[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)
[GRIP  ] 爪の閉じる値は 25 (--grip-value). 締め直し r はこの値−3 とこの値を交互に送る (依頼 152)
[CONFIRM] チャンクごとには確かめない (--no-step-confirm. 始めの確かめのあとは止まらずに進む. 止めるときはスペース. 依頼 178)
[LAB   ] 2026-11-14 18:08:39  GPU=NVIDIA A40  episode=run_0001_20261019_194818  log=/Volumes/KIOXIA/r2r2r-data/lab/Log35  
[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   ] Log35 の Pod (id 9wypmq2uhnx2et) 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 2026-11-14 17:58:33)
[POD   ] 記録の最後のモデル: deep1  今回: --model deep1
    (2 秒)

=== 2. Pod が立ち上がるまで待つ
[POD   ] SSH の IP とポートを API から取り直した (<POD_IP>:<SSH_PORT>)
[POD   ] 入れた: 7711f98bf50a
NVIDIA A40, 46068 MiB
    (5 秒)

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

=== 3a. スクリプトを送る
    (101 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 60964. このスクリプトが終わると閉じる)
    (2 秒)

=== 5b. 空打ち (1 回目の推論の待ちを先に済ませる)
[WARM  ] 空打ち: localhost:8000 に観測 (画像 384x216・state 7 つ・prompt) を 1 回投げて捨てます (お手本 pi05_20261031_175527 の 1 枚目)
[WARM  ] 空打ち 0.9 秒 (つなぐまで含めて 2.1 秒. 答え 10x7 は捨てた)
    (3 秒)

=== 6. デーモンの状態
--- process
514 /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: [0.17, 1.40, 2.19, -0.26, -0.26, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=2.19°
[DONE] HOME 到達 max_err=2.19°
[POST] 最終姿勢: [0.17, 1.40, 2.19, -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=  +0.6  dx=  -1.6  response=0.829  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.95° → -0.61° にソフトでそろえる (+1.34° 回して重ねる. プラス=右下がり)
[ALIGN ] dy= +13.1  dx=  +1.4  response=0.021  → 測れない (相関が弱く dx/dy が当てにならない (response=0.021 < 0.20))  傾き -10.82° → -0.61° にソフトでそろえる (+10.21° 回して重ねる. プラス=右下がり) → 回す角度が 3° を超える (TILT DIFFERS. iPhone の付け方を見直す)
[ALIGN ] dy=  +7.2  dx=  +3.4  response=0.055  → 測れない (相関が弱く dx/dy が当てにならない (response=0.055 < 0.20))  傾き -10.82° → -0.61° にソフトでそろえる (+10.21° 回して重ねる. プラス=右下がり) → 回す角度が 3° を超える (TILT DIFFERS. iPhone の付け方を見直す)
[ALIGN ] dy= +16.8  dx=  +4.6  response=0.010  → 測れない (相関が弱く dx/dy が当てにならない (response=0.010 < 0.20))  傾き -10.82° → -0.61° にソフトでそろえる (+10.21° 回して重ねる. プラス=右下がり) → 回す角度が 3° を超える (TILT DIFFERS. iPhone の付け方を見直す)
[ALIGN ] dy=  +9.8  dx=  +2.8  response=0.036  → 測れない (相関が弱く dx/dy が当てにならない (response=0.036 < 0.20))  傾き -10.65° → -0.61° にソフトでそろえる (+10.03° 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=  +0.6  dx=  -1.2  response=0.794  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.95° → -0.61° にソフトでそろえる (+1.34° 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)
    (15 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
[GRIP  ] 閉じる値 25  締め直し r は 22 と 25 を交互に送る
[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_20261114_181057
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[PAUSE ] --no-step-confirm: 始めの確かめのあとは入力欄を出さずに進みます. 止めるときはスペース (Enter も可). 今のチャンクを送り終えてから, 次の推論のあと (送る前) で入力欄を出します
[CAMERA] 写り方 dy=-5.8 dx=+5.6 response=0.540 → 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 -1.99° → -0.61° にそろえて渡す (+1.38° 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_20261114_181057/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 790ms  10ステップ先  Δ= +3.0 +12.5  +7.9  -1.8 -16.3  +1.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[GRIP  ] 開始時にグリッパーを開く
  [Pi] GRIPPER: OPEN result= None
[SEND] pi05_chunk000_via02: send_angles (single) [  +0.83,   +4.45,   +4.36,   -0.38,   -4.03,  -30.01]  speed=20 wait=0.0s  (pre max|Δ|=3.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  +3.1  +2.2  -0.1  -3.8  +0.2  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.85,   +8.73,   +6.90,   -1.03,   -9.65,  -29.52]  speed=20 wait=0.0s  (pre max|Δ|=7.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +3.4  +1.5  -0.8  -7.6  +0.7  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.80,  +12.98,   +9.59,   -1.89,  -15.27,  -28.70]  speed=20 wait=0.0s  (pre max|Δ|=7.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.3  +3.2  +1.7  -1.6  -7.0  +0.9  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.22,  +13.88,  +10.04,   -2.07,  -16.55,  -28.51]  speed=20 wait=0.0s  (pre max|Δ|=2.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.26° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -0.1  -0.4  -1.1  -2.7  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.26°（関節 j4）
