  -0.2  +2.0  -0.6  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -59.94,  +59.29,  +17.03,   +1.39,  -66.55,  -31.08]  speed=20 wait=0.0s  (pre max|Δ|=4.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.82° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +0.1  -1.4  -0.5  +4.7  -0.7  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -59.98,  +59.82,  +16.61,   +1.31,  -65.72,  -31.08]  speed=20 wait=0.0s  (pre max|Δ|=2.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.0  -0.5  -1.8  -0.4  +2.7  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.69°（関節 j4）
[005] 推論 915ms  7ステップ先  Δ= -0.0  +2.0  -2.7  -0.8  +4.2  -0.7  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_chunk005_via02: send_angles (single) [ -60.02,  +62.20,  +15.38,   +1.06,  -64.53,  -31.13]  speed=20 wait=0.0s  (pre max|Δ|=2.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.0  +1.4  -2.5  -0.6  +2.5  -0.6  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -60.05,  +62.84,  +15.13,   +0.96,  -63.18,  -31.15]  speed=20 wait=0.0s  (pre max|Δ|=2.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.41° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.0  -0.4  -1.3  -0.4  +2.2  -0.6  着いた
[SEND] pi05_chunk005_via06: send_angles (single) [ -60.05,  +62.84,  +15.13,   +0.96,  -63.18,  -31.15]  speed=20 wait=0.0s  (pre max|Δ|=1.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.33° (tol 3.0°)
       [VIA   ] step  6  Δ= -0.0  -0.8  -1.1  -0.3  +1.3  -0.6  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 2.29°（関節 j4）
[006] 推論 2483ms  10ステップ先  Δ= -0.6  -5.0  +3.0  +0.8  -2.9  -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_chunk006_via02: send_angles (single) [ -60.24,  +62.39,  +15.18,   +0.70,  -63.34,  -31.16]  speed=20 wait=0.0s  (pre max|Δ|=2.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.7  -1.2  -0.6  +0.3  +2.1  -0.5  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -59.90,  +60.57,  +16.20,   +0.80,  -64.78,  -31.18]  speed=20 wait=0.0s  (pre max|Δ|=3.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.3  -3.1  +0.4  +0.5  +0.7  -0.5  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -60.01,  +59.08,  +18.39,   +1.11,  -67.78,  -31.22]  speed=20 wait=0.0s  (pre max|Δ|=4.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.92° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.4  -3.1  +2.6  +0.7  -4.1  -0.2  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -60.20,  +58.68,  +18.79,   +1.17,  -68.32,  -31.23]  speed=20 wait=0.0s  (pre max|Δ|=3.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.14° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.6  -2.4  +0.6  +0.4  -3.5  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.14°（関節 j1）
[007] 推論 989ms  10ステップ先  Δ= +2.8  -4.6  +3.6  +1.3  -8.7  -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_chunk007_via02: send_angles (single) [ -60.17,  +57.65,  +19.87,   +1.23,  -69.56,  -31.25]  speed=20 wait=0.0s  (pre max|Δ|=3.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.5  -3.2  +1.4  +0.3  -2.4  +0.3  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ -60.29,  +56.95,  +21.55,   +1.45,  -72.47,  -31.25]  speed=20 wait=0.0s  (pre max|Δ|=3.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.37° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.5  -2.7  +1.5  +0.4  -3.1  +0.3  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ -58.62,  +56.49,  +22.25,   +1.99,  -74.98,  -31.44]  speed=20 wait=0.0s  (pre max|Δ|=3.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.39° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.2  -2.7  +0.6  +0.9  -3.1  +0.1  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ -56.81,  +56.19,  +21.91,   +2.22,  -75.11,  -31.62]  speed=20 wait=0.0s  (pre max|Δ|=2.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.5  -2.2  -0.1  +0.2  -0.6  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.25°（関節 j1）
[008] 推論 1012ms  10ステップ先  Δ=+25.5  -6.3  -3.3  +4.1  +2.3  -2.1
       [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|=74.61°, post-send timeout 13.2s)
  [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|=1.75° (tol 2.5°)
[RECORD] 記録終了 コマ 496 (8.879 fps) 実測角 435 回 (7.79 Hz)  電流 441 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_101217/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_20261111_101217
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1))
    (62 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (5 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.52, 1.49, 1.75, 0.26, -0.43, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [-0.52, 1.49, 1.75, 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=  +4.2  dx=  -3.0  response=0.686  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -2.01° → -0.61° にソフトでそろえる (+1.39° 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 (5 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_101329
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.5 dx=+3.8 response=0.571 → 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_101329/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 2569ms  10ステップ先  Δ=-19.2 +17.7  +5.6  -0.3 -22.9  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[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) [  -4.40,   +5.26,   +2.89,   +0.31,   -4.78,  -30.32]  speed=20 wait=0.0s  (pre max|Δ|=4.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.32° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.9  +3.8  +1.1  +0.0  -4.5  -0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [ -10.37,  +10.93,   +4.67,   +0.16,  -12.13,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=9.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.2  +4.8  +0.9  -0.0  -9.3  -0.2  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -17.44,  +17.30,   +6.80,   -0.04,  -20.46,  -30.54]  speed=20 wait=0.0s  (pre max|Δ|=10.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.3  +5.4  +1.3  -0.0 -10.0  -0.3  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -19.72,  +19.22,   +7.36,   -0.01,  -23.15,  -30.57]  speed=20 wait=0.0s  (pre max|Δ|=4.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.7  +0.9  -0.3  +0.3  -4.2  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j4）
[001] 推論 1035ms  10ステップ先  Δ=-22.6 +20.0  +5.5  +1.3 -30.2  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -26.64,  +25.25,   +9.31,   +0.32,  -31.34,  -30.56]  speed=20 wait=0.0s  (pre max|Δ|=9.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.5  +5.1  +1.2  +1.1  -9.2  -0.4  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -33.53,  +31.45,  +11.38,   +0.46,  -40.34,  -30.54]  speed=20 wait=0.0s  (pre max|Δ|=9.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  5  Δ= -7.3  +5.2  +1.4  -0.1  -9.8  -0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -40.30,  +38.07,  +13.31,   +0.42,  -49.61,  -30.49]  speed=20 wait=0.0s  (pre max|Δ|=10.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.1  +5.6  +1.3  -0.1 -10.2  -0.4  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -42.31,  +40.16,  +13.58,   +0.39,  -52.32,  -30.46]  speed=20 wait=0.0s  (pre max|Δ|=3.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.67° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.2  +1.1  -0.3  -0.2  -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 1024ms  10ステップ先  Δ=-12.9 +13.6  +2.6  +0.2 -17.4  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -49.90,  +47.10,  +15.03,   +0.70,  -62.35,  -30.47]  speed=20 wait=0.0s  (pre max|Δ|=10.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  2  Δ= -7.6  +6.1  +1.0  -0.1 -10.3  -0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -54.63,  +52.45,  +16.29,   +1.12,  -68.53,  -30.46]  speed=20 wait=0.0s  (pre max|Δ|=6.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.78° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.8  +4.5  +0.7  -0.1  -6.7  -0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -55.66,  +54.41,  +16.69,   +1.30,  -69.54,  -30.47]  speed=20 wait=0.0s  (pre max|Δ|=1.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.3  +0.8  +0.0  -0.3  -1.4  -0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -55.58,  +54.60,  +16.63,   +1.31,  -69.41,  -30.48]  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  9  Δ= +0.3  -0.9  -0.2  -0.4  -0.1  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.94°（関節 j1）
[003] 推論 816ms  10ステップ先  Δ= -1.7  +2.6  +1.9  -0.3  -1.5  -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_chunk003_via02: send_angles (single) [ -57.41,  +57.31,  +17.90,   +1.35,  -70.70,  -30.47]  speed=20 wait=0.0s  (pre max|Δ|=1.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.5  +1.8  +1.1  -0.4  -1.4  -0.3  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -57.68,  +57.95,  +18.62,   +1.43,  -70.96,  -30.48]  speed=20 wait=0.0s  (pre max|Δ|=0.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.3  -0.4  +0.3  -0.2  -0.7  -0.4  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -57.58,  +57.99,  +18.79,   +1.44,  -70.84,  -30.50]  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  8  Δ= -0.1  -0.9  +0.5  -0.4  -0.4  -0.4  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -57.57,  +58.14,  +18.64,   +1.42,  -70.81,  -30.50]  speed=20 wait=0.0s  (pre max|Δ|=0.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.83° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.7  +0.2  -0.4  -0.4  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.83°（関節 j1）
[004] 推論 2386ms  10ステップ先  Δ= -0.6  +0.3  +0.2  -0.4  -0.6  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ -58.05,  +58.49,  +19.40,   +1.50,  -71.65,  -30.52]  speed=20 wait=0.0s  (pre max|Δ|=1.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.6  -0.5  +1.0  -0.3  -1.3  -0.5  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -57.95,  +58.08,  +19.57,   +1.59,  -71.69,  -30.55]  speed=20 wait=0.0s  (pre max|Δ|=1.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.33° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.5  -1.3  +0.1  -0.3  -0.2  -0.5  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -58.11,  +58.86,  +18.98,   +1.52,  -71.43,  -30.61]  speed=20 wait=0.0s  (pre max|Δ|=0.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.6  -0.6  -0.5  -0.3  +0.1  -0.6  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -58.11,  +59.29,  +18.60,   +1.48,  -71.02,  -30.61]  speed=20 wait=0.0s  (pre max|Δ|=0.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.6  -0.6  -0.9  -0.4  +0.5  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.00°（関節 j1）
[005] 推論 926ms  10ステップ先  Δ= -1.0  +2.4  -2.6  -0.6  +3.4  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ -58.31,  +60.61,  +18.25,   +1.30,  -70.58,  -30.64]  speed=20 wait=0.0s  (pre max|Δ|=1.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.8  +0.3  -1.3  -0.5  +1.0  -0.6  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -58.56,  +61.49,  +17.83,   +1.25,  -70.02,  -30.66]  speed=20 wait=0.0s  (pre max|Δ|=1.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.52° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.0  -0.2  -1.5  -0.3  +1.5  -0.6  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -58.60,  +62.25,  +17.27,   +1.22,  -68.81,  -30.66]  speed=20 wait=0.0s  (pre max|Δ|=2.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -0.2  -2.1  -0.4  +2.7  -0.5  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -58.49,  +62.67,  +16.91,   +1.14,  -68.12,  -30.64]  speed=20 wait=0.0s  (pre max|Δ|=2.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.0  -0.6  -1.6  -0.4  +2.5  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.84°（関節 j4）
[006] 推論 919ms  8ステップ先  Δ= -0.0  +0.4  -1.9  -0.9  +4.3  -0.5  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_chunk006_via02: send_angles (single) [ -58.38,  +63.75,  +16.28,   +0.71,  -66.94,  -30.65]  speed=20 wait=0.0s  (pre max|Δ|=2.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +0.0  -1.9  -0.7  +2.4  -0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -58.58,  +64.19,  +16.11,   +0.64,  -65.91,  -30.67]  speed=20 wait=0.0s  (pre max|Δ|=2.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  -0.6  -1.1  -0.3  +2.1  -0.4  着いた
[SEND] pi05_chunk006_via07: send_angles (single) [ -58.56,  +64.16,  +16.26,   +0.58,  -65.68,  -30.67]  speed=20 wait=0.0s  (pre max|Δ|=1.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  7  Δ= -0.1  -0.8  -0.9  -0.4  +2.0  -0.5  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 2.08°（関節 j4）
[007] 推論 2295ms  10ステップ先  Δ= -0.2  -6.5  +4.2  +0.9  -1.7  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > r
       爪を締め直します (開かずに閉じる指令をもう一度)
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ -58.77,  +63.43,  +16.64,   +0.51,  -65.72,  -30.67]  speed=20 wait=0.0s  (pre max|Δ|=1.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  -1.5  +0.2  +0.2  +2.0  -0.4  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ -58.52,  +61.38,  +18.08,   +0.76,  -66.62,  -30.69]  speed=20 wait=0.0s  (pre max|Δ|=2.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  -2.9  +1.7  +0.4  +0.0  -0.5  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ -58.48,  +58.97,  +20.44,   +1.26,  -68.93,  -30.74]  speed=20 wait=0.0s  (pre max|Δ|=4.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.49° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.0  -3.7  +3.3  +0.8  -4.3  -0.3  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ -58.65,  +58.46,  +20.76,   +1.36,  -69.42,  -30.76]  speed=20 wait=0.0s  (pre max|Δ|=2.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.72° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  -2.0  +0.3  +0.6  -3.0  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.72°（関節 j4）
[008] 推論 842ms  10ステップ先  Δ=+19.3  -5.9  -1.8  +3.3  -4.9  -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 > r
       爪を締め直します (開かずに閉じる指令をもう一度)
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ -56.70,  +57.51,  +21.49,   +1.71,  -71.49,  -30.89]  speed=20 wait=0.0s  (pre max|Δ|=3.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.69° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.7  -3.0  +0.8  +0.6  -3.0  +0.1  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ -49.60,  +56.26,  +20.46,   +2.66,  -71.92,  -31.39]  speed=20 wait=0.0s  (pre max|Δ|=6.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  5  Δ= +6.9  -3.4  -0.9  +0.2  -0.7  -0.4  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ -41.86,  +54.90,  +19.16,   +3.76,  -71.81,  -31.97]  speed=20 wait=0.0s  (pre max|Δ|=8.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.14° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.1  -3.5  -2.2  +0.6  -0.6  -0.9  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ -39.19,  +54.58,  +18.72,   +4.18,  -71.63,  -32.17]  speed=20 wait=0.0s  (pre max|Δ|=2.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.46° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.0  -2.5  -1.8  -0.3  -0.4  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.37°（関節 j1）
[009] 推論 904ms  10ステップ先  Δ=+28.3  -6.0  -4.1  +2.4  +3.3  -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_chunk009_via02: send_angles (single) [ -31.29,  +53.32,  +18.69,   +5.18,  -71.08,  -32.41]  speed=20 wait=0.0s  (pre max|Δ|=8.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.1  -3.6  -1.5  +0.6  +0.2  -0.5  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ -23.07,  +52.38,  +17.98,   +6.05,  -70.05,  -32.73]  speed=20 wait=0.0s  (pre max|Δ|=8.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.5  -3.2  -2.2  +0.6  +1.2  -0.7  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ -13.82,  +51.21,  +16.56,   +6.74,  -68.54,  -33.11]  speed=20 wait=0.0s  (pre max|Δ|=9.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.5  -3.4  -2.7  +0.4  +2.7  -0.6  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ -11.04,  +50.92,  +16.07,   +6.86,  -67.94,  -33.20]  speed=20 wait=0.0s  (pre max|Δ|=2.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.51° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.9  -2.5  -1.7  -0.1  +2.8  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.51°（関節 j1）
[010] 推論 849ms  10ステップ先  Δ=+29.4  -7.4  -5.2  +0.8  +7.5  -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 > r
       爪を締め直します (開かずに閉じる指令をもう一度)
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [  -2.10,  +49.40,  +14.76,   +7.47,  -66.43,  -33.35]  speed=20 wait=0.0s  (pre max|Δ|=8.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  2  Δ= +9.0  -4.0  -3.0  +0.4  +2.3  -0.3  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [  +6.62,  +47.84,  +13.68,   +7.69,  -64.83,  -33.39]  speed=20 wait=0.0s  (pre max|Δ|=8.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.9  -3.9  -2.5  +0.1  +2.1  -0.4  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +16.03,  +46.22,  +12.71,   +7.90,  -62.98,  -33.45]  speed=20 wait=0.0s  (pre max|Δ|=9.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.47° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.6  -4.1  -2.4  +0.1  +2.2  -0.4  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +18.23,  +46.05,  +12.56,   +7.92,  -62.49,  -33.45]  speed=20 wait=0.0s  (pre max|Δ|=2.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.46° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.4  -2.6  -1.6  -0.2  +0.9  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.46°（関節 j1）