[001] 推論 641ms  10ステップ先  Δ= +4.9 +16.1  +9.6  -2.1 -25.9  +1.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk001_via02: send_angles (single) [  +4.54,  +18.56,  +12.59,   -2.66,  -22.88,  -27.71]  speed=20 wait=0.0s  (pre max|Δ|=7.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.3  +3.8  +2.0  -1.5  -7.5  +1.0  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +5.78,  +23.16,  +15.41,   -2.87,  -29.66,  -27.30]  speed=20 wait=0.0s  (pre max|Δ|=7.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.84° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.4  +3.6  +2.0  -0.5  -7.6  +0.6  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +7.43,  +28.67,  +18.83,   -3.06,  -38.00,  -27.13]  speed=20 wait=0.0s  (pre max|Δ|=9.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.8  +4.6  +2.6  -0.5  -9.0  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +8.18,  +30.81,  +20.21,   -3.15,  -41.24,  -27.16]  speed=20 wait=0.0s  (pre max|Δ|=4.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.2  +1.2  +0.7  -0.3  -4.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.91°（関節 j1）
[002] 推論 1483ms  10ステップ先  Δ= +1.7  +3.9  +1.1  +0.3  -7.2  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk002_via02: send_angles (single) [  +8.82,  +31.54,  +20.52,   -3.07,  -42.16,  -27.12]  speed=20 wait=0.0s  (pre max|Δ|=1.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  -0.2  -0.1  -0.2  -1.6  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +9.24,  +32.94,  +20.71,   -2.89,  -44.10,  -27.12]  speed=20 wait=0.0s  (pre max|Δ|=2.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +0.5  +0.1  +0.2  -2.2  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +9.66,  +34.88,  +21.45,   -2.66,  -46.69,  -27.09]  speed=20 wait=0.0s  (pre max|Δ|=2.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.9  +1.0  +0.8  +0.3  -2.9  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +9.77,  +35.60,  +21.74,   -2.59,  -47.82,  -27.09]  speed=20 wait=0.0s  (pre max|Δ|=1.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -0.2  -0.1  +0.3  -1.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.96°（関節 j1）
[003] 推論 583ms  10ステップ先  Δ= +2.0 +11.4  +2.6  +1.0 -12.6  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk003_via02: send_angles (single) [ +10.62,  +39.53,  +23.37,   -2.21,  -53.21,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=5.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.83° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.0  +2.9  +1.1  +0.7  -5.7  +0.3  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +11.13,  +43.69,  +24.72,   -1.94,  -57.49,  -27.05]  speed=20 wait=0.0s  (pre max|Δ|=4.94°, 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|=1.04° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  +3.4  +1.0  +1.0  -4.9  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +11.48,  +47.24,  +25.02,   -1.87,  -59.91,  -27.03]  speed=20 wait=0.0s  (pre max|Δ|=2.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  +2.5  -0.1  +0.4  -2.8  +0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +11.59,  +47.91,  +24.84,   -1.85,  -60.02,  -27.03]  speed=20 wait=0.0s  (pre max|Δ|=0.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -0.4  -0.3  -0.0  -0.6  +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）
[004] 推論 571ms  10ステップ先  Δ= +0.5 +10.1  -4.7  -0.6  -2.1  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk004_via02: send_angles (single) [ +12.05,  +50.89,  +24.95,   -1.94,  -60.91,  -27.01]  speed=20 wait=0.0s  (pre max|Δ|=2.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +2.0  -0.2  -0.1  -1.4  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +12.37,  +56.30,  +22.14,   -2.27,  -61.46,  -27.02]  speed=20 wait=0.0s  (pre max|Δ|=4.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +4.4  -3.0  -0.4  -0.7  +0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +12.21,  +58.81,  +20.59,   -2.38,  -61.55,  -27.09]  speed=20 wait=0.0s  (pre max|Δ|=2.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +1.7  -2.5  -0.9  +0.5  +0.1  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +12.08,  +58.92,  +20.39,   -2.39,  -61.60,  -27.11]  speed=20 wait=0.0s  (pre max|Δ|=1.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -0.6  -1.0  -0.9  +1.7  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.68°（関節 j4）
[005] 推論 1545ms  4ステップ先  Δ= +0.2  +0.7  -2.5  -0.9  +1.6  +0.2  グリッパー→閉
       [VIA   ] 中継点 2 点: step 2, 3
[SEND] pi05_chunk005_via02: send_angles (single) [ +12.32,  +60.28,  +18.76,   -2.35,  -61.63,  -27.18]  speed=20 wait=0.0s  (pre max|Δ|=2.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  +0.7  -2.5  -0.8  +1.6  +0.2  着いた
[SEND] pi05_chunk005_via03: send_angles (single) [ +12.32,  +60.28,  +18.76,   -2.35,  -61.63,  -27.18]  speed=20 wait=0.0s  (pre max|Δ|=1.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  3  Δ= +0.3  -0.6  -0.6  -0.7  +1.6  +0.2  着いた
  [Pi] GRIPPER: VALUE=25 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 2.44°（関節 j4）
[006] 推論 750ms  10ステップ先  Δ= +1.0  -7.3  +9.4  -1.0  -0.4  +1.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk006_via02: send_angles (single) [ +12.53,  +58.53,  +20.69,   -2.63,  -61.88,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=2.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -2.4  +1.4  -0.9  +2.2  +0.5  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +12.61,  +55.86,  +24.93,   -2.80,  -62.19,  -26.51]  speed=20 wait=0.0s  (pre max|Δ|=4.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  -3.9  +4.9  -0.8  +1.3  +1.0  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +12.89,  +54.01,  +28.19,   -2.75,  -63.76,  -26.40]  speed=20 wait=0.0s  (pre max|Δ|=4.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.9  -2.9  +4.1  -0.1  -0.3  +0.5  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +12.99,  +53.56,  +28.70,   -2.69,  -64.48,  -26.42]  speed=20 wait=0.0s  (pre max|Δ|=1.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.37° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -1.5  +1.4  -0.2  -0.2  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.37°（関節 j1）
[007] 推論 1714ms  10ステップ先  Δ=+12.4  -1.4  -9.6  +2.5  +3.9  -2.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk007_via02: send_angles (single) [ +17.65,  +53.08,  +25.70,   -1.81,  -63.41,  -27.44]  speed=20 wait=0.0s  (pre max|Δ|=5.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
       [VIA   ] step  2  Δ= +5.1  -1.8  -2.2  +0.7  +1.0  -0.7  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +22.12,  +53.44,  +21.02,   -0.81,  -62.11,  -28.68]  speed=20 wait=0.0s  (pre max|Δ|=5.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.09° (tol 3.0°)
       [VIA   ] step  5  Δ= +4.4  -1.2  -5.3  +0.9  +0.9  -1.9  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +24.64,  +53.50,  +18.36,   -0.06,  -60.71,  -29.54]  speed=20 wait=0.0s  (pre max|Δ|=3.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.42° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.6  -1.2  -3.6  +1.4  +0.0  -2.5  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +25.01,  +53.49,  +18.31,   +0.05,  -60.57,  -29.61]  speed=20 wait=0.0s  (pre max|Δ|=1.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.40° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -1.2  -0.9  +1.0  -1.2  -1.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.40°（関節 j5）
[008] 推論 942ms  10ステップ先  Δ= +3.2  +1.1  -6.8  +1.6  -0.3  -2.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk008_via02: send_angles (single) [ +26.28,  +53.48,  +16.56,   +0.48,  -59.94,  -29.93]  speed=20 wait=0.0s  (pre max|Δ|=2.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.18° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  -1.2  -2.7  +1.1  -0.5  -1.4  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +27.13,  +53.81,  +14.49,   +0.67,  -59.39,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=3.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  -0.9  -3.2  +0.7  -0.1  -0.9  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +27.85,  +55.08,  +12.74,   +0.88,  -59.44,  -30.48]  speed=20 wait=0.0s  (pre max|Δ|=2.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.25° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  +0.3  -2.7  +0.8  -0.6  -1.0  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +27.89,  +55.75,  +12.45,   +0.98,  -59.72,  -30.50]  speed=20 wait=0.0s  (pre max|Δ|=1.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -0.6  -1.4  +0.4  -0.9  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.43°（関節 j2）