[011] 推論 2328ms  10ステップ先  Δ=+23.4  -2.8  -6.3  -1.3  +4.6  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +26.56,  +45.41,  +11.21,   +7.82,  -60.67,  -33.52]  speed=20 wait=0.0s  (pre max|Δ|=8.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.40° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.4  -3.1  -2.8  -0.6  +2.1  -0.4  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +34.23,  +44.82,   +9.78,   +7.51,  -59.07,  -33.56]  speed=20 wait=0.0s  (pre max|Δ|=7.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  5  Δ= +7.9  -3.0  -2.9  -0.6  +2.1  -0.3  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +40.74,  +45.14,   +8.27,   +7.17,  -58.12,  -33.66]  speed=20 wait=0.0s  (pre max|Δ|=6.12°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  8  Δ= +6.1  -1.8  -3.2  -0.7  +1.2  -0.4  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +41.60,  +45.75,   +7.81,   +7.11,  -58.18,  -33.69]  speed=20 wait=0.0s  (pre max|Δ|=1.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  -1.2  -1.9  -0.1  +0.4  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.94°（関節 j2）
[012] 推論 1012ms  10ステップ先  Δ= +1.8 +13.7  -9.7  +0.6  -5.1  -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_chunk012_via02: send_angles (single) [ +42.88,  +49.85,   +5.38,   +7.21,  -59.26,  -34.02]  speed=20 wait=0.0s  (pre max|Δ|=4.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.09° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +2.9  -4.4  -0.3  -0.8  -0.6  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +43.62,  +54.62,   +2.85,   +7.56,  -60.77,  -34.42]  speed=20 wait=0.0s  (pre max|Δ|=4.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +3.6  -4.0  -0.1  -2.3  -0.2  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +43.65,  +59.51,   +0.59,   +7.91,  -62.89,  -34.71]  speed=20 wait=0.0s  (pre max|Δ|=4.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.78° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +3.6  -3.7  +0.0  -4.4  -0.5  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +43.62,  +60.60,   +0.08,   +8.03,  -63.50,  -34.78]  speed=20 wait=0.0s  (pre max|Δ|=3.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.0  -1.8  +0.1  -3.3  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.76°（関節 j2）
[013] 推論 1036ms  6ステップ先  Δ= +0.2  +1.4  -2.9  +0.1  -3.0  -0.5  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_chunk013_via02: send_angles (single) [ +43.69,  +63.19,   -1.07,   +8.03,  -64.66,  -34.85]  speed=20 wait=0.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.33° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +1.4  -2.9  +0.0  -2.5  -0.4  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +43.66,  +63.17,   -1.10,   +8.10,  -65.12,  -34.94]  speed=20 wait=0.0s  (pre max|Δ|=1.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.36° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -1.2  -1.4  +0.0  -1.4  -0.4  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.36°（関節 j2）
[014] 推論 1036ms  10ステップ先  Δ= +0.5 -16.8  +4.7  +0.1 +10.3  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk014_via02: send_angles (single) [ +43.82,  +58.73,   +0.54,   +8.07,  -63.06,  -34.95]  speed=20 wait=0.0s  (pre max|Δ|=5.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -5.6  +0.3  -0.0  +3.1  -0.2  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [ +43.93,  +53.70,   +2.85,   +8.16,  -60.54,  -34.97]  speed=20 wait=0.0s  (pre max|Δ|=7.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -7.0  +1.8  +0.1  +4.1  -0.3  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [ +44.09,  +48.97,   +4.71,   +8.21,  -57.41,  -34.96]  speed=20 wait=0.0s  (pre max|Δ|=6.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.79° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  -6.7  +1.3  +0.0  +4.5  -0.2  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [ +43.96,  +47.52,   +4.92,   +8.15,  -55.83,  -34.92]  speed=20 wait=0.0s  (pre max|Δ|=3.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -3.5  -0.4  -0.1  +2.9  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.22°（関節 j1）
[015] 推論 816ms  10ステップ先  Δ=-19.1 -25.3  -1.3  -3.9 +28.2  +2.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk015_via02: send_angles (single) [ +40.33,  +40.93,   +5.54,   +7.46,  -49.53,  -34.29]  speed=20 wait=0.0s  (pre max|Δ|=8.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.5  -8.8  +0.2  -0.9  +7.2  +0.5  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [ +34.21,  +33.89,   +5.19,   +6.21,  -40.88,  -33.43]  speed=20 wait=0.0s  (pre max|Δ|=9.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.2  -9.1  -0.2  -1.8  +9.4  +1.3  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [ +27.15,  +26.61,   +4.32,   +4.82,  -31.35,  -32.63]  speed=20 wait=0.0s  (pre max|Δ|=10.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.95° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.6  -9.3  -1.0  -1.9 +10.1  +1.9  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [ +24.77,  +24.45,   +4.08,   +4.46,  -28.77,  -32.44]  speed=20 wait=0.0s  (pre max|Δ|=4.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.74° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.7  -4.1  -1.4  -0.8  +3.0  +1.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.74°（関節 j1）
[016] 推論 2346ms  10ステップ先  Δ=-20.3 -21.4  -1.4  -3.5 +24.7  +2.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 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|=29.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 2.5°)
[RECORD] 記録終了 コマ 942 (8.908 fps) 実測角 897 回 (8.48 Hz)  電流 906 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_101329/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_101329
[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))
    (112 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (6 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [0.26, 1.49, 1.75, 0.26, -0.26, -30.32]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [0.26, 1.49, 1.75, 0.26, -0.26, -30.32]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[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=  +4.2  dx=  -1.1  response=0.747  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -2.01° → -0.61° にソフトでそろえる (+1.39° 回して重ねる. プラス=右下がり)
[ALIGN ] dy=  +6.8  dx=  +0.4  response=0.145  → 測れない (相関が弱く dx/dy が当てにならない (response=0.145 < 0.20))  傾き -7.43° → -0.61° にソフトでそろえる (+6.81° 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=  +7.0  dx=  +0.5  response=0.114  → 測れない (相関が弱く dx/dy が当てにならない (response=0.114 < 0.20))  傾き -8.03° → -0.61° にソフトでそろえる (+7.42° 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=  +7.2  dx=  +0.6  response=0.096  → 測れない (相関が弱く dx/dy が当てにならない (response=0.096 < 0.20))  傾き -8.38° → -0.61° にソフトでそろえる (+7.77° 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=  +7.0  dx=  +0.3  response=0.134  → 測れない (相関が弱く dx/dy が当てにならない (response=0.134 < 0.20))  傾き -8.80° → -0.61° にソフトでそろえる (+8.19° 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=  +8.6  dx=  +1.2  response=0.105  → 測れない (相関が弱く dx/dy が当てにならない (response=0.105 < 0.20))  傾き -9.24° → -0.61° にソフトでそろえる (+8.62° 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=  +9.2  dx=  +0.2  response=0.064  → 測れない (相関が弱く dx/dy が当てにならない (response=0.064 < 0.20))  傾き -10.01° → -0.61° にソフトでそろえる (+9.39° 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=  +9.1  dx=  +1.5  response=0.079  → 測れない (相関が弱く dx/dy が当てにならない (response=0.079 < 0.20))  傾き -10.67° → -0.61° にソフトでそろえる (+10.05° 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= +10.4  dx=  -0.4  response=0.077  → 測れない (相関が弱く dx/dy が当てにならない (response=0.077 < 0.20))  傾き -13.64° → -0.61° にソフトでそろえる (+13.03° 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=  +4.2  dx=  -0.7  response=0.752  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -2.01° → -0.61° にソフトでそろえる (+1.39° 回して重ねる. プラス=右下がり)
[ALIGN ] dy= +10.9  dx=  -0.1  response=0.079  → 測れない (相関が弱く dx/dy が当てにならない (response=0.079 < 0.20))  傾き -13.90° → -0.61° にソフトでそろえる (+13.29° 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=  +9.7  dx=  +0.2  response=0.080  → 測れない (相関が弱く dx/dy が当てにならない (response=0.080 < 0.20))  傾き -13.90° → -0.61° にソフトでそろえる (+13.29° 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= +11.1  dx=  -0.8  response=0.043  → 測れない (相関が弱く dx/dy が当てにならない (response=0.043 < 0.20))  傾き -13.90° → -0.61° にソフトでそろえる (+13.29° 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=  +9.3  dx=  +1.6  response=0.076  → 測れない (相関が弱く dx/dy が当てにならない (response=0.076 < 0.20))  傾き -10.79° → -0.61° にソフトでそろえる (+10.17° 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=  -0.7  response=0.876  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -2.01° → -0.61° にソフトでそろえる (+1.39° 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)
    (33 秒)

=== 8. 実機推論 (6 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_101557
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.0 dx=+5.7 response=0.590 → 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 (+1.39° 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_101557/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 817ms  10ステップ先  Δ= +4.1 +14.0  +8.9  -1.8 -20.1  +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 > 
[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) [  +0.84,   +4.05,   +3.55,   +0.15,   -3.27,  -29.91]  speed=20 wait=0.0s  (pre max|Δ|=3.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +2.6  +1.8  -0.1  -3.1  +0.3  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +2.08,   +8.79,   +6.58,   -0.45,   -9.94,  -29.08]  speed=20 wait=0.0s  (pre max|Δ|=8.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.42° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.8  +3.7  +2.0  -0.7  -8.7  +1.1  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +3.84,  +14.20,   +9.93,   -1.36,  -18.34,  -28.09]  speed=20 wait=0.0s  (pre max|Δ|=9.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.9  +4.5  +2.5  -1.2  -9.8  +1.1  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +4.39,  +15.46,  +10.66,   -1.57,  -20.24,  -27.85]  speed=20 wait=0.0s  (pre max|Δ|=3.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.1  +0.3  -0.2  -0.3  -3.6  +0.5  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 1741ms  10ステップ先  Δ= +5.3 +16.1  +8.9  -0.7 -25.1  +1.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +5.82,  +20.51,  +13.48,   -2.44,  -27.26,  -26.91]  speed=20 wait=0.0s  (pre max|Δ|=6.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.58° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.7  +4.2  +2.1  -0.8  -6.5  +1.1  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +7.28,  +24.86,  +15.99,   -2.53,  -33.63,  -26.57]  speed=20 wait=0.0s  (pre max|Δ|=6.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.5  +3.3  +1.7  +0.2  -6.5  +0.6  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +9.09,  +30.76,  +19.36,   -2.36,  -42.24,  -26.49]  speed=20 wait=0.0s  (pre max|Δ|=8.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.1  +5.0  +2.7  +0.7  -8.9  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +9.48,  +32.44,  +20.19,   -2.34,  -44.33,  -26.46]  speed=20 wait=0.0s  (pre max|Δ|=2.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  +0.8  +0.2  +0.8  -2.3  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.95°（関節 j1）
[002] 推論 937ms  10ステップ先  Δ= +3.5 +10.7  +6.9  +0.9 -17.1  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ +10.64,  +36.57,  +22.56,   -2.36,  -51.25,  -26.44]  speed=20 wait=0.0s  (pre max|Δ|=6.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.65° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  +3.2  +2.6  +0.6  -7.0  +0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +12.05,  +41.30,  +25.48,   -2.39,  -58.53,  -26.41]  speed=20 wait=0.0s  (pre max|Δ|=7.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  +3.9  +2.5  +0.3  -7.6  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +12.71,  +44.11,  +27.03,   -2.24,  -61.59,  -26.42]  speed=20 wait=0.0s  (pre max|Δ|=3.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  +1.9  +1.3  +0.0  -3.7  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +12.68,  +44.06,  +26.82,   -2.15,  -61.43,  -26.41]  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  9  Δ= -0.1  -0.9  -0.4  -0.1  +0.0  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.94°（関節 j1）
[003] 推論 881ms  10ステップ先  Δ= +0.4 +15.3  -9.1  -0.2  -2.5  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ +13.33,  +49.01,  +26.72,   -2.12,  -62.81,  -26.42]  speed=20 wait=0.0s  (pre max|Δ|=4.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +4.0  -0.6  -0.0  -1.4  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +13.38,  +55.43,  +23.21,   -2.18,  -63.90,  -26.46]  speed=20 wait=0.0s  (pre max|Δ|=5.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +5.5  -4.1  -0.1  -1.3  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +13.26,  +59.60,  +19.07,   -2.29,  -63.97,  -26.52]  speed=20 wait=0.0s  (pre max|Δ|=5.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.55° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  +3.2  -5.3  -0.4  -0.5  +0.0  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +13.13,  +60.35,  +18.20,   -2.32,  -63.91,  -26.55]  speed=20 wait=0.0s  (pre max|Δ|=1.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.22° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.2  -1.7  -0.4  +0.3  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.22°（関節 j2）
[004] 推論 2275ms  2ステップ先  Δ= -0.2  -0.6  -1.3  -0.4  +1.2  -0.1  グリッパー→閉
       [VIA   ] 中継点 1 点: step 1
       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_via01: send_angles (single) [ +13.04,  +60.54,  +18.13,   -2.34,  -63.69,  -26.64]  speed=20 wait=0.0s  (pre max|Δ|=1.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  1  Δ= -0.2  -0.6  -1.3  -0.4  +1.2  -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 1.70°（関節 j4）
[005] 推論 1076ms  10ステップ先  Δ= +0.4  -3.8  +2.6  -0.8  +1.1  +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_chunk005_via02: send_angles (single) [ +13.11,  +60.14,  +18.14,   -2.29,  -63.92,  -26.69]  speed=20 wait=0.0s  (pre max|Δ|=1.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  -1.1  -0.8  -0.6  +1.5  +0.0  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +13.25,  +58.59,  +19.30,   -2.34,  -63.82,  -26.65]  speed=20 wait=0.0s  (pre max|Δ|=2.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.87° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -2.7  +0.3  -0.7  +1.6  +0.1  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +13.45,  +57.74,  +21.12,   -2.32,  -64.12,  -26.59]  speed=20 wait=0.0s  (pre max|Δ|=2.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -2.7  +2.1  -0.5  +0.4  +0.0  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +13.46,  +57.42,  +21.63,   -2.33,  -64.24,  -26.61]  speed=20 wait=0.0s  (pre max|Δ|=1.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -1.9  +0.9  -0.2  -0.2  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.90°（関節 j1）
[006] 推論 2564ms  10ステップ先  Δ= +3.9  -2.4  -2.1  +0.8  +0.0  -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 > r
       爪を締め直します (開かずに閉じる指令をもう一度)
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ +13.57,  +56.19,  +24.02,   -2.36,  -64.26,  -26.47]  speed=20 wait=0.0s  (pre max|Δ|=3.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -3.1  +3.3  -0.3  -0.2  +0.2  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +14.00,  +56.21,  +23.33,   -2.31,  -64.52,  -26.69]  speed=20 wait=0.0s  (pre max|Δ|=1.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.53° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  -1.5  -0.3  +0.1  -0.0  +0.0  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +16.19,  +56.81,  +19.49,   -1.47,  -64.22,  -27.60]  speed=20 wait=0.0s  (pre max|Δ|=4.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.69° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.6  -0.9  -4.1  +0.5  +0.3  -0.9  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +17.00,  +56.88,  +18.60,   -1.30,  -64.03,  -27.81]  speed=20 wait=0.0s  (pre max|Δ|=1.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  -0.9  -1.9  +0.7  -0.4  -1.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.35°（関節 j2）
[007] 推論 1086ms  10ステップ先  Δ= +3.0  +0.0 -10.4  +3.9  +0.0  -3.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > r
       爪を締め直します (開かずに閉じる指令をもう一度)
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ +17.36,  +56.85,  +17.47,   -0.74,  -64.17,  -28.35]  speed=20 wait=0.0s  (pre max|Δ|=2.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  -1.1  -2.5  +1.0  -0.6  -1.0  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +19.46,  +57.74,  +13.30,   +0.74,  -63.75,  -29.29]  speed=20 wait=0.0s  (pre max|Δ|=5.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.5  -0.2  -5.2  +1.7  -0.2  -1.3  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +19.99,  +57.99,  +10.19,   +1.77,  -63.38,  -29.87]  speed=20 wait=0.0s  (pre max|Δ|=4.04°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  -0.6  -4.0  +1.2  +0.2  -1.0  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +20.11,  +57.83,   +9.60,   +1.96,  -63.63,  -29.95]  speed=20 wait=0.0s  (pre max|Δ|=1.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -1.1  -1.5  +0.4  -0.1  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.38°（関節 j2）
[008] 推論 1166ms  10ステップ先  Δ= +4.2  -3.2  -5.5  +1.4  +1.5  -1.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > h
[SEND] pi05_home: send_angles (single) [  +0.00,   +0.00,   +0.00,   +0.00,   +0.00,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=63.54°, post-send timeout 11.5s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[RECORD] 記録終了 コマ 541 (8.817 fps) 実測角 478 回 (7.79 Hz)  電流 488 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_101557/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_20261111_101557
[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))
    (72 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (7 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.26, 1.49, 1.75, 0.35, -0.26, -29.79]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [-0.26, 1.49, 1.75, 0.26, -0.26, -29.79]
  [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=  +3.9  dx=  -2.2  response=0.906  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.97° → -0.61° にソフトでそろえる (+1.35° 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)
    (10 秒)

=== 8. 実機推論 (7 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_101720
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.0 dx=+4.3 response=0.667 → 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_101720/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 1026ms  10ステップ先  Δ= +3.1 +15.6  +9.1  -0.6 -20.2  +0.8
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[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) [  +0.29,   +5.38,   +3.98,   +0.28,   -4.82,  -29.62]  speed=20 wait=0.0s  (pre max|Δ|=4.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  +3.9  +2.2  +0.0  -4.6  +0.2  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.36,  +10.63,   +7.12,   +0.08,  -11.35,  -29.40]  speed=20 wait=0.0s  (pre max|Δ|=8.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.60° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.6  +4.3  +2.1  -0.2  -8.7  +0.4  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.44,  +15.49,  +10.00,   -0.20,  -18.16,  -29.15]  speed=20 wait=0.0s  (pre max|Δ|=8.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.6  +4.1  +1.9  -0.4  -8.4  +0.6  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +2.80,  +17.05,  +10.83,   -0.38,  -20.49,  -28.98]  speed=20 wait=0.0s  (pre max|Δ|=3.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  +0.5  -0.1  -0.4  -3.9  +0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.87°（関節 j1）
[001] 推論 939ms  10ステップ先  Δ= +3.4  +8.9  +4.2  -1.6 -14.6  +2.1
       [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) [  +3.54,  +19.12,  +12.42,   -1.22,  -23.24,  -28.40]  speed=20 wait=0.0s  (pre max|Δ|=3.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.3  +1.1  +0.9  -1.1  -3.6  +1.2  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +4.59,  +21.51,  +13.58,   -1.55,  -26.60,  -28.10]  speed=20 wait=0.0s  (pre max|Δ|=3.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  +1.5  +0.4  -0.1  -3.8  +0.9  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +5.42,  +25.68,  +15.29,   -1.74,  -32.58,  -27.77]  speed=20 wait=0.0s  (pre max|Δ|=6.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.0  +3.3  +1.1  +0.4  -6.6  +1.0  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +5.64,  +26.86,  +15.67,   -1.72,  -34.30,  -27.73]  speed=20 wait=0.0s  (pre max|Δ|=2.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  +0.2  -0.3  +0.5  -2.4  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.00°（関節 j1）
[002] 推論 887ms  10ステップ先  Δ= +3.5  +9.0  +5.0  +0.2 -15.3  +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) [  +6.92,  +29.95,  +17.35,   -1.78,  -38.84,  -27.62]  speed=20 wait=0.0s  (pre max|Δ|=4.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.70° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  +2.1  +1.4  +0.4  -4.7  +0.5  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +7.84,  +33.65,  +19.49,   -1.88,  -44.66,  -27.56]  speed=20 wait=0.0s  (pre max|Δ|=6.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  +2.7  +1.4  +0.1  -6.3  +0.5  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +8.65,  +36.27,  +20.77,   -1.92,  -48.58,  -27.52]  speed=20 wait=0.0s  (pre max|Δ|=4.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.86° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.9  +1.7  +0.6  +0.4  -4.3  +0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +8.86,  +36.83,  +20.99,   -1.96,  -49.37,  -27.53]  speed=20 wait=0.0s  (pre max|Δ|=1.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -0.3  -0.3  +0.4  -1.4  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.87°（関節 j1）
[003] 推論 853ms  10ステップ先  Δ= +2.4  +6.0  +3.0  +0.6  -6.9  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [  +9.88,  +39.40,  +22.46,   -1.76,  -52.56,  -27.54]  speed=20 wait=0.0s  (pre max|Δ|=3.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.12° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +1.7  +1.2  +0.4  -3.6  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +10.72,  +41.22,  +23.22,   -1.70,  -54.02,  -27.50]  speed=20 wait=0.0s  (pre max|Δ|=1.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  +1.0  +0.4  +0.2  -1.6  +0.3  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +11.10,  +43.25,  +24.18,   -1.66,  -55.45,  -27.47]  speed=20 wait=0.0s  (pre max|Δ|=1.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +1.2  +0.6  +0.3  -1.6  +0.3  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +11.23,  +43.70,  +24.28,   -1.60,  -55.84,  -27.47]  speed=20 wait=0.0s  (pre max|Δ|=0.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.86° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.7  -0.3  +0.2  -0.4  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.86°（関節 j1）
[004] 推論 946ms  10ステップ先  Δ= +2.3  +4.4  +1.2  +0.2  -3.7  +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_chunk004_via02: send_angles (single) [ +11.86,  +45.59,  +24.66,   -1.50,  -56.85,  -27.47]  speed=20 wait=0.0s  (pre max|Δ|=1.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.0  +1.0  +0.1  +0.3  -1.4  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +12.40,  +47.67,  +25.53,   -1.53,  -58.27,  -27.41]  speed=20 wait=0.0s  (pre max|Δ|=1.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  +1.0  +0.9  +0.2  -1.2  +0.3  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +13.09,  +48.73,  +25.80,   -1.65,  -58.95,  -27.42]  speed=20 wait=0.0s  (pre max|Δ|=0.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  -0.0  -0.1  +0.0  -0.2  +0.2  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +13.16,  +48.95,  +25.79,   -1.63,  -59.13,  -27.42]  speed=20 wait=0.0s  (pre max|Δ|=0.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.8  -0.1  -0.1  -0.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.79°（関節 j1）
[005] 推論 2220ms  10ステップ先  Δ= +1.0 +11.9  -8.3  -0.3  -3.2  -0.3  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) [ +13.58,  +54.27,  +21.96,   -1.66,  -59.65,  -27.56]  speed=20 wait=0.0s  (pre max|Δ|=4.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  +4.5  -4.0  -0.2  -0.8  +0.0  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +13.99,  +58.96,  +19.21,   -1.69,  -60.69,  -27.68]  speed=20 wait=0.0s  (pre max|Δ|=3.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  +3.7  -3.7  -0.2  -1.7  -0.1  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +14.12,  +61.61,  +17.62,   -1.74,  -62.12,  -27.85]  speed=20 wait=0.0s  (pre max|Δ|=2.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +1.8  -2.4  -0.6  +0.0  -0.2  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +14.12,  +61.61,  +17.62,   -1.74,  -62.12,  -27.85]  speed=20 wait=0.0s  (pre max|Δ|=1.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -0.6  -0.7  -0.6  +1.9  +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 3.27°（関節 j4）
[006] 推論 1087ms  10ステップ先  Δ= +4.4  -6.0  +2.5  +0.0  +2.7  -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_chunk006_via02: send_angles (single) [ +14.73,  +58.26,  +20.66,   -2.10,  -61.60,  -27.45]  speed=20 wait=0.0s  (pre max|Δ|=3.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.32° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  -4.0  +2.6  -1.0  +3.8  +0.8  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +14.67,  +55.35,  +24.26,   -2.34,  -62.99,  -26.79]  speed=20 wait=0.0s  (pre max|Δ|=4.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.42° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -4.1  +4.2  -0.9  -0.2  +1.1  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +16.10,  +55.61,  +22.71,   -1.55,  -63.47,  -27.50]  speed=20 wait=0.0s  (pre max|Δ|=1.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.8  -1.2  -0.8  +0.5  -0.6  -0.4  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +18.02,  +56.21,  +20.65,   -1.02,  -62.70,  -28.26]  speed=20 wait=0.0s  (pre max|Δ|=2.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.3  -0.6  -2.7  -0.1  +0.1  -1.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j4）
[007] 推論 2321ms  10ステップ先  Δ= +4.5  +0.2  -8.3  +2.3  +0.7  -3.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ +17.89,  +55.98,  +20.89,   -0.84,  -63.42,  -28.37]  speed=20 wait=0.0s  (pre max|Δ|=1.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.5  -1.0  -0.6  +0.6  -1.7  -0.9  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +20.39,  +56.78,  +16.49,   +0.05,  -62.17,  -29.59]  speed=20 wait=0.0s  (pre max|Δ|=4.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.49° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.0  -0.2  -4.9  +1.5  -0.5  -2.1  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +22.42,  +57.15,  +13.65,   +0.63,  -61.20,  -30.58]  speed=20 wait=0.0s  (pre max|Δ|=3.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.9  -0.6  -3.7  +0.9  +0.5  -1.9  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +22.89,  +57.14,  +13.11,   +0.82,  -60.96,  -30.80]  speed=20 wait=0.0s  (pre max|Δ|=1.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -1.0  -1.5  +0.6  +0.6  -1.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.47°（関節 j2）
[008] 推論 1222ms  10ステップ先  Δ= +1.2  -1.1  -8.0  +1.3  +2.5  -0.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > p
[PAD   ] 補正 1 (推論 8 のあと). ゲームパッドで直して, □ で推論に戻ります
コントローラーを待っています（5 秒でつながらなければ推論の入力待ちに戻ります）。□ で推論に戻ります。Ctrl-C で補正を抜けます
/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
[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[長押し] j1 を +58.09° → +48.25° まで（目標を 1 回送信。止めます）
[長押し] j1 を +46.40° → +46.40° まで（目標を 1 回送信。止めます）
[PAD   ] 補正 1 を終えました (17.1 秒, 送った目標 2 回). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[009] 推論 2530ms  10ステップ先  Δ=+15.6  +4.0  -5.8  +1.5  +2.7  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
  [WARN] _daemon_request timeout (timeout=1.5s, cmd=read_servo). socket closed.
[SEND] pi05_chunk009_via02: send_angles (single) [ +28.49,  +35.80,  +13.57,   +1.23,  -55.68,  -30.54]  speed=20 wait=0.0s  (pre max|Δ|=6.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.50° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.1  -0.6  -1.9  +0.7  +3.5  -0.2  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +34.56,  +36.01,  +11.85,   +1.78,  -54.20,  -30.82]  speed=20 wait=0.0s  (pre max|Δ|=6.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.66° (tol 3.0°)
       [VIA   ] step  5  Δ= +6.0  -1.0  -2.9  +0.6  +4.0  -0.5  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +37.69,  +39.03,  +10.06,   +2.01,  -54.50,  -30.94]  speed=20 wait=0.0s  (pre max|Δ|=3.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.8  +2.0  -3.5  +0.6  +1.9  -0.6  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +38.00,  +40.36,   +9.70,   +2.02,  -55.01,  -30.92]  speed=20 wait=0.0s  (pre max|Δ|=1.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  +0.3  -2.0  -0.0  +1.4  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.81°（関節 j2）
[010] 推論 991ms  10ステップ先  Δ= +2.8 +14.4  -3.6  +1.0 -11.8  -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_chunk010_via02: send_angles (single) [ +39.55,  +44.53,   +8.96,   +2.10,  -58.04,  -30.98]  speed=20 wait=0.0s  (pre max|Δ|=2.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.8  +3.0  -2.5  +0.3  -1.8  -0.7  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +40.19,  +49.64,   +8.56,   +2.49,  -63.15,  -31.03]  speed=20 wait=0.0s  (pre max|Δ|=6.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  +3.9  -2.1  +0.7  -6.7  -0.5  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +40.44,  +54.53,   +8.12,   +2.76,  -67.22,  -31.02]  speed=20 wait=0.0s  (pre max|Δ|=5.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.57° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +3.8  -2.3  +1.1  -5.9  -0.4  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +40.45,  +55.93,   +7.94,   +2.87,  -68.26,  -31.01]  speed=20 wait=0.0s  (pre max|Δ|=2.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  +0.2  -1.6  +0.7  -2.6  -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）
[011] 推論 891ms  4ステップ先  Δ= +0.2  +2.2  -2.4  +0.8  -2.9  -0.4  グリッパー→開
       [VIA   ] 中継点 2 点: step 2, 3
       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) [ +40.35,  +59.24,   +7.16,   +3.20,  -70.27,  -31.01]  speed=20 wait=0.0s  (pre max|Δ|=2.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.77° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +2.2  -2.4  +0.7  -2.8  -0.4  着いた
[SEND] pi05_chunk011_via03: send_angles (single) [ +40.35,  +59.24,   +7.16,   +3.20,  -70.27,  -31.01]  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  3  Δ= +0.2  -1.1  -1.4  +0.4  -1.2  -0.4  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.36°（関節 j2）
[012] 推論 1057ms  10ステップ先  Δ= -0.4 -14.3  -1.6  +0.4 +15.5  -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_chunk012_via02: send_angles (single) [ +40.33,  +55.65,   +7.12,   +3.21,  -66.02,  -31.12]  speed=20 wait=0.0s  (pre max|Δ|=4.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.88° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  -4.7  -1.4  +0.2  +4.8  -0.5  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +40.14,  +50.80,   +7.12,   +3.25,  -60.66,  -31.23]  speed=20 wait=0.0s  (pre max|Δ|=8.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.62° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.0  -6.8  -1.4  +0.3  +8.2  -0.5  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +39.81,  +46.87,   +6.93,   +3.30,  -56.08,  -31.29]  speed=20 wait=0.0s  (pre max|Δ|=7.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.71° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.4  -5.9  -1.6  +0.3  +7.2  -0.4  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +39.80,  +46.07,   +6.89,   +3.32,  -55.34,  -31.30]  speed=20 wait=0.0s  (pre max|Δ|=2.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.35° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -2.8  -1.6  +0.2  +2.8  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.35°（関節 j1）
[013] 推論 1023ms  10ステップ先  Δ=-16.6 -22.5  -2.0  -1.5 +26.0  -0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk013_via02: send_angles (single) [ +36.78,  +40.64,   +6.90,   +3.00,  -49.32,  -31.30]  speed=20 wait=0.0s  (pre max|Δ|=7.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.4  -7.7  -1.6  -0.1  +7.4  -0.3  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +31.97,  +35.04,   +6.76,   +2.52,  -42.13,  -31.25]  speed=20 wait=0.0s  (pre max|Δ|=8.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.1  -7.8  -1.8  -1.3  +8.3  -0.2  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +25.60,  +28.20,   +6.68,   +1.80,  -33.96,  -31.17]  speed=20 wait=0.0s  (pre max|Δ|=9.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.56° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.3  -8.9  -1.8  -1.7  +9.2  -0.1  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +23.53,  +25.94,   +6.53,   +1.54,  -31.17,  -31.14]  speed=20 wait=0.0s  (pre max|Δ|=4.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.1  -4.3  -2.0  -1.3  +3.6  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.99°（関節 j2）