[009] 推論 776ms  10ステップ先  Δ= +0.6  -0.9  -8.2  +0.8  -0.8  -0.8
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk009_via02: send_angles (single) [ +27.99,  +55.75,  +10.29,   +1.03,  -59.62,  -30.55]  speed=20 wait=0.0s  (pre max|Δ|=3.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -0.9  -3.6  +0.5  -0.8  -0.8  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +27.89,  +55.64,   +8.05,   +1.07,  -59.59,  -30.57]  speed=20 wait=0.0s  (pre max|Δ|=3.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -1.1  -3.2  +0.0  -0.8  -0.6  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +28.10,  +55.63,   +5.99,   +1.21,  -59.51,  -30.61]  speed=20 wait=0.0s  (pre max|Δ|=3.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.21° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  -1.1  -3.2  -0.1  -0.7  -0.6  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +28.14,  +55.75,   +5.65,   +1.28,  -59.63,  -30.62]  speed=20 wait=0.0s  (pre max|Δ|=1.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -1.0  -1.5  -0.3  -0.8  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.46°（関節 j2）
[010] 推論 754ms  10ステップ先  Δ= +7.8  -1.7  -2.7  +0.4  -0.2  -0.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk010_via02: send_angles (single) [ +28.38,  +55.68,   +5.54,   +1.34,  -59.67,  -30.60]  speed=20 wait=0.0s  (pre max|Δ|=1.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.57° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.9  -1.1  -1.6  -0.2  -0.9  -0.4  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +29.29,  +55.28,   +5.39,   +1.56,  -59.46,  -30.62]  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  5  Δ= +1.3  -1.5  -1.7  -0.2  -0.7  -0.4  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +33.77,  +55.06,   +4.61,   +1.93,  -59.09,  -30.78]  speed=20 wait=0.0s  (pre max|Δ|=4.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  8  Δ= +4.6  -1.7  -2.5  -0.3  -0.3  -0.5  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +35.29,  +55.08,   +4.40,   +2.02,  -59.03,  -30.88]  speed=20 wait=0.0s  (pre max|Δ|=1.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.69° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.2  -1.7  -1.5  +0.4  -0.2  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.69°（関節 j1）
[011] 推論 596ms  10ステップ先  Δ= +0.8  +4.2  -2.8  +1.1  -3.6  -0.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk011_via02: send_angles (single) [ +35.55,  +55.74,   +3.61,   +2.19,  -59.42,  -30.90]  speed=20 wait=0.0s  (pre max|Δ|=2.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  -1.0  -2.2  +0.5  -0.6  -0.4  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +35.89,  +57.76,   +3.22,   +2.47,  -60.29,  -31.01]  speed=20 wait=0.0s  (pre max|Δ|=2.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  +1.0  -2.6  +0.8  -1.5  -0.5  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +36.23,  +60.57,   +3.06,   +2.80,  -61.90,  -31.15]  speed=20 wait=0.0s  (pre max|Δ|=1.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  +1.8  -1.2  +0.1  -2.0  -0.5  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +36.28,  +61.02,   +3.04,   +2.89,  -62.34,  -31.16]  speed=20 wait=0.0s  (pre max|Δ|=1.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  -0.3  -1.1  -0.9  +1.0  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.38°（関節 j4）
[012] 推論 561ms  10ステップ先  Δ= +0.5  -8.3  -1.5  -0.6  +6.3  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk012_via02: send_angles (single) [ +36.68,  +61.49,   +2.77,   +3.00,  -62.77,  -31.34]  speed=20 wait=0.0s  (pre max|Δ|=1.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  -0.3  -1.4  -0.8  +0.9  -0.6  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +36.51,  +59.28,   +2.72,   +3.01,  -61.61,  -31.34]  speed=20 wait=0.0s  (pre max|Δ|=2.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.97° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -2.9  -1.0  -0.8  +2.6  -0.3  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +36.24,  +54.38,   +2.65,   +3.07,  -58.22,  -31.36]  speed=20 wait=0.0s  (pre max|Δ|=6.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -6.9  -1.0  -0.5  +4.4  -0.3  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +36.10,  +53.44,   +2.63,   +3.13,  -57.39,  -31.37]  speed=20 wait=0.0s  (pre max|Δ|=2.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.10° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -3.0  -1.1  +0.2  +1.4  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.10°（関節 j1）