[014] 推論 2564ms  10ステップ先  Δ= -9.3 -11.7  -2.0  -1.2 +14.6  +0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 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|=31.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[RECORD] 記録終了 コマ 841 (8.951 fps) 実測角 781 回 (8.31 Hz)  電流 791 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_101720/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_101720
[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))
    (108 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 (8 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [0.08, 1.49, 1.75, 0.26, -0.26, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=0.7s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [0.08, 1.49, 1.75, 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=  +4.2  dx=  -1.5  response=0.917  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -2.01° → -0.61° にソフトでそろえる (+1.39° 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 (8 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_101918
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.0 dx=+5.1 response=0.593 → 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 -2.05° → -0.61° にそろえて渡す (+1.43° 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_101918/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 817ms  10ステップ先  Δ= +3.2 +15.2  +9.4  -1.8 -19.0  +1.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[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) [  +0.76,   +5.01,   +4.29,   -0.02,   -4.06,  -29.98]  speed=20 wait=0.0s  (pre max|Δ|=3.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.87° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +3.5  +2.5  -0.3  -3.8  +0.3  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.44,   +9.10,   +6.74,   -0.31,   -8.88,  -29.55]  speed=20 wait=0.0s  (pre max|Δ|=6.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.41° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +3.0  +1.4  -0.6  -6.7  +0.6  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.78,  +14.61,  +10.22,   -1.19,  -16.41,  -28.67]  speed=20 wait=0.0s  (pre max|Δ|=8.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.4  +4.5  +2.5  -1.2  -8.9  +1.0  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.32,  +16.65,  +11.17,   -1.55,  -19.28,  -28.35]  speed=20 wait=0.0s  (pre max|Δ|=4.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  +1.0  +0.0  -0.3  -4.5  +0.6  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 993ms  10ステップ先  Δ= +3.0  +8.2  +4.6  -1.5 -14.1  +1.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +4.15,  +18.79,  +12.21,   -1.87,  -22.09,  -27.98]  speed=20 wait=0.0s  (pre max|Δ|=3.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +1.2  +0.3  -0.6  -3.8  +0.6  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +5.13,  +22.18,  +14.06,   -2.47,  -26.53,  -27.55]  speed=20 wait=0.0s  (pre max|Δ|=4.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.84° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +2.4  +1.7  -0.4  -4.9  +0.7  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +5.87,  +25.21,  +16.21,   -2.92,  -31.56,  -27.34]  speed=20 wait=0.0s  (pre max|Δ|=5.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.78° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  +2.2  +1.4  -0.3  -5.6  +0.4  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +6.03,  +25.75,  +16.47,   -2.85,  -32.37,  -27.35]  speed=20 wait=0.0s  (pre max|Δ|=1.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.4  -0.6  +0.2  -1.4  +0.1  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 914ms  10ステップ先  Δ= +3.7 +11.6  +6.5  +0.0 -19.9  +0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [  +7.23,  +30.18,  +19.10,   -3.04,  -39.30,  -27.18]  speed=20 wait=0.0s  (pre max|Δ|=7.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.48° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  +3.6  +2.0  +0.0  -7.4  +0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +8.59,  +34.66,  +21.66,   -3.17,  -46.01,  -27.06]  speed=20 wait=0.0s  (pre max|Δ|=7.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.6  +3.6  +1.9  +0.5  -7.5  +0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +9.38,  +37.65,  +23.36,   -3.10,  -50.96,  -27.01]  speed=20 wait=0.0s  (pre max|Δ|=5.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  +2.1  +1.2  +0.7  -5.4  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +9.58,  +38.22,  +23.59,   -3.06,  -51.81,  -27.00]  speed=20 wait=0.0s  (pre max|Δ|=1.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -0.5  +0.0  +0.4  -1.1  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.89°（関節 j1）
[003] 推論 2864ms  10ステップ先  Δ= +2.3  +5.5  +2.9  +1.2  -8.7  +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) [ +11.01,  +40.70,  +25.05,   -2.71,  -55.66,  -27.02]  speed=20 wait=0.0s  (pre max|Δ|=4.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.64° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.5  +1.6  +1.2  +0.9  -4.3  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +11.90,  +44.19,  +26.57,   -2.57,  -59.11,  -27.02]  speed=20 wait=0.0s  (pre max|Δ|=2.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.56° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  +2.5  +1.1  +0.2  -2.9  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +12.14,  +44.97,  +27.05,   -2.37,  -60.19,  -27.06]  speed=20 wait=0.0s  (pre max|Δ|=0.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.0  -0.1  +0.2  +0.3  -0.9  +0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +11.77,  +44.60,  +26.85,   -2.36,  -60.05,  -27.03]  speed=20 wait=0.0s  (pre max|Δ|=1.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.27° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -1.3  +0.0  +0.2  -0.0  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.27°（関節 j1）
[004] 推論 1196ms  10ステップ先  Δ= +1.1  +3.6  +1.2  +0.1  -2.1  +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) [ +12.42,  +47.38,  +28.58,   -2.38,  -62.20,  -27.00]  speed=20 wait=0.0s  (pre max|Δ|=2.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +1.5  +1.8  +0.2  -2.2  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +12.91,  +48.68,  +28.57,   -2.44,  -62.32,  -27.03]  speed=20 wait=0.0s  (pre max|Δ|=0.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  +0.2  -0.4  +0.0  +0.7  +0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +13.10,  +48.93,  +28.18,   -2.45,  -62.14,  -27.00]  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  8  Δ= +0.1  -0.7  -0.8  +0.0  +1.1  +0.2  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +13.15,  +49.51,  +27.99,   -2.47,  -62.12,  -27.02]  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= +0.2  -0.1  -1.0  -0.1  +1.1  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.07°（関節 j4）
[005] 推論 1275ms  9ステップ先  Δ= +0.5 +10.3  -8.9  -0.0  -1.3  -0.3  グリッパー→閉
       [VIA   ] 中継点 3 点: step 2, 5, 8
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ +13.50,  +55.47,  +23.96,   -2.44,  -62.37,  -27.16]  speed=20 wait=0.0s  (pre max|Δ|=5.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.93° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +4.9  -5.0  -0.1  +0.8  +0.1  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +13.46,  +59.80,  +21.01,   -2.40,  -63.68,  -27.40]  speed=20 wait=0.0s  (pre max|Δ|=3.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.40° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +3.3  -3.9  -0.1  -0.5  -0.2  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +13.40,  +60.84,  +20.10,   -2.39,  -64.45,  -27.55]  speed=20 wait=0.0s  (pre max|Δ|=1.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  +0.4  -1.7  -0.1  +0.6  -0.1  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 2.78°（関節 j4）
[006] 推論 981ms  10ステップ先  Δ= +0.6 -10.5  +9.2  -2.0  +3.8  +1.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ +13.45,  +58.49,  +22.50,   -3.21,  -63.22,  -26.99]  speed=20 wait=0.0s  (pre max|Δ|=4.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -3.1  +1.6  -1.7  +4.1  +0.9  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +13.40,  +54.88,  +26.53,   -3.40,  -62.83,  -26.60]  speed=20 wait=0.0s  (pre max|Δ|=4.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -4.9  +4.9  -1.3  +2.1  +1.0  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +13.54,  +51.45,  +29.81,   -3.38,  -63.13,  -26.49]  speed=20 wait=0.0s  (pre max|Δ|=4.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -4.8  +4.1  -0.3  +0.9  +0.4  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +13.58,  +51.07,  +30.09,   -3.32,  -63.47,  -26.57]  speed=20 wait=0.0s  (pre max|Δ|=1.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.57° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -1.8  +0.9  -0.2  -0.6  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.57°（関節 j1）
[007] 推論 2344ms  10ステップ先  Δ=+12.3  -0.3 -13.9  +2.7  +5.1  -3.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ +16.79,  +51.65,  +26.18,   -2.98,  -62.51,  -27.41]  speed=20 wait=0.0s  (pre max|Δ|=3.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  2  Δ= +3.7  -1.0  -3.1  +0.2  +0.2  -1.0  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +20.64,  +52.02,  +21.49,   -1.94,  -60.84,  -28.54]  speed=20 wait=0.0s  (pre max|Δ|=5.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.85° (tol 3.0°)
       [VIA   ] step  5  Δ= +3.8  -0.6  -5.6  +1.4  +0.7  -1.9  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +24.38,  +52.30,  +16.45,   -0.68,  -58.31,  -29.64]  speed=20 wait=0.0s  (pre max|Δ|=5.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  8  Δ= +3.7  -0.6  -6.0  +1.8  +1.6  -2.6  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +25.40,  +52.34,  +15.40,   -0.45,  -57.61,  -29.89]  speed=20 wait=0.0s  (pre max|Δ|=2.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  -0.8  -2.0  +0.6  -0.1  -1.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.47°（関節 j2）
[008] 推論 1162ms  10ステップ先  Δ= +0.2  -0.6  -8.1  +1.2  -0.6  -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 > p
[PAD   ] 補正 1 (推論 8 のあと). ゲームパッドで直して, □ で推論に戻ります
コントローラーを待っています（5 秒でつながらなければ推論の入力待ちに戻ります）。□ で推論に戻ります。Ctrl-C で補正を抜けます
/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
[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[長押し] j1 を +53.26° → +45.08° まで（目標を 1 回送信。止めます）
[PAD   ] 補正 1 を終えました (14.8 秒, 送った目標 2 回). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[009] 推論 1343ms  10ステップ先  Δ= +9.3 +10.4  -7.5  +2.0  +0.6  -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 > 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|=56.68°, post-send timeout 10.5s)
[SEND] arrival OK: max|Δ|=2.28° (tol 2.5°)
[RECORD] 記録終了 コマ 563 (8.779 fps) 実測角 573 回 (8.93 Hz)  電流 578 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_101918/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_20261111_101918
[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))
    (75 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 (9 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.26, 1.49, 1.75, -0.26, -0.35, -29.70]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [-0.26, 1.49, 1.75, -0.26, -0.35, -29.70]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[TILT  ] 傾きのお手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes  中央値 -0.61° (測れた 50/50 本. プラス=右下がり)
[TILT  ] 傾き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=  +4.2  dx=  -2.2  response=0.652  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.97° → -0.61° にソフトでそろえる (+1.35° 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)
    (10 秒)

=== 8. 実機推論 (9 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_102043
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.0 dx=+4.2 response=0.658 → 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 -2.05° → -0.61° にそろえて渡す (+1.44° 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_102043/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 1520ms  10ステップ先  Δ= +2.1 +11.9  +6.2  -0.7 -17.4  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[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) [  -0.02,   +3.08,   +2.56,   -0.28,   -2.50,  -29.75]  speed=20 wait=0.0s  (pre max|Δ|=2.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.98° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +1.6  +0.8  -0.0  -2.2  -0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +0.80,   +6.84,   +4.66,   -0.37,   -8.16,  -29.80]  speed=20 wait=0.0s  (pre max|Δ|=7.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.72° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.1  +2.9  +1.2  -0.1  -7.6  -0.1  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +1.65,  +11.98,   +7.35,   -0.86,  -15.53,  -29.59]  speed=20 wait=0.0s  (pre max|Δ|=8.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.2  +4.2  +1.8  -0.7  -8.9  +0.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +1.89,  +13.38,   +7.98,   -1.00,  -17.68,  -29.47]  speed=20 wait=0.0s  (pre max|Δ|=3.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.25° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.3  -0.4  -0.8  -3.8  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.25°（関節 j4）
[001] 推論 5397ms  10ステップ先  Δ= +3.8  +9.2  +6.4  -2.3 -20.1  +1.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +2.75,  +16.26,  +10.02,   -1.90,  -23.49,  -28.61]  speed=20 wait=0.0s  (pre max|Δ|=5.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  +1.9  +1.7  -1.5  -5.5  +1.2  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +3.74,  +18.63,  +11.72,   -2.13,  -28.35,  -28.25]  speed=20 wait=0.0s  (pre max|Δ|=5.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  +1.6  +0.8  -0.5  -5.1  +0.9  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +4.85,  +22.36,  +14.09,   -2.45,  -34.71,  -27.97]  speed=20 wait=0.0s  (pre max|Δ|=6.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.66° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.4  +2.8  +1.6  -0.3  -6.4  +0.8  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +5.10,  +23.51,  +14.70,   -2.58,  -36.52,  -27.90]  speed=20 wait=0.0s  (pre max|Δ|=2.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  +0.2  -0.2  -0.0  -2.3  +0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j1）
[002] 推論 1612ms  10ステップ先  Δ= +3.3 +11.1  +5.7  -0.1 -16.9  +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) [  +5.89,  +26.24,  +16.15,   -2.60,  -40.51,  -27.83]  speed=20 wait=0.0s  (pre max|Δ|=3.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.83° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +1.7  +0.7  -0.1  -3.9  +0.5  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +7.10,  +30.74,  +18.76,   -2.57,  -46.79,  -27.74]  speed=20 wait=0.0s  (pre max|Δ|=6.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  +3.6  +1.9  -0.0  -6.3  +0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +7.99,  +34.74,  +20.84,   -2.60,  -52.56,  -27.70]  speed=20 wait=0.0s  (pre max|Δ|=6.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  +3.1  +1.3  +0.1  -6.3  +0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +8.07,  +35.65,  +21.17,   -2.59,  -53.58,  -27.67]  speed=20 wait=0.0s  (pre max|Δ|=1.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.1  -0.2  +0.1  -1.2  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.00°（関節 j1）
[003] 推論 1365ms  10ステップ先  Δ= +1.8  +6.5  +3.7  +0.2  -8.3  +0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [  +8.66,  +37.22,  +21.97,   -2.46,  -55.58,  -27.64]  speed=20 wait=0.0s  (pre max|Δ|=2.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +0.6  +0.6  +0.0  -2.1  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [  +9.25,  +39.56,  +23.30,   -2.36,  -58.27,  -27.58]  speed=20 wait=0.0s  (pre max|Δ|=2.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.69° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +1.3  +0.9  +0.0  -2.8  +0.3  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [  +9.64,  +42.11,  +24.54,   -2.27,  -60.87,  -27.53]  speed=20 wait=0.0s  (pre max|Δ|=2.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.9  +1.8  +0.8  +0.0  -2.6  +0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [  +9.92,  +43.16,  +25.08,   -2.28,  -61.79,  -27.50]  speed=20 wait=0.0s  (pre max|Δ|=1.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  +0.0  +0.2  +0.2  -1.2  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.04°（関節 j1）
[004] 推論 988ms  10ステップ先  Δ= +1.3  +2.4  +0.8  -0.0  -1.6  +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_chunk004_via02: send_angles (single) [ +10.67,  +44.78,  +25.81,   -2.22,  -62.87,  -27.48]  speed=20 wait=0.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +0.6  +0.9  -0.1  -1.0  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +10.87,  +44.87,  +25.86,   -2.20,  -62.95,  -27.45]  speed=20 wait=0.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  -1.0  -0.2  +0.1  -0.0  +0.2  着いた
       [VIA   ] step  8  Δ= +0.2  +0.1  -0.3  -0.2  -0.3  +0.2  送らず (0.5° 以下)