[013] 推論 1555ms  10ステップ先  Δ= +2.9  +6.2  -3.1  +1.3  -3.7  -1.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk013_via02: send_angles (single) [ +36.88,  +54.35,   +1.66,   +3.37,  -57.46,  -31.65]  speed=20 wait=0.0s  (pre max|Δ|=2.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.59° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -1.2  -2.0  +0.5  +0.3  -0.4  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +38.35,  +57.55,   +0.98,   +3.73,  -58.90,  -32.10]  speed=20 wait=0.0s  (pre max|Δ|=2.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.9  +2.0  -2.3  +0.8  -1.2  -0.8  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +39.25,  +60.76,   +0.66,   +4.05,  -60.74,  -32.37]  speed=20 wait=0.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.0  +2.2  -1.7  +0.9  -2.9  -0.5  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +39.32,  +61.71,   +0.61,   +4.17,  -61.45,  -32.38]  speed=20 wait=0.0s  (pre max|Δ|=0.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.21° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  +0.2  -0.8  +0.9  -0.0  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.21°（関節 j4）
[014] 推論 620ms  1ステップ先  Δ= +0.0  +0.0  +0.0  +0.0  +0.0  +0.0  グリッパー→開
       [VIA   ] 中継点 1 点: step 0
       [VIA   ] step  0  Δ= +0.0  +0.0  +0.0  -0.1  +0.0  +0.0  送らず (0.5° 以下)
  [Pi] GRIPPER: OPEN result= None
[STATE ] 実測を渡す (直前に送った目標がない)
[015] 推論 564ms  10ステップ先  Δ= -0.1 -11.1  +0.3  -0.2 +12.5  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk015_via02: send_angles (single) [ +39.17,  +62.14,   +1.23,   +5.02,  -59.81,  -32.09]  speed=20 wait=0.0s  (pre max|Δ|=0.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.78° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  -0.6  -0.2  -0.2  +0.7  -0.0  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [ +39.08,  +56.95,   +1.38,   +4.90,  -53.47,  -32.15]  speed=20 wait=0.0s  (pre max|Δ|=6.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.28° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.0  -6.0  -0.0  -0.5  +6.7  -0.2  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [ +39.13,  +52.65,   +1.60,   +4.81,  -48.94,  -32.23]  speed=20 wait=0.0s  (pre max|Δ|=6.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.72° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.0  -6.6  +0.2  -1.0  +4.0  -0.1  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [ +39.01,  +51.66,   +1.68,   +4.80,  -48.04,  -32.26]  speed=20 wait=0.0s  (pre max|Δ|=2.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -2.9  -0.5  -0.7  +0.3  -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）
[016] 推論 561ms  10ステップ先  Δ= -2.5  -8.0  -0.2  -1.0  +3.4  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk016_via02: send_angles (single) [ +38.94,  +50.54,   +1.63,   +4.82,  -46.80,  -32.36]  speed=20 wait=0.0s  (pre max|Δ|=3.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.10° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  -3.4  -0.6  -0.6  +0.7  -0.2  着いた
[SEND] pi05_chunk016_via05: send_angles (single) [ +38.74,  +50.40,   +1.59,   +5.03,  -47.39,  -32.45]  speed=20 wait=0.0s  (pre max|Δ|=2.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.24° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.4  -2.2  -0.6  -0.3  -1.0  -0.3  着いた
[SEND] pi05_chunk016_via08: send_angles (single) [ +37.72,  +48.29,   +1.76,   +4.79,  -45.94,  -32.41]  speed=20 wait=0.0s  (pre max|Δ|=4.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.4  -4.3  -0.4  -0.6  +0.5  -0.2  着いた
[SEND] pi05_chunk016_via09: send_angles (single) [ +36.59,  +46.00,   +1.95,   +4.46,  -44.08,  -32.33]  speed=20 wait=0.0s  (pre max|Δ|=4.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  -4.2  -0.2  -0.7  +2.0  -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）
[017] 推論 1493ms  10ステップ先  Δ=-15.4 -21.8  -0.1  -3.4 +19.7  +0.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk017_via02: send_angles (single) [ +33.17,  +41.60,   +1.89,   +3.85,  -39.92,  -32.02]  speed=20 wait=0.0s  (pre max|Δ|=6.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.6  -6.3  -0.7  -1.0  +4.3  +0.2  着いた
[SEND] pi05_chunk017_via05: send_angles (single) [ +28.17,  +35.25,   +2.01,   +2.92,  -33.99,  -31.71]  speed=20 wait=0.0s  (pre max|Δ|=8.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.1  -8.2  -0.6  -1.2  +6.2  +0.5  着いた
[SEND] pi05_chunk017_via08: send_angles (single) [ +22.58,  +27.90,   +2.37,   +1.84,  -26.82,  -31.51]  speed=20 wait=0.0s  (pre max|Δ|=9.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.6  -9.3  -0.4  -1.4  +7.4  +0.6  着いた
[SEND] pi05_chunk017_via09: send_angles (single) [ +21.29,  +26.05,   +2.50,   +1.51,  -24.51,  -31.50]  speed=20 wait=0.0s  (pre max|Δ|=3.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.6  -3.6  -0.2  -0.5  +2.6  +0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.72°（関節 j1）
[018] 推論 576ms  10ステップ先  Δ= -0.4  -2.1  -0.4  +0.2  -0.4  +0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk018_via02: send_angles (single) [ +21.23,  +25.48,   +2.57,   +1.54,  -24.02,  -31.50]  speed=20 wait=0.0s  (pre max|Δ|=2.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  -2.3  -0.5  -0.0  +0.8  +0.5  着いた
[SEND] pi05_chunk018_via05: send_angles (single) [ +21.15,  +25.72,   +2.62,   +1.61,  -24.61,  -31.50]  speed=20 wait=0.0s  (pre max|Δ|=1.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.87° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  -1.9  -0.5  +0.0  -0.4  +0.5  着いた
[SEND] pi05_chunk018_via08: send_angles (single) [ +21.06,  +25.69,   +2.67,   +1.70,  -24.95,  -31.47]  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  8  Δ= -0.3  -1.9  -0.6  +0.1  -0.7  +0.5  着いた
[SEND] pi05_chunk018_via09: send_angles (single) [ +21.13,  +25.67,   +2.66,   +1.75,  -25.16,  -31.47]  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  9  Δ= -0.2  -1.9  -0.6  +0.2  -0.9  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.92°（関節 j1）
[019] 推論 559ms  10ステップ先  Δ= +3.2 +12.2  -0.7  +1.2 -14.2  +0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk019_via02: send_angles (single) [ +22.54,  +29.39,   +2.99,   +2.30,  -29.30,  -31.54]  speed=20 wait=0.0s  (pre max|Δ|=5.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.53° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.3  +1.8  -0.3  +0.7  -5.1  +0.4  着いた
[SEND] pi05_chunk019_via05: send_angles (single) [ +23.62,  +34.70,   +3.09,   +2.72,  -34.92,  -31.59]  speed=20 wait=0.0s  (pre max|Δ|=6.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.1  +4.2  -0.6  +1.2  -7.0  +0.4  着いた
[SEND] pi05_chunk019_via08: send_angles (single) [ +24.23,  +39.10,   +2.73,   +2.79,  -38.26,  -31.61]  speed=20 wait=0.0s  (pre max|Δ|=4.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  +3.2  -1.0  +1.0  -4.2  +0.4  着いた
[SEND] pi05_chunk019_via09: send_angles (single) [ +24.52,  +39.80,   +2.55,   +2.81,  -38.49,  -31.63]  speed=20 wait=0.0s  (pre max|Δ|=1.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.3  -1.1  +0.9  -1.5  +0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.14°（関節 j2）
[020] 推論 1478ms  10ステップ先  Δ= +7.2 +14.8  -1.5  +1.9 -15.3  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       [PAUSE ] 止める予約 (Enter). 推論 20 は送らずに入力欄を出します
       [PAUSE ] 止めました (推論 20 はまだ送っていません). Enter で実行すると, また止まらずに進みます
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / 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|=40.69°, post-send timeout 8.1s)
[SEND] arrival OK: max|Δ|=2.19° (tol 2.5°)
[RECORD] 記録終了 コマ 946 (8.878 fps) 実測角 890 回 (8.35 Hz)  電流 895 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261114_181057/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > n
[GRIP  ] 閉じて 1 秒後の爪の電流 (中央値): 1 回目 758 (9 行)  (閉じる値 25)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261114_181057
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1))
    (111 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (2 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.17, 1.31, 2.19, 0.52, -0.87, -30.32]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=2.19°