[SEND] pi05_chunk004_via09: send_angles (single) [ +11.11,  +46.63,  +25.74,   -2.22,  -63.50,  -27.45]  speed=20 wait=0.0s  (pre max|Δ|=0.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  +0.8  -0.4  -0.2  -0.6  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.09°（関節 j1）
[005] 推論 857ms  10ステップ先  Δ= +1.0 +12.9  -9.3  -0.2  +0.7  +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_chunk005_via02: send_angles (single) [ +11.80,  +48.87,  +25.69,   -2.23,  -63.79,  -27.35]  speed=20 wait=0.0s  (pre max|Δ|=1.15°, 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|=0.87° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.9  +1.1  -0.4  -0.2  -0.3  +0.3  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +12.06,  +54.38,  +21.47,   -2.33,  -63.44,  -27.43]  speed=20 wait=0.0s  (pre max|Δ|=4.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.96° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  +4.6  -4.6  -0.4  +0.4  +0.2  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +11.96,  +59.46,  +17.86,   -2.24,  -62.90,  -27.49]  speed=20 wait=0.0s  (pre max|Δ|=4.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.0  +4.1  -4.7  -0.3  +0.9  +0.1  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +11.90,  +60.60,  +16.82,   -2.21,  -62.72,  -27.52]  speed=20 wait=0.0s  (pre max|Δ|=1.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  +0.1  -2.0  -0.3  +1.1  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.10°（関節 j2）
[006] 推論 1433ms  4ステップ先  Δ= +0.1  +0.2  -1.6  -0.2  +0.8  -0.0  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 3
       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) [ +12.07,  +61.86,  +16.35,   -2.13,  -63.05,  -27.63]  speed=20 wait=0.0s  (pre max|Δ|=1.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  +0.2  -1.6  -0.2  +0.8  -0.0  着いた
[SEND] pi05_chunk006_via03: send_angles (single) [ +12.07,  +61.86,  +16.35,   -2.13,  -63.05,  -27.63]  speed=20 wait=0.0s  (pre max|Δ|=1.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.28° (tol 3.0°)
       [VIA   ] step  3  Δ= +0.1  -0.8  -1.1  -0.1  +1.3  +0.1  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 2.16°（関節 j4）
[007] 推論 4973ms  10ステップ先  Δ= +1.3  -7.0  +6.8  -0.2  -0.3  +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_chunk007_via02: send_angles (single) [ +12.35,  +58.23,  +20.68,   -2.89,  -61.88,  -26.63]  speed=20 wait=0.0s  (pre max|Δ|=4.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  -4.4  +3.5  -1.1  +3.0  +1.4  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +12.29,  +56.13,  +23.71,   -2.97,  -63.04,  -26.42]  speed=20 wait=0.0s  (pre max|Δ|=4.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -3.1  +4.0  -0.6  -2.0  +0.8  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +12.34,  +55.60,  +24.46,   -2.31,  -65.23,  -26.78]  speed=20 wait=0.0s  (pre max|Δ|=3.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.39° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -1.5  +1.9  +0.6  -4.0  +0.2  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +12.91,  +55.66,  +23.99,   -1.78,  -65.51,  -27.19]  speed=20 wait=0.0s  (pre max|Δ|=2.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.59° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  -1.3  +0.3  +1.0  -2.7  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.50°（関節 j4）
[008] 推論 2299ms  10ステップ先  Δ= +8.4  -3.3  -4.7  +1.7  +0.6  -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 > r
       爪を締め直します (開かずに閉じる指令をもう一度)
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ +12.90,  +53.56,  +26.69,   -2.21,  -65.10,  -26.81]  speed=20 wait=0.0s  (pre max|Δ|=3.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -3.4  +2.7  -0.3  -1.1  -0.2  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +13.15,  +52.88,  +26.61,   -2.15,  -65.46,  -26.69]  speed=20 wait=0.0s  (pre max|Δ|=2.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -2.6  -0.0  +0.0  -0.8  -0.2  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +19.65,  +53.43,  +20.27,   -0.52,  -63.00,  -28.13]  speed=20 wait=0.0s  (pre max|Δ|=7.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  8  Δ= +7.1  -1.5  -6.4  +1.8  +1.7  -1.8  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +20.88,  +53.62,  +19.02,   -0.18,  -62.44,  -28.43]  speed=20 wait=0.0s  (pre max|Δ|=2.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.4  -1.2  -2.2  +0.7  +2.2  -1.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.89°（関節 j4）
[009] 推論 1163ms  10ステップ先  Δ= +4.2  +0.4  -8.0  +2.5  +3.8  -3.0
       [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 > 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|=63.45°, post-send timeout 11.5s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[RECORD] 記録終了 コマ 607 (8.795 fps) 実測角 554 回 (8.03 Hz)  電流 564 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_102043/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_20261111_102043
[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))
    (80 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 (10 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.26, 1.49, 1.75, -0.26, -0.26, -29.70]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [-0.26, 1.49, 1.75, -0.26, -0.26, -29.70]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[TILT  ] 傾きのお手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes  中央値 -0.61° (測れた 50/50 本. プラス=右下がり)
[TILT  ] 傾き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=  -2.3  response=0.926  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -2.01° → -0.61° にソフトでそろえる (+1.39° 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)
    (9 秒)

=== 8. 実機推論 (10 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_102213
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-1.9 dx=+4.2 response=0.656 → 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_102213/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 927ms  10ステップ先  Δ= +2.2 +14.9  +8.3  -0.7 -19.8  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[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) [  +0.22,   +4.66,   +3.74,   -0.24,   -4.36,  -29.86]  speed=20 wait=0.0s  (pre max|Δ|=4.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  +3.2  +2.0  +0.0  -4.1  -0.2  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +0.94,   +9.29,   +6.33,   -0.35,  -10.52,  -29.86]  speed=20 wait=0.0s  (pre max|Δ|=8.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.2  +3.8  +1.6  -0.1  -8.2  -0.2  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +1.83,  +14.56,   +9.19,   -0.87,  -17.77,  -29.57]  speed=20 wait=0.0s  (pre max|Δ|=8.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.52° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.2  +4.3  +2.0  -0.7  -8.8  +0.1  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +1.95,  +16.34,  +10.04,   -0.96,  -20.01,  -29.43]  speed=20 wait=0.0s  (pre max|Δ|=3.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.85° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  +0.8  -0.1  -0.7  -3.8  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.85°（関節 j4）
[001] 推論 806ms  10ステップ先  Δ= +3.8  +9.7  +4.5  -2.0 -16.6  +1.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +2.80,  +18.47,  +11.31,   -1.59,  -23.11,  -29.06]  speed=20 wait=0.0s  (pre max|Δ|=3.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.3  +1.3  +0.5  -1.3  -3.9  +0.6  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +3.94,  +21.90,  +13.17,   -2.04,  -28.61,  -28.63]  speed=20 wait=0.0s  (pre max|Δ|=6.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.63° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  +2.5  +1.1  -1.0  -6.3  +1.1  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +4.90,  +25.56,  +14.89,   -2.14,  -33.92,  -28.39]  speed=20 wait=0.0s  (pre max|Δ|=6.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.9  +2.7  +0.9  -0.4  -6.2  +1.2  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +5.30,  +26.87,  +15.35,   -2.21,  -35.80,  -28.31]  speed=20 wait=0.0s  (pre max|Δ|=2.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  +0.3  -0.3  -0.5  -2.6  +1.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.95°（関節 j5）
[002] 推論 1553ms  10ステップ先  Δ= +3.4 +10.1  +5.7  -0.6 -16.5  +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_chunk002_via02: send_angles (single) [  +6.05,  +28.84,  +16.37,   -2.11,  -38.40,  -28.23]  speed=20 wait=0.0s  (pre max|Δ|=3.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.3  +1.1  +0.7  -0.4  -3.1  +0.7  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +7.16,  +32.83,  +18.82,   -2.19,  -44.38,  -28.10]  speed=20 wait=0.0s  (pre max|Δ|=6.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.65° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.2  +3.0  +1.8  -0.3  -6.2  +0.6  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +8.11,  +36.95,  +21.03,   -2.30,  -50.48,  -28.00]  speed=20 wait=0.0s  (pre max|Δ|=6.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.88° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  +3.1  +1.5  -0.2  -6.5  +0.5  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +8.23,  +37.89,  +21.38,   -2.32,  -51.85,  -27.98]  speed=20 wait=0.0s  (pre max|Δ|=2.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  +0.0  -0.2  -0.3  -2.0  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.04°（関節 j1）
[003] 推論 5141ms  10ステップ先  Δ= +2.6  +6.9  +3.7  -0.2 -11.4  +0.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [  +8.88,  +38.16,  +21.53,   -2.08,  -52.65,  -27.98]  speed=20 wait=0.0s  (pre max|Δ|=1.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  -0.8  -0.3  -0.2  -1.2  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [  +9.55,  +40.64,  +22.44,   -1.94,  -56.02,  -27.93]  speed=20 wait=0.0s  (pre max|Δ|=3.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +1.5  +0.7  +0.2  -3.6  +0.3  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +10.37,  +44.72,  +24.99,   -2.01,  -61.57,  -27.73]  speed=20 wait=0.0s  (pre max|Δ|=5.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +3.1  +2.1  +0.1  -5.7  +0.4  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +10.51,  +45.79,  +25.51,   -2.02,  -62.81,  -27.63]  speed=20 wait=0.0s  (pre max|Δ|=1.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  +0.1  +0.1  +0.1  -1.5  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.96°（関節 j1）
[004] 推論 1582ms  10ステップ先  Δ= +1.4  +9.8  -3.2  -0.3  -0.5  +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_chunk004_via02: send_angles (single) [ +10.97,  +47.44,  +25.90,   -1.96,  -63.15,  -27.63]  speed=20 wait=0.0s  (pre max|Δ|=0.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +0.6  +0.5  -0.1  -0.5  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +11.46,  +52.64,  +24.65,   -2.06,  -63.52,  -27.60]  speed=20 wait=0.0s  (pre max|Δ|=4.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.1  +4.1  -1.1  -0.2  -0.3  +0.3  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +11.69,  +55.78,  +22.69,   -2.15,  -63.18,  -27.63]  speed=20 wait=0.0s  (pre max|Δ|=3.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.30° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  +2.2  -3.1  -0.4  +0.3  +0.1  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +11.72,  +56.58,  +22.21,   -2.14,  -63.17,  -27.64]  speed=20 wait=0.0s  (pre max|Δ|=1.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.34° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.1  -1.7  -0.4  +0.3  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.25°（関節 j2）
[005] 推論 1245ms  6ステップ先  Δ= +0.5  +1.9  -4.0  -0.4  -0.0  -0.1  グリッパー→閉
       [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_chunk005_via02: send_angles (single) [ +11.91,  +59.00,  +19.67,   -2.11,  -63.62,  -27.80]  speed=20 wait=0.0s  (pre max|Δ|=3.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  +1.4  -3.8  -0.4  +0.0  -0.0  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +11.87,  +59.48,  +19.45,   -2.12,  -63.68,  -27.83]  speed=20 wait=0.0s  (pre max|Δ|=1.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.20° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -0.4  -1.2  -0.3  +0.3  -0.1  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 2.15°（関節 j4）
[006] 推論 836ms  10ステップ先  Δ= +3.1 -10.0  +7.3  -0.4  +2.3  +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_chunk006_via02: send_angles (single) [ +12.09,  +56.35,  +22.71,   -2.41,  -62.41,  -27.29]  speed=20 wait=0.0s  (pre max|Δ|=4.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -4.0  +2.1  -0.7  +3.5  +0.6  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +12.41,  +53.46,  +25.74,   -2.58,  -62.41,  -26.82]  speed=20 wait=0.0s  (pre max|Δ|=4.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  -4.4  +3.4  -0.3  +1.4  +0.7  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +13.76,  +50.79,  +28.02,   -2.32,  -63.26,  -26.68]  speed=20 wait=0.0s  (pre max|Δ|=4.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.6  -4.6  +2.6  -0.0  +0.2  +0.4  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +14.58,  +50.34,  +28.00,   -2.08,  -63.53,  -26.82]  speed=20 wait=0.0s  (pre max|Δ|=2.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  -2.3  -0.0  +0.4  -0.1  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.30°（関節 j1）
[007] 推論 1630ms  10ステップ先  Δ=+12.7  -1.8 -12.6  +3.4  +3.4  -3.7
       [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
[PAD   ] 補正 1 (推論 7 のあと). ゲームパッドで直して, □ で推論に戻ります
コントローラーを待っています（5 秒でつながらなければ推論の入力待ちに戻ります）。□ で推論に戻ります。Ctrl-C で補正を抜けます
/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
[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[送信] j1 -2.0° → +14.41 +50.64 +28.12 -2.28 -63.45 -26.80  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 1.91°）  届いた角度 +14.41 +52.55 +28.12 -2.28 -63.45 -26.80
[送信] j1 -2.0° → +14.41 +48.64 +28.12 -2.28 -63.45 -26.80  手前で止まった（次の押しは この目標の先から）（ずれ 1.72°）  届いた角度 +14.41 +50.36 +28.12 -2.28 -63.36 -26.80
[長押し] j1 を +50.36° → +50.36° まで（目標を 1 回送信。止めます）
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[爪] 爪を閉じる（待ち 0.8 秒のあと受付）
[送信] j1 -2.0° → +14.41 +39.92 +28.12 -2.28 -63.45 -26.80  手前で止まった（次の押しは この目標の先から）（ずれ 0.94°）  届いた角度 +14.41 +40.86 +28.21 -2.28 -64.33 -26.98
[PAD   ] 補正 1 を終えました (24.7 秒, 送った目標 4 回, 爪を動かした). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[008] 推論 3709ms  10ステップ先  Δ=+15.0  +0.8 -16.9  +3.5  +7.2  -4.1
       [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|=64.33°, post-send timeout 11.6s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[RECORD] 記録終了 コマ 685 (8.842 fps) 実測角 695 回 (8.97 Hz)  電流 702 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_102213/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_20261111_102213
[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))
    (88 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 (11 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.26, 1.49, 1.75, -0.26, -0.26, -29.70]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [-0.26, 1.49, 1.75, -0.26, -0.26, -29.70]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[TILT  ] 傾きのお手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes  中央値 -0.61° (測れた 50/50 本. プラス=右下がり)
[TILT  ] 傾き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=  -2.2  response=0.930  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.97° → -0.61° にソフトでそろえる (+1.35° 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)
    (9 秒)

=== 8. 実機推論 (11 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_102353
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-1.9 dx=+4.3 response=0.665 → 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_102353/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 1503ms  10ステップ先  Δ= +3.1 +16.4  +9.7  -0.9 -23.8  +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 > 
[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) [  +0.42,   +5.68,   +4.09,   -0.09,   -5.24,  -29.82]  speed=20 wait=0.0s  (pre max|Δ|=4.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +4.2  +2.3  +0.2  -5.0  -0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.36,  +11.00,   +7.50,   -0.29,  -13.01,  -29.67]  speed=20 wait=0.0s  (pre max|Δ|=9.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.59° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  +4.4  +2.3  -0.1  -9.8  +0.0  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.55,  +16.30,  +10.60,   -0.89,  -21.51,  -29.25]  speed=20 wait=0.0s  (pre max|Δ|=10.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.3  +4.3  +2.2  -0.9 -10.1  +0.5  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +2.83,  +17.84,  +11.45,   -1.17,  -24.05,  -29.04]  speed=20 wait=0.0s  (pre max|Δ|=4.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.7  +0.0  -1.2  -4.0  +0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.12°（関節 j4）