[DONE] HOME 到達 max_err=2.19°
[POST] 最終姿勢: [-0.17, 1.31, 2.19, 0.43, -0.79, -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=  +0.4  dx=  -2.3  response=0.819  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)  傾き -1.95° → -0.61° にソフトでそろえる (+1.34° 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 (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
[GRIP  ] 閉じる値 25  締め直し r は 22 と 25 を交互に送る
[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_20261114_181300
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[PAUSE ] --no-step-confirm: 始めの確かめのあとは入力欄を出さずに進みます. 止めるときはスペース (Enter も可). 今のチャンクを送り終えてから, 次の推論のあと (送る前) で入力欄を出します
[CAMERA] 写り方 dy=-6.0 dx=+4.7 response=0.540 → 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 -1.87° → -0.61° にそろえて渡す (+1.25° 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_20261114_181300/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 601ms  10ステップ先  Δ= +3.3 +13.4  +9.4  -2.1 -18.9  +2.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       [CONFIRM] 2 回目からの試行なので始めの確かめ (Enter) を待たずに実行します (次の推論からは今までどおり確かめます)
[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) [  +0.57,   +4.99,   +4.58,   +0.09,   -4.65,  -29.84]  speed=20 wait=0.0s  (pre max|Δ|=4.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +3.7  +2.4  -0.2  -4.4  +0.4  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.82,   +9.61,   +7.77,   -0.69,  -11.14,  -29.02]  speed=20 wait=0.0s  (pre max|Δ|=8.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.5  +3.7  +2.1  -1.0  -8.4  +1.0  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.83,  +13.58,  +10.75,   -1.63,  -17.47,  -28.09]  speed=20 wait=0.0s  (pre max|Δ|=7.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.62° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.2  +3.1  +2.0  -0.9  -7.6  +1.1  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +3.18,  +14.71,  +11.55,   -1.88,  -19.21,  -27.82]  speed=20 wait=0.0s  (pre max|Δ|=3.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  +0.2  -0.1  -0.0  -3.4  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.11°（関節 j4）
[001] 推論 561ms  10ステップ先  Δ= +3.8 +11.2  +8.3  -0.5 -22.1  +1.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk001_via02: send_angles (single) [  +4.12,  +17.74,  +13.73,   -2.29,  -24.38,  -27.38]  speed=20 wait=0.0s  (pre max|Δ|=6.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.36° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +2.1  +1.5  -0.0  -6.3  +0.6  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +5.24,  +21.46,  +16.28,   -2.53,  -30.50,  -27.11]  speed=20 wait=0.0s  (pre max|Δ|=7.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.4  +2.9  +1.7  +0.0  -7.2  +0.4  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +6.70,  +25.90,  +19.79,   -2.84,  -38.43,  -26.96]  speed=20 wait=0.0s  (pre max|Δ|=8.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.82° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.6  +3.5  +2.7  -0.1  -8.8  +0.4  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +6.88,  +26.82,  +20.51,   -2.82,  -40.22,  -26.93]  speed=20 wait=0.0s  (pre max|Δ|=2.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  +0.1  +0.0  +0.2  -2.6  +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 556ms  10ステップ先  Δ= +3.5 +13.4  +6.9  +0.5 -20.9  +0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk002_via02: send_angles (single) [  +7.90,  +31.55,  +22.56,   -2.82,  -46.97,  -26.85]  speed=20 wait=0.0s  (pre max|Δ|=7.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.50° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.5  +3.8  +2.1  +0.3  -7.5  +0.3  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +8.79,  +36.02,  +24.76,   -2.64,  -53.55,  -26.77]  speed=20 wait=0.0s  (pre max|Δ|=7.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.67° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.1  +3.6  +1.7  +0.5  -7.3  +0.3  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +9.61,  +39.93,  +26.94,   -2.61,  -59.09,  -26.75]  speed=20 wait=0.0s  (pre max|Δ|=6.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  +3.0  +1.8  +0.6  -6.4  +0.2  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +9.88,  +41.22,  +27.37,   -2.55,  -60.34,  -26.73]  speed=20 wait=0.0s  (pre max|Δ|=1.