[001] 推論 1134ms  10ステップ先  Δ= +2.9 +12.1  +6.4  -1.9 -20.1  +1.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +3.94,  +21.58,  +13.63,   -1.75,  -29.71,  -28.66]  speed=20 wait=0.0s  (pre max|Δ|=6.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +2.9  +1.5  -1.4  -6.8  +1.0  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +4.88,  +25.96,  +16.11,   -2.13,  -36.11,  -28.37]  speed=20 wait=0.0s  (pre max|Δ|=6.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +3.5  +1.6  -0.5  -6.8  +1.2  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +5.68,  +29.74,  +18.19,   -2.13,  -41.71,  -28.21]  speed=20 wait=0.0s  (pre max|Δ|=6.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +2.9  +1.3  -0.2  -6.7  +0.9  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +5.67,  +30.77,  +18.51,   -2.17,  -43.00,  -28.17]  speed=20 wait=0.0s  (pre max|Δ|=1.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  +0.1  -0.3  -0.2  -1.8  +0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.04°（関節 j1）
[002] 推論 808ms  10ステップ先  Δ= +2.1  +8.0  +2.9  +0.6 -12.0  +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) [  +6.58,  +33.20,  +19.51,   -1.78,  -46.49,  -28.12]  speed=20 wait=0.0s  (pre max|Δ|=3.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.78° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +1.4  +0.5  +0.1  -3.7  +0.6  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +7.36,  +36.02,  +20.50,   -1.56,  -50.34,  -28.08]  speed=20 wait=0.0s  (pre max|Δ|=4.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.80° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +1.8  +0.5  +0.3  -4.2  +0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +7.77,  +38.79,  +21.55,   -1.36,  -53.68,  -28.02]  speed=20 wait=0.0s  (pre max|Δ|=3.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  +1.8  +0.6  +0.3  -3.8  +0.5  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +7.87,  +39.77,  +21.87,   -1.26,  -54.78,  -28.01]  speed=20 wait=0.0s  (pre max|Δ|=1.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  +0.1  -0.1  +0.3  -1.7  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.92°（関節 j1）
[003] 推論 809ms  10ステップ先  Δ= +3.8  +2.4  +3.3  +0.6  -7.2  +0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [  +8.76,  +40.04,  +21.97,   -1.25,  -55.89,  -28.00]  speed=20 wait=0.0s  (pre max|Δ|=1.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  -0.6  -0.0  +0.2  -1.3  +0.3  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [  +9.47,  +40.19,  +22.27,   -1.27,  -57.06,  -27.99]  speed=20 wait=0.0s  (pre max|Δ|=1.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.85° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  -0.8  +0.3  +0.0  -1.9  +0.3  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +10.90,  +42.40,  +24.72,   -1.04,  -60.63,  -27.85]  speed=20 wait=0.0s  (pre max|Δ|=3.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.4  +1.4  +2.8  +0.4  -3.8  +0.5  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +11.14,  +43.13,  +25.28,   -0.99,  -61.81,  -27.84]  speed=20 wait=0.0s  (pre max|Δ|=1.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  -0.4  +0.2  +0.9  -2.0  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.90°（関節 j1）
[004] 推論 970ms  10ステップ先  Δ= +1.6  +7.2  -3.0  +0.2  -1.3  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ +11.72,  +43.84,  +25.32,   -0.91,  -61.98,  -27.86]  speed=20 wait=0.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.0  -0.2  +0.2  +0.1  -0.6  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +11.94,  +44.30,  +25.49,   -0.74,  -62.18,  -27.87]  speed=20 wait=0.0s  (pre max|Δ|=0.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.78° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  -0.5  +0.4  +0.3  -0.6  +0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +12.25,  +49.58,  +23.37,   -0.85,  -62.70,  -27.96]  speed=20 wait=0.0s  (pre max|Δ|=4.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  +4.5  -1.9  +0.2  -1.1  +0.1  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +12.29,  +51.20,  +22.17,   -0.87,  -62.61,  -27.98]  speed=20 wait=0.0s  (pre max|Δ|=2.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.20° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  +0.6  -2.7  +0.2  -0.0  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.12°（関節 j2）
[005] 推論 1532ms  10ステップ先  Δ= +1.0  +7.8  -9.0  +0.5  +1.3  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ +12.58,  +52.80,  +19.58,   -0.74,  -62.02,  -28.15]  speed=20 wait=0.0s  (pre max|Δ|=3.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +0.6  -3.7  +0.2  +0.8  -0.1  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +12.72,  +55.25,  +17.78,   -0.65,  -61.63,  -28.26]  speed=20 wait=0.0s  (pre max|Δ|=2.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.21° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  +1.5  -2.7  +0.3  +1.2  -0.2  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +12.77,  +59.02,  +15.02,   -0.55,  -61.58,  -28.35]  speed=20 wait=0.0s  (pre max|Δ|=3.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.41° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +2.7  -3.9  +0.4  +1.3  -0.3  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +12.81,  +60.03,  +14.29,   -0.50,  -61.54,  -28.39]  speed=20 wait=0.0s  (pre max|Δ|=1.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.30° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  +0.0  -1.8  +0.5  +1.3  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.30°（関節 j4）
[006] 推論 5761ms  6ステップ先  Δ= +0.5  +1.2  -4.7  +0.4  +1.1  -1.4  グリッパー→閉
       [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_chunk006_via02: send_angles (single) [ +13.12,  +62.18,  +11.98,   -0.45,  -61.25,  -29.27]  speed=20 wait=0.0s  (pre max|Δ|=3.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +1.0  -3.6  +0.3  +0.9  -1.2  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +13.15,  +62.37,  +10.81,   -0.43,  -61.76,  -29.45]  speed=20 wait=0.0s  (pre max|Δ|=2.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -0.8  -2.0  +0.3  -0.1  -1.2  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 0.96°（関節 j2）
[007] 推論 1871ms  10ステップ先  Δ= +2.0  -4.4  -0.5  +0.5  -2.3  -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_chunk007_via02: send_angles (single) [ +13.33,  +62.11,  +10.68,   -0.39,  -62.29,  -29.51]  speed=20 wait=0.0s  (pre max|Δ|=1.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  -1.2  -1.1  +0.2  -0.7  -0.4  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +13.47,  +60.73,  +10.82,   -0.44,  -62.95,  -29.54]  speed=20 wait=0.0s  (pre max|Δ|=2.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.46° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -2.6  -0.9  -0.4  -1.3  -0.5  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +14.18,  +59.14,  +11.21,   -0.21,  -63.70,  -29.77]  speed=20 wait=0.0s  (pre max|Δ|=4.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.2  -4.1  -0.6  -0.2  -2.0  -0.7  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +14.68,  +58.86,  +11.31,   -0.13,  -63.90,  -29.84]  speed=20 wait=0.0s  (pre max|Δ|=2.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -2.3  -0.5  -0.4  -1.9  -0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.31°（関節 j1）
[008] 推論 1137ms  10ステップ先  Δ= +2.4  -3.6  -3.2  +0.6  -1.5  -1.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ +14.76,  +58.84,  +10.06,   -0.09,  -64.12,  -29.92]  speed=20 wait=0.0s  (pre max|Δ|=2.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -2.3  -1.7  -0.3  -2.1  -0.8  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +15.16,  +58.84,   +9.13,   +0.17,  -64.13,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=2.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  -2.3  -2.5  +0.0  -1.0  -0.7  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +15.92,  +58.26,   +8.55,   +0.60,  -63.87,  -30.26]  speed=20 wait=0.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.56° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  -2.9  -1.6  +0.3  -0.8  -0.6  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +16.59,  +57.61,   +8.55,   +0.75,  -63.43,  -30.32]  speed=20 wait=0.0s  (pre max|Δ|=3.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -3.2  -1.6  +0.2  -0.3  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.33°（関節 j1）
[009] 推論 1126ms  10ステップ先  Δ=+10.4  -6.8  -4.3  +1.4  +2.8  -1.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via02: send_angles (single) [ +17.53,  +56.50,   +7.07,   +0.72,  -62.87,  -30.36]  speed=20 wait=0.0s  (pre max|Δ|=3.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.38° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  -3.4  -3.0  +0.2  +0.2  -0.5  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +20.58,  +54.77,   +6.14,   +0.91,  -61.82,  -30.49]  speed=20 wait=0.0s  (pre max|Δ|=4.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  5  Δ= +3.3  -4.1  -1.9  -0.3  +1.3  -0.5  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +25.55,  +53.57,   +5.71,   +1.80,  -60.43,  -30.98]  speed=20 wait=0.0s  (pre max|Δ|=4.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.94° (tol 3.0°)
       [VIA   ] step  8  Δ= +5.0  -3.3  -1.8  +0.3  +2.7  -0.9  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +26.49,  +53.12,   +5.76,   +1.92,  -60.30,  -31.11]  speed=20 wait=0.0s  (pre max|Δ|=2.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  -2.9  -1.8  +0.3  +2.2  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.42°（関節 j1）
[010] 推論 1031ms  9ステップ先  Δ= +5.3  -0.7  -6.0  +0.3  +2.9  -1.2  グリッパー→開
       [VIA   ] 中継点 3 点: step 2, 5, 8
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +28.17,  +53.10,   +3.22,   +2.09,  -59.23,  -31.37]  speed=20 wait=0.0s  (pre max|Δ|=4.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.5  -2.4  -4.3  -0.1  +2.3  -0.6  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +31.02,  +53.79,   +1.93,   +2.22,  -58.94,  -31.79]  speed=20 wait=0.0s  (pre max|Δ|=2.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.8  -1.7  -2.4  -0.1  +1.2  -0.8  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +31.96,  +54.87,   +1.51,   +2.45,  -59.20,  -32.00]  speed=20 wait=0.0s  (pre max|Δ|=1.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.74° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.9  -0.7  -1.7  -0.2  +0.6  -0.5  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.74°（関節 j2）
[011] 推論 904ms  10ステップ先  Δ= -4.1 -15.0  -2.1  -0.3 +14.5  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 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|=59.67°, post-send timeout 11.0s)
[SEND] arrival OK: max|Δ|=2.10° (tol 2.5°)
[RECORD] 記録終了 コマ 564 (8.838 fps) 実測角 529 回 (8.29 Hz)  電流 537 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_102353/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_20261111_102353
[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))
    (73 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 (12 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.26, 1.66, 2.10, 0.35, -0.17, -30.32]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=2.10°
[DONE] HOME 到達 max_err=2.10°
[POST] 最終姿勢: [-0.26, 1.66, 2.10, 0.35, -0.17, -30.32]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[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=  +4.4  dx=  -2.7  response=0.746  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -2.01° → -0.61° にソフトでそろえる (+1.39° 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)
    (9 秒)

=== 8. 実機推論 (12 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_102516
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.0 dx=+4.1 response=0.664 → 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 (+1.39° 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_102516/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 1532ms  10ステップ先  Δ= +3.6 +14.7  +9.3  -1.8 -20.1  +1.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[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) [  +0.32,   +4.84,   +4.22,   +0.25,   -3.87,  -29.86]  speed=20 wait=0.0s  (pre max|Δ|=3.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +3.2  +2.1  -0.0  -3.7  +0.4  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.64,  +10.24,   +7.78,   -0.42,  -11.11,  -29.22]  speed=20 wait=0.0s  (pre max|Δ|=9.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.9  +4.4  +2.6  -0.7  -9.2  +0.8  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.88,  +15.04,  +10.70,   -1.28,  -18.44,  -28.50]  speed=20 wait=0.0s  (pre max|Δ|=9.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.5  +3.8  +1.9  -1.1  -9.0  +0.9  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.33,  +16.41,  +11.35,   -1.50,  -20.26,  -28.29]  speed=20 wait=0.0s  (pre max|Δ|=3.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  +0.4  -0.2  -0.4  -3.5  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.90°（関節 j1）
[001] 推論 4930ms  10ステップ先  Δ= +3.1 +10.2  +5.2  -1.2 -18.3  +1.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +4.23,  +18.13,  +12.91,   -2.24,  -23.20,  -27.77]  speed=20 wait=0.0s  (pre max|Δ|=3.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.85° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.2  +0.8  +0.9  -0.7  -3.8  +0.7  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +5.23,  +21.71,  +15.24,   -2.65,  -28.91,  -27.32]  speed=20 wait=0.0s  (pre max|Δ|=5.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.61° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.1  +2.7  +1.6  -0.2  -5.2  +0.6  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +6.17,  +26.13,  +17.05,   -2.78,  -35.75,  -27.06]  speed=20 wait=0.0s  (pre max|Δ|=7.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.57° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.0  +3.5  +1.0  +0.2  -7.0  +0.4  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +6.22,  +27.46,  +17.27,   -2.79,  -37.72,  -27.01]  speed=20 wait=0.0s  (pre max|Δ|=2.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  +0.3  -0.5  +0.5  -2.4  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j1）
[002] 推論 1837ms  10ステップ先  Δ= +3.1 +11.6  +6.7  +0.8 -18.6  +0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [  +7.42,  +32.40,  +20.18,   -2.80,  -44.87,  -26.94]  speed=20 wait=0.0s  (pre max|Δ|=6.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.40° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  +3.9  +2.4  +0.5  -7.0  +0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +8.34,  +36.60,  +22.63,   -2.65,  -51.07,  -26.90]  speed=20 wait=0.0s  (pre max|Δ|=6.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.77° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  +3.2  +1.9  +0.8  -6.4  +0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +9.11,  +39.36,  +24.15,   -2.51,  -55.43,  -26.89]  speed=20 wait=0.0s  (pre max|Δ|=4.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.77° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  +1.7  +1.0  +0.6  -4.8  +0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +9.18,  +40.11,  +24.41,   -2.48,  -56.38,  -26.89]  speed=20 wait=0.0s  (pre max|Δ|=1.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -0.1  -0.2  +0.5  -1.1  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.93°（関節 j1）
[003] 推論 1363ms  10ステップ先  Δ= +2.4  +5.6  +3.3  +0.6 -10.9  +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_chunk003_via02: send_angles (single) [ +10.23,  +43.62,  +26.86,   -2.43,  -62.35,  -26.89]  speed=20 wait=0.0s  (pre max|Δ|=6.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.2  +2.6  +2.3  +0.4  -6.2  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +10.98,  +44.79,  +27.84,   -2.32,  -64.74,  -26.87]  speed=20 wait=0.0s  (pre max|Δ|=3.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  +0.3  +0.8  +0.2  -3.2  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +11.40,  +45.59,  +27.90,   -2.23,  -66.23,  -26.88]  speed=20 wait=0.0s  (pre max|Δ|=1.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  -0.2  +0.1  +0.1  -1.7  +0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +11.50,  +46.63,  +27.92,   -2.19,  -67.05,  -26.88]  speed=20 wait=0.0s  (pre max|Δ|=1.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  +0.1  +0.2  +0.2  -1.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.00°（関節 j1）
[004] 推論 931ms  10ステップ先  Δ= +0.7 +13.5  -9.5  +0.1  +2.4  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ +11.64,  +52.73,  +23.57,   -2.18,  -65.69,  -26.71]  speed=20 wait=0.0s  (pre max|Δ|=5.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +5.1  -4.2  +0.1  +1.2  +0.4  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +11.52,  +58.38,  +19.78,   -2.10,  -64.57,  -26.65]  speed=20 wait=0.0s  (pre max|Δ|=4.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  +4.8  -4.9  +0.2  +2.4  +0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +11.56,  +61.05,  +18.19,   -2.17,  -64.26,  -26.75]  speed=20 wait=0.0s  (pre max|Δ|=2.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.00° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  +1.7  -2.5  +0.1  +2.6  +0.1  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +11.80,  +61.16,  +18.22,   -2.21,  -64.46,  -26.77]  speed=20 wait=0.0s  (pre max|Δ|=1.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  -0.8  -0.9  +0.1  +1.8  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.72°（関節 j4）
[005] 推論 1812ms  1ステップ先  Δ= +0.0  +0.0  +0.0  +0.0  +0.0  +0.0  グリッパー→閉
       [VIA   ] 中継点 1 点: step 0
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via00: send_angles (single) [ +11.95,  +62.05,  +19.16,   -2.19,  -66.18,  -26.80]  speed=20 wait=0.0s  (pre max|Δ|=0.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.70° (tol 3.0°)
       [VIA   ] step  0  Δ= +0.0  +0.0  +0.0  +0.0  -0.5  +0.0  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 1.49°（関節 j4）
[006] 推論 2351ms  10ステップ先  Δ= +1.1  -8.2  +3.8  -2.2  +5.0  +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_chunk006_via02: send_angles (single) [ +12.15,  +60.35,  +20.70,   -2.46,  -65.51,  -26.71]  speed=20 wait=0.0s  (pre max|Δ|=2.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.34° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -2.4  +1.6  -1.0  +2.3  +0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +12.25,  +57.09,  +23.30,   -3.15,  -63.46,  -26.23]  speed=20 wait=0.0s  (pre max|Δ|=4.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  -4.6  +3.4  -1.4  +3.0  +0.8  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +12.45,  +55.03,  +23.35,   -3.40,  -62.65,  -26.18]  speed=20 wait=0.0s  (pre max|Δ|=3.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.9  -3.4  +0.8  -0.4  +1.5  +0.5  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +12.57,  +54.59,  +22.90,   -3.34,  -62.64,  -26.26]  speed=20 wait=0.0s  (pre max|Δ|=2.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -2.0  +0.2  -0.3  -0.8  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.92°（関節 j1）
[007] 推論 931ms  10ステップ先  Δ= +1.0  -2.6  -3.9  -0.3  -1.1  +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_chunk007_via02: send_angles (single) [ +12.75,  +54.15,  +22.81,   -3.37,  -62.77,  -26.29]  speed=20 wait=0.0s  (pre max|Δ|=2.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  -2.4  +0.1  -0.3  -1.1  +0.2  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +12.70,  +53.98,  +22.30,   -3.35,  -63.06,  -26.30]  speed=20 wait=0.0s  (pre max|Δ|=2.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  -2.4  -0.4  -0.3  -1.4  +0.1  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +12.82,  +53.86,  +19.65,   -3.31,  -62.87,  -26.33]  speed=20 wait=0.0s  (pre max|Δ|=3.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  -2.3  -3.0  -0.1  -1.3  -0.4  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +12.93,  +53.90,  +18.77,   -3.33,  -62.81,  -26.35]  speed=20 wait=0.0s  (pre max|Δ|=2.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -2.2  -2.0  +0.5  -1.3  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.17°（関節 j1）
[008] 推論 1729ms  10ステップ先  Δ= +0.5  -2.1  -9.5  +0.3  -0.9  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ +13.12,  +54.00,  +15.79,   -3.42,  -62.24,  -26.41]  speed=20 wait=0.0s  (pre max|Δ|=4.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -2.1  -4.3  +0.4  -0.7  -0.6  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +13.19,  +53.93,  +13.48,   -3.45,  -62.18,  -26.43]  speed=20 wait=0.0s  (pre max|Δ|=3.21°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=2.14° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -2.1  -3.2  +0.3  -0.7  -0.6  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +13.07,  +53.92,  +11.41,   -3.53,  -62.17,  -26.44]  speed=20 wait=0.0s  (pre max|Δ|=3.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.15° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -2.1  -3.1  +0.2  -0.6  -0.5  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +13.13,  +53.96,  +10.65,   -3.59,  -62.38,  -26.43]  speed=20 wait=0.0s  (pre max|Δ|=2.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -2.1  -1.8  +0.1  -0.9  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.11°（関節 j1）
[009] 推論 5125ms  10ステップ先  Δ= +0.7  -4.2  -7.1  -0.1  -2.4  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > r
       爪を締め直します (開かずに閉じる指令をもう一度)
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via02: send_angles (single) [ +13.22,  +53.63,   +7.83,   -3.64,  -62.56,  -26.47]  speed=20 wait=0.0s  (pre max|Δ|=4.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  -2.4  -4.4  +0.1  +0.5  -0.5  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +13.09,  +52.64,   +6.00,   -3.69,  -63.05,  -26.51]  speed=20 wait=0.0s  (pre max|Δ|=3.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.37° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  -3.4  -2.9  -0.0  +0.0  -0.5  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +13.28,  +52.10,   +5.16,   -3.77,  -63.61,  -26.53]  speed=20 wait=0.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.48° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -2.9  -2.0  -0.2  -0.5  -0.5  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +13.37,  +51.89,   +5.13,   -3.80,  -63.90,  -26.54]  speed=20 wait=0.0s  (pre max|Δ|=2.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.69° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -2.7  -1.5  -0.2  -0.8  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.69°（関節 j1）
[010] 推論 2061ms  10ステップ先  Δ= +7.2  -4.4  -3.9  +0.3  +0.4  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +13.32,  +51.82,   +2.67,   -3.84,  -63.48,  -26.58]  speed=20 wait=0.0s  (pre max|Δ|=3.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.67° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  -2.8  -3.9  -0.2  -0.3  -0.5  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +13.22,  +51.84,   +1.55,   -3.95,  -63.43,  -26.61]  speed=20 wait=0.0s  (pre max|Δ|=2.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.65° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.0  -2.7  -2.3  -0.4  -0.2  -0.4  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +17.82,  +50.63,   +2.45,   -3.58,  -63.13,  -26.67]  speed=20 wait=0.0s  (pre max|Δ|=4.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
       [VIA   ] step  8  Δ= +4.6  -3.9  -0.5  +0.0  +0.4  -0.4  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +20.35,  +50.14,   +2.69,   -3.28,  -62.78,  -26.73]  speed=20 wait=0.0s  (pre max|Δ|=2.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.50° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.6  -2.8  -0.2  +0.9  +1.0  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.50°（関節 j1）
[011] 推論 1208ms  10ステップ先  Δ=+13.6  -1.8  -6.2  +3.1  +5.7  -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 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +21.86,  +49.83,   +2.17,   -2.95,  -62.29,  -26.76]  speed=20 wait=0.0s  (pre max|Δ|=2.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.81° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  -2.8  -1.1  +0.8  +1.5  -0.3  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +27.71,  +49.24,   +0.82,   -2.19,  -60.47,  -26.88]  speed=20 wait=0.0s  (pre max|Δ|=6.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.45° (tol 3.0°)
       [VIA   ] step  5  Δ= +6.0  -3.4  -2.4  +1.1  +3.3  -0.4  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +32.72,  +50.22,   -1.99,   -0.87,  -58.24,  -27.77]  speed=20 wait=0.0s  (pre max|Δ|=5.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  8  Δ= +5.1  -1.4  -4.4  +1.6  +4.5  -1.2  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +33.85,  +50.84,   -2.96,   -0.42,  -58.07,  -28.13]  speed=20 wait=0.0s  (pre max|Δ|=2.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.87° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  -0.8  -2.3  +0.8  +2.1  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.78°（関節 j4）
[012] 推論 1069ms  10ステップ先  Δ= +3.4  +4.8  -3.0  +2.3  +2.3  -1.8
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk012_via02: send_angles (single) [ +36.60,  +50.78,   -3.87,   +0.21,  -56.45,  -28.76]  speed=20 wait=0.0s  (pre max|Δ|=2.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.12° (tol 3.0°)
       [VIA   ] step  2  Δ= +2.5  -1.1  -2.5  +1.1  +2.7  -0.8  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +37.75,  +51.61,   -4.40,   +0.93,  -55.79,  -29.39]  speed=20 wait=0.0s  (pre max|Δ|=2.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.2  -0.2  -2.0  +0.4  +1.5  -0.8  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +37.61,  +55.73,   -4.43,   +1.40,  -57.24,  -29.71]  speed=20 wait=0.0s  (pre max|Δ|=2.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +2.8  -1.7  +0.8  -0.9  -0.5  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +37.49,  +56.63,   -4.43,   +1.55,  -57.58,  -29.78]  speed=20 wait=0.0s  (pre max|Δ|=1.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.4  -1.6  +0.6  -1.2  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.62°（関節 j2）
[013] 推論 807ms  6ステップ先  Δ= -0.0  +4.0  -1.8  +0.8  -4.5  -0.5  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_chunk013_via02: send_angles (single) [ +37.62,  +61.58,   -4.58,   +1.81,  -60.59,  -29.85]  speed=20 wait=0.0s  (pre max|Δ|=4.26°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.77° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  +3.7  -1.8  +0.7  -4.3  -0.4  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +37.59,  +61.95,   -4.59,   +1.98,  -60.79,  -29.97]  speed=20 wait=0.0s  (pre max|Δ|=1.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.0  -1.0  -1.8  +0.4  -1.6  -0.5  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.78°（関節 j2）
[014] 推論 1544ms  10ステップ先  Δ= -2.1 -18.2  -1.5  +0.6 +15.5  -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_chunk014_via02: send_angles (single) [ +37.48,  +57.31,   -4.60,   +2.06,  -56.79,  -30.09]  speed=20 wait=0.0s  (pre max|Δ|=5.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.88° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  -5.7  -1.8  +0.3  +3.3  -0.5  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [ +37.68,  +52.41,   -4.53,   +2.29,  -52.11,  -30.40]  speed=20 wait=0.0s  (pre max|Δ|=7.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.99° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  -7.0  -1.7  +0.4  +7.6  -0.4  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [ +36.51,  +46.74,   -4.30,   +2.40,  -46.46,  -30.63]  speed=20 wait=0.0s  (pre max|Δ|=8.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.1  -7.8  -1.5  +0.4  +8.2  -0.6  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [ +35.49,  +44.78,   -4.27,   +2.39,  -44.59,  -30.67]  speed=20 wait=0.0s  (pre max|Δ|=4.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.0  -4.1  -1.5  -0.5  +4.1  -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）
[015] 推論 5136ms  10ステップ先  Δ=-16.8 -25.6  -0.4  -2.8 +25.2  -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 > 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|=46.84°, post-send timeout 9.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 2.5°)
[RECORD] 記録終了 コマ 920 (8.868 fps) 実測角 876 回 (8.44 Hz)  電流 882 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_102516/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_102516
[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))
    (114 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 (13 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.08, 1.49, 0.70, 0.26, -0.26, -30.32]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.49°
[DONE] HOME 到達 max_err=1.49°
[POST] 最終姿勢: [-0.08, 1.49, 0.70, 0.26, -0.26, -30.32]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[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=  +4.5  dx=  -1.7  response=0.933  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.97° → -0.61° にソフトでそろえる (+1.35° 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)
    (9 秒)

=== 8. 実機推論 (13 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_102720
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-1.7 dx=+5.0 response=0.608 → 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 -2.04° → -0.61° にそろえて渡す (+1.43° 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_102720/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 1759ms  10ステップ先  Δ= +4.5 +15.6  +9.5  -2.0 -22.0  +2.8
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[GRIP  ] 開始時にグリッパーを開く
  [Pi] GRIPPER: OPEN result= None
[SEND] pi05_chunk000_via02: send_angles (single) [  +0.97,   +5.22,   +3.30,   +0.09,   -4.32,  -29.64]  speed=20 wait=0.0s  (pre max|Δ|=4.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +3.7  +2.6  -0.2  -4.1  +0.7  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +2.39,  +10.56,   +6.72,   -0.77,  -11.94,  -28.55]  speed=20 wait=0.0s  (pre max|Δ|=9.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.6  +4.4  +2.4  -1.0  -9.7  +1.6  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +3.93,  +15.63,   +9.72,   -1.65,  -20.35,  -27.63]  speed=20 wait=0.0s  (pre max|Δ|=10.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  +4.2  +2.0  -1.2 -10.1  +1.4  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +4.44,  +17.14,  +10.21,   -1.75,  -22.24,  -27.50]  speed=20 wait=0.0s  (pre max|Δ|=3.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.6  -0.3  -0.1  -3.6  +0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.87°（関節 j1）
[001] 推論 1301ms  10ステップ先  Δ= +4.8 +16.9  +9.5  -0.2 -27.7  +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_chunk001_via02: send_angles (single) [  +5.63,  +20.95,  +12.39,   -1.94,  -28.16,  -27.17]  speed=20 wait=0.0s  (pre max|Δ|=6.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.24° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.3  +2.9  +1.4  -0.3  -6.6  +0.7  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +7.22,  +26.10,  +15.77,   -2.06,  -36.31,  -26.97]  speed=20 wait=0.0s  (pre max|Δ|=9.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.9  +4.2  +2.6  +0.1  -9.2  +0.5  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +8.74,  +32.63,  +19.52,   -1.94,  -45.80,  -26.97]  speed=20 wait=0.0s  (pre max|Δ|=10.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.4  +5.6  +3.0  +1.0 -10.3  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +9.19,  +34.91,  +20.43,   -1.90,  -49.22,  -26.98]  speed=20 wait=0.0s  (pre max|Δ|=4.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  +1.4  +0.3  +0.8  -4.4  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.94°（関節 j1）
[002] 推論 809ms  10ステップ先  Δ= +3.0  +8.2  +4.7  +1.2 -11.8  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ +10.28,  +37.89,  +22.20,   -1.83,  -53.66,  -26.92]  speed=20 wait=0.0s  (pre max|Δ|=3.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.78° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +2.0  +2.1  +0.3  -3.4  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ +10.89,  +40.82,  +23.70,   -1.70,  -57.22,  -26.92]  speed=20 wait=0.0s  (pre max|Δ|=5.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.24° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +2.0  +1.0  -0.0  -5.7  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ +12.12,  +43.54,  +24.74,   -1.56,  -59.68,  -26.90]  speed=20 wait=0.0s  (pre max|Δ|=3.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.24° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.2  +1.7  +0.7  -0.2  -3.7  +0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ +12.39,  +44.10,  +24.80,   -1.56,  -60.11,  -26.90]  speed=20 wait=0.0s  (pre max|Δ|=1.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -0.5  +0.1  -1.0  -1.7  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.23°（関節 j4）
[003] 推論 1026ms  10ステップ先  Δ= +2.0  +5.6  +1.7  -1.0  -7.0  +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_chunk003_via02: send_angles (single) [ +13.28,  +46.01,  +26.60,   -1.61,  -62.70,  -26.86]  speed=20 wait=0.0s  (pre max|Δ|=3.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.3  +1.0  +1.9  -0.9  -3.8  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +13.56,  +46.94,  +27.17,   -1.51,  -63.96,  -26.84]  speed=20 wait=0.0s  (pre max|Δ|=0.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -0.1  +0.3  -0.5  -1.0  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +13.87,  +49.41,  +26.78,   -1.50,  -65.37,  -26.85]  speed=20 wait=0.0s  (pre max|Δ|=1.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.77° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  +1.5  -0.2  -0.5  -1.9  +0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +13.98,  +50.61,  +26.44,   -1.61,  -65.85,  -26.86]  speed=20 wait=0.0s  (pre max|Δ|=0.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.3  -0.5  -0.6  -1.0  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.98°（関節 j1）
[004] 推論 1470ms  9ステップ先  Δ= +0.0  +5.7  -7.1  -0.6  +2.8  -0.2  グリッパー→閉
       [VIA   ] 中継点 3 点: step 2, 5, 8
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ +13.90,  +54.34,  +22.44,   -1.60,  -63.84,  -27.04]  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= -0.1  +2.8  -4.5  -0.5  +1.8  +0.0  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +13.83,  +57.32,  +20.10,   -1.62,  -63.04,  -27.18]  speed=20 wait=0.0s  (pre max|Δ|=3.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  +2.0  -3.3  -0.4  +2.6  -0.1  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +13.98,  +57.31,  +19.89,   -1.60,  -62.84,  -27.28]  speed=20 wait=0.0s  (pre max|Δ|=2.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.0  -1.0  -1.2  -0.4  +2.2  -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 1.58°（関節 j4）
[005] 推論 2251ms  10ステップ先  Δ= +0.9  -8.7  +6.0  -0.2  -0.2  +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_chunk005_via02: send_angles (single) [ +14.02,  +53.41,  +23.40,   -1.75,  -62.52,  -26.94]  speed=20 wait=0.0s  (pre max|Δ|=4.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  -4.9  +2.3  -0.4  +1.9  +0.1  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +14.29,  +50.16,  +26.70,   -1.79,  -63.05,  -26.47]  speed=20 wait=0.0s  (pre max|Δ|=5.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  -5.0  +3.4  -0.4  -1.1  +0.6  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +14.63,  +49.03,  +27.90,   -1.66,  -64.49,  -26.40]  speed=20 wait=0.0s  (pre max|Δ|=3.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.09° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  -3.2  +1.0  -0.3  -2.6  +0.3  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +14.80,  +49.61,  +27.05,   -1.47,  -64.58,  -26.56]  speed=20 wait=0.0s  (pre max|Δ|=2.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -1.3  -1.2  -0.2  -2.2  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.18°（関節 j4）
[006] 推論 1032ms  10ステップ先  Δ= +9.8  -0.8 -11.1  +2.0  +2.5  -2.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ +20.43,  +49.89,  +22.30,   -0.24,  -63.17,  -27.99]  speed=20 wait=0.0s  (pre max|Δ|=5.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.19° (tol 3.0°)
       [VIA   ] step  2  Δ= +5.8  -1.0  -5.9  +1.1  -0.7  -1.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +23.43,  +49.94,  +18.13,   +0.49,  -61.41,  -29.10]  speed=20 wait=0.0s  (pre max|Δ|=5.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  5  Δ= +3.0  -0.9  -5.2  +1.0  +1.1  -2.3  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +24.51,  +50.12,  +16.63,   +0.76,  -60.07,  -29.59]  speed=20 wait=0.0s  (pre max|Δ|=2.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.1  -0.8  -2.5  +0.6  +2.4  -1.6  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +24.48,  +50.13,  +17.10,   +0.71,  -59.86,  -29.53]  speed=20 wait=0.0s  (pre max|Δ|=1.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -1.1  -1.0  +0.7  +1.9  -1.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.75°（関節 j4）
[007] 推論 1452ms  10ステップ先  Δ= +1.0  +0.4  -8.1  +1.4  +1.9  -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 > p
[PAD   ] 補正 1 (推論 7 のあと). ゲームパッドで直して, □ で推論に戻ります
コントローラーを待っています（5 秒でつながらなければ推論の入力待ちに戻ります）。□ で推論に戻ります。Ctrl-C で補正を抜けます
/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
[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[送信] j1 -2.0° → +24.52 +49.24 +18.10 +0.26 -60.73 -28.82  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.0°）  届いた角度 +24.52 +51.24 +18.10 +0.43 -60.20 -29.17
[止める] stop（released_while_sending）  止まった角度 +24.52 +47.46 +18.54 +0.61 -57.48 -29.17
[PAD   ] 補正 1 を終えました (13.6 秒, 送った目標 2 回). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[008] 推論 3280ms  10ステップ先  Δ=+12.8  +7.6 -15.8  +3.1  +4.8  -3.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > h
[SEND] pi05_home: send_angles (single) [  +0.00,   +0.00,   +0.00,   +0.00,   +0.00,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=58.97°, post-send timeout 10.8s)
[SEND] arrival OK: max|Δ|=2.46° (tol 2.5°)
[RECORD] 記録終了 コマ 655 (8.849 fps) 実測角 651 回 (8.79 Hz)  電流 668 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_102720/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_20261111_102720
[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))
    (81 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 (14 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [0.08, 1.49, 1.75, 0.08, -0.70, -29.61]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.75°
[DONE] HOME 到達 max_err=1.75°
[POST] 最終姿勢: [0.08, 1.49, 1.75, 0.08, -0.61, -29.61]
  [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=  -1.4  response=0.899  → 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)
    (9 秒)

=== 8. 実機推論 (14 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_102851
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-2.5 dx=+5.4 response=0.522 → 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 -1.93° → -0.61° にそろえて渡す (+1.31° 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_102851/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 1349ms  10ステップ先  Δ= +2.2 +13.8  +8.0  -0.9 -17.7  +0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[GRIP  ] 開始時にグリッパーを開く
  [Pi] GRIPPER: OPEN result= None
[SEND] pi05_chunk000_via02: send_angles (single) [  +0.52,   +4.05,   +3.73,   +0.17,   -3.22,  -29.66]  speed=20 wait=0.0s  (pre max|Δ|=2.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +2.6  +2.0  +0.1  -3.0  +0.0  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.34,   +8.72,   +6.29,   -0.13,   -9.01,  -29.53]  speed=20 wait=0.0s  (pre max|Δ|=7.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.51° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  +3.7  +1.6  -0.2  -7.7  +0.2  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.13,  +13.92,   +9.13,   -0.64,  -16.15,  -29.23]  speed=20 wait=0.0s  (pre max|Δ|=8.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.9  +4.2  +1.8  -0.7  -8.8  +0.5  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +2.24,  +15.30,   +9.78,   -0.79,  -17.97,  -29.11]  speed=20 wait=0.0s  (pre max|Δ|=3.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  +0.5  -0.2  -0.9  -3.4  +0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j4）
[001] 推論 1216ms  10ステップ先  Δ= +4.5  +9.8  +4.9  -2.2 -16.3  +2.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +3.46,  +18.52,  +11.35,   -1.35,  -21.97,  -28.53]  speed=20 wait=0.0s  (pre max|Δ|=5.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  +2.4  +0.8  -1.1  -5.0  +1.2  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +4.79,  +21.99,  +13.30,   -1.75,  -27.13,  -27.92]  speed=20 wait=0.0s  (pre max|Δ|=5.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.86° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.5  +2.5  +1.2  -0.4  -5.6  +1.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +6.25,  +25.50,  +15.32,   -2.20,  -32.61,  -27.52]  speed=20 wait=0.0s  (pre max|Δ|=6.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.33° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.8  +2.7  +1.3  -0.4  -6.2  +1.2  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +6.33,  +25.98,  +15.42,   -2.29,  -33.24,  -27.44]  speed=20 wait=0.0s  (pre max|Δ|=1.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.34° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -0.6  -0.7  -0.2  -1.3  +0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.82°（関節 j1）
[002] 推論 1114ms  10ステップ先  Δ= +3.2 +10.6  +4.8  -0.3 -15.1  +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) [  +7.25,  +29.79,  +17.17,   -2.49,  -38.12,  -27.37]  speed=20 wait=0.0s  (pre max|Δ|=5.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  +3.0  +1.1  -0.4  -5.2  +0.7  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +8.03,  +32.26,  +18.71,   -2.41,  -41.53,  -27.32]  speed=20 wait=0.0s  (pre max|Δ|=3.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.61° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  +1.6  +0.9  +0.2  -3.9  +0.5  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +8.99,  +36.54,  +20.57,   -2.46,  -47.06,  -27.26]  speed=20 wait=0.0s  (pre max|Δ|=5.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.19° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  +3.5  +1.4  +0.3  -5.7  +0.4  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +9.05,  +37.42,  +20.83,   -2.44,  -47.94,  -27.27]  speed=20 wait=0.0s  (pre max|Δ|=1.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.1  -0.3  +0.1  -1.4  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.90°（関節 j1）
[003] 推論 998ms  10ステップ先  Δ= +2.0  +9.9  +4.1  +0.7 -10.2  +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_chunk003_via02: send_angles (single) [  +9.74,  +39.38,  +22.15,   -2.30,  -50.61,  -27.25]  speed=20 wait=0.0s  (pre max|Δ|=3.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +1.1  +1.0  +0.2  -3.1  +0.3  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +10.56,  +43.60,  +24.42,   -2.05,  -55.11,  -27.23]  speed=20 wait=0.0s  (pre max|Δ|=4.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.72° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  +3.4  +1.9  +0.3  -4.5  +0.3  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +10.91,  +47.33,  +25.32,   -1.85,  -57.57,  -27.19]  speed=20 wait=0.0s  (pre max|Δ|=2.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.74° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +2.6  +0.5  +0.7  -2.6  +0.2  着いた
       [VIA   ] step  9  Δ= +0.3  -0.1  +0.1  +0.3  -0.1  +0.2  送らず (0.5° 以下)
[STATE ] 目標を渡す  目標と実測の最大差 0.31°（関節 j3）
[004] 推論 1090ms  10ステップ先  Δ= +2.0  +7.4  -4.2  +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_chunk004_via02: send_angles (single) [ +12.08,  +48.72,  +25.56,   -1.77,  -57.62,  -27.17]  speed=20 wait=0.0s  (pre max|Δ|=1.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  +0.4  +0.4  +0.3  -0.1  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +12.78,  +48.98,  +25.85,   -1.73,  -58.12,  -27.09]  speed=20 wait=0.0s  (pre max|Δ|=0.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.85° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  -0.8  +0.7  +0.3  -0.1  +0.3  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +12.67,  +53.55,  +22.70,   -1.85,  -58.56,  -27.14]  speed=20 wait=0.0s  (pre max|Δ|=3.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.29° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.2  +3.7  -3.4  -0.0  -0.6  +0.2  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +12.68,  +55.77,  +20.91,   -1.88,  -59.03,  -27.17]  speed=20 wait=0.0s  (pre max|Δ|=2.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  +1.3  -2.9  -0.0  -0.8  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.97°（関節 j2）
[005] 推論 805ms  7ステップ先  Δ= +0.3  +5.2  -6.1  -0.1  +1.1  +0.1  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_chunk005_via02: send_angles (single) [ +12.98,  +60.07,  +17.40,   -1.97,  -58.77,  -27.27]  speed=20 wait=0.0s  (pre max|Δ|=4.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  +3.5  -4.5  -0.1  +1.1  +0.1  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +13.18,  +61.83,  +15.80,   -1.97,  -58.74,  -27.35]  speed=20 wait=0.0s  (pre max|Δ|=2.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.87° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  +1.1  -2.1  -0.2  +2.1  +0.2  着いた
[SEND] pi05_chunk005_via06: send_angles (single) [ +13.18,  +61.83,  +15.80,   -1.97,  -58.74,  -27.35]  speed=20 wait=0.0s  (pre max|Δ|=2.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.87° (tol 3.0°)
       [VIA   ] step  6  Δ= +0.4  -0.6  -0.5  -0.2  +2.9  +0.4  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 3.04°（関節 j4）
[006] 推論 1361ms  10ステップ先  Δ= +2.5  -5.4  +7.6  -0.4  -2.0  +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_chunk006_via02: send_angles (single) [ +13.26,  +60.46,  +19.86,   -2.08,  -60.67,  -26.48]  speed=20 wait=0.0s  (pre max|Δ|=4.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.46° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  -1.9  +4.2  -0.6  +1.1  +1.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +13.93,  +58.78,  +22.61,   -2.05,  -62.16,  -26.11]  speed=20 wait=0.0s  (pre max|Δ|=4.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.4  -2.3  +4.3  -0.1  -0.4  +1.4  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +14.64,  +57.48,  +23.61,   -1.86,  -63.64,  -26.03]  speed=20 wait=0.0s  (pre max|Δ|=2.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.1  -1.8  +2.4  -0.2  -1.5  +0.9  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +15.07,  +57.03,  +23.39,   -1.70,  -63.73,  -26.28]  speed=20 wait=0.0s  (pre max|Δ|=1.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.24° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  -1.4  +0.9  -0.3  -0.8  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.24°（関節 j1）
[007] 推論 5192ms  10ステップ先  Δ= +2.7  -1.5  -3.1  +0.3  +0.2  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ +15.08,  +56.43,  +23.75,   -1.57,  -63.81,  -26.23]  speed=20 wait=0.0s  (pre max|Δ|=1.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  -1.8  +1.3  -0.4  -0.5  +0.2  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +15.56,  +56.40,  +22.76,   -1.23,  -63.76,  -26.49]  speed=20 wait=0.0s  (pre max|Δ|=1.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.2  -1.5  -0.2  +0.3  -0.4  -0.2  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +16.55,  +56.79,  +19.91,   -0.94,  -63.01,  -26.91]  speed=20 wait=0.0s  (pre max|Δ|=3.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.40° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.4  -1.1  -3.0  +0.7  +0.3  -1.0  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +17.00,  +56.80,  +19.40,   -0.86,  -62.85,  -27.04]  speed=20 wait=0.0s  (pre max|Δ|=1.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.33° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -1.1  -1.3  +1.2  -1.3  -1.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.33°（関節 j4）
[008] 推論 1636ms  10ステップ先  Δ= +4.9  -1.3  -7.4  +2.9  -0.0  -2.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > r
       爪を締め直します (開かずに閉じる指令をもう一度)
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ +17.39,  +55.45,  +21.34,   -0.92,  -63.27,  -26.83]  speed=20 wait=0.0s  (pre max|Δ|=2.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.20° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  -2.5  +0.7  +0.3  -1.7  -0.6  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +17.01,  +56.20,  +18.66,   -0.90,  -63.33,  -27.04]  speed=20 wait=0.0s  (pre max|Δ|=2.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  -1.4  -2.4  -0.3  -1.5  -0.8  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +20.49,  +56.59,  +14.47,   +0.54,  -61.97,  -28.28]  speed=20 wait=0.0s  (pre max|Δ|=5.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= +3.4  -1.0  -5.4  +1.1  +0.3  -1.9  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +21.62,  +56.60,  +13.24,   +0.88,  -61.54,  -28.59]  speed=20 wait=0.0s  (pre max|Δ|=2.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.2  -1.0  -2.1  -0.5  +0.7  -0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.17°（関節 j2）
[009] 推論 1375ms  10ステップ先  Δ= +1.2  -3.0  -8.0  +0.4  +3.1  -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 > 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|=62.31°, post-send timeout 11.3s)
[SEND] arrival OK: max|Δ|=1.75° (tol 2.5°)
[RECORD] 記録終了 コマ 529 (8.922 fps) 実測角 519 回 (8.75 Hz)  電流 525 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261111_102851/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_20261111_102851
[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))
    (66 秒)
もう1回やりますか? y=やる / 他=終わる > 

=== かかった時間 (Log30 の Pod (id t3fnpcsccc95vo) につなぎ直し)  モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
  1. Pod につなぎ直す             1 秒
  2. Pod が立ち上がるまで待つ      9 秒
  3. Pod の中を確かめる (つなぎ直し)     12 秒
  3a. スクリプトを送る        123 秒
  3b〜4. 準備とサーバーの起動 (飛ばした)      0 秒
  5. Mac の 8000 番へのトンネル      4 秒
  6. デーモンの状態              2 秒
  7. HOME → 爪を開く → 位置合わせ (1 回目)    179 秒
  8. 実機推論 (1 回目)           97 秒
  7. HOME → 爪を開く → 位置合わせ (2 回目)     19 秒
  8. 実機推論 (2 回目)          115 秒
  7. HOME → 爪を開く → 位置合わせ (3 回目)      9 秒
  8. 実機推論 (3 回目)           64 秒
  7. HOME → 爪を開く → 位置合わせ (4 回目)      8 秒
  8. 実機推論 (4 回目)           62 秒
  7. HOME → 爪を開く → 位置合わせ (5 回目)      8 秒
  8. 実機推論 (5 回目)          112 秒
  7. HOME → 爪を開く → 位置合わせ (6 回目)     33 秒
  8. 実機推論 (6 回目)           72 秒
  7. HOME → 爪を開く → 位置合わせ (7 回目)     10 秒
  8. 実機推論 (7 回目)          108 秒
  7. HOME → 爪を開く → 位置合わせ (8 回目)      8 秒
  8. 実機推論 (8 回目)           75 秒
  7. HOME → 爪を開く → 位置合わせ (9 回目)     10 秒
  8. 実機推論 (9 回目)           80 秒
  7. HOME → 爪を開く → 位置合わせ (10 回目)      9 秒
  8. 実機推論 (10 回目)          88 秒
  7. HOME → 爪を開く → 位置合わせ (11 回目)      9 秒
  8. 実機推論 (11 回目)          73 秒
  7. HOME → 爪を開く → 位置合わせ (12 回目)      9 秒
  8. 実機推論 (12 回目)         114 秒
  7. HOME → 爪を開く → 位置合わせ (13 回目)      9 秒
  8. 実機推論 (13 回目)          81 秒
  7. HOME → 爪を開く → 位置合わせ (14 回目)      9 秒
  8. 実機推論 (14 回目)          66 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