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.87° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  +0.5  +0.0  +0.5  -2.0  +0.2  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 776ms  10ステップ先  Δ= +1.7  +4.4  +1.3  +0.3  -8.3  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk003_via02: send_angles (single) [ +10.64,  +44.20,  +29.11,   -2.55,  -65.16,  -26.70]  speed=20 wait=0.0s  (pre max|Δ|=5.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.83° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.0  +2.1  +1.8  +0.4  -5.3  +0.3  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +11.09,  +44.73,  +28.90,   -2.55,  -66.53,  -26.68]  speed=20 wait=0.0s  (pre max|Δ|=2.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -0.3  -0.4  +0.3  -2.1  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +11.26,  +46.06,  +28.70,   -2.57,  -67.90,  -26.66]  speed=20 wait=0.0s  (pre max|Δ|=1.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  +0.5  -0.6  +0.2  -1.6  +0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +11.36,  +46.48,  +28.65,   -2.58,  -68.17,  -26.65]  speed=20 wait=0.0s  (pre max|Δ|=0.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -0.5  -0.6  +0.2  -0.6  +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）
[004] 推論 1550ms  10ステップ先  Δ= -0.4 +12.9 -11.2  +0.1  +0.6  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk004_via02: send_angles (single) [ +11.49,  +51.11,  +24.80,   -2.60,  -67.60,  -26.62]  speed=20 wait=0.0s  (pre max|Δ|=4.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.53° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  +3.7  -4.5  +0.0  -0.0  +0.3  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +11.27,  +56.37,  +20.56,   -2.64,  -67.03,  -26.70]  speed=20 wait=0.0s  (pre max|Δ|=5.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  +4.3  -5.3  -0.0  +0.7  +0.1  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +11.14,  +59.86,  +18.07,   -2.64,  -66.86,  -26.77]  speed=20 wait=0.0s  (pre max|Δ|=3.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  +2.6  -3.5  -0.0  +0.9  +0.0  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +11.06,  +60.25,  +18.08,   -2.62,  -67.03,  -26.78]  speed=20 wait=0.0s  (pre max|Δ|=0.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -0.6  -1.0  +0.0  +0.7  +0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.92°（関節 j1）
[005] 推論 782ms  3ステップ先  Δ= -0.2  -0.7  -0.9  +0.1  +1.0  +0.0  グリッパー→閉
       [VIA   ] 中継点 1 点: step 2
[SEND] pi05_chunk005_via02: send_angles (single) [ +11.20,  +60.50,  +18.05,   -2.52,  -66.80,  -26.79]  speed=20 wait=0.0s  (pre max|Δ|=0.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.96° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  -0.7  -0.9  +0.1  +1.0  +0.0  着いた
  [Pi] GRIPPER: VALUE=25 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 0.96°（関節 j4）
[006] 推論 1720ms  10ステップ先  Δ= +0.4  -5.5  +0.9  -0.8  +2.4  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk006_via02: send_angles (single) [ +11.40,  +60.35,  +18.07,   -2.55,  -66.88,  -26.95]  speed=20 wait=0.0s  (pre max|Δ|=0.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.99° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.0  -1.0  -0.9  +0.2  +1.0  -0.1  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +11.58,  +59.29,  +18.61,   -3.30,  -66.35,  -26.82]  speed=20 wait=0.0s  (pre max|Δ|=2.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.96° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -2.0  -0.4  -0.6  +1.5  -0.0  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +11.82,  +56.33,  +19.56,   -3.55,  -65.29,  -26.73]  speed=20 wait=0.0s  (pre max|Δ|=4.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -4.9  +0.6  -0.7  +2.6  +0.1  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +11.79,  +55.85,  +19.86,   -3.47,  -65.34,  -26.73]  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  9  Δ= +0.4  -2.4  +0.4  -0.4  +0.8  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.42°（関節 j1）
[007] 推論 824ms  10ステップ先  Δ= +1.2  -3.4  -4.4  -1.0  +1.7  +0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk007_via02: send_angles (single) [ +11.85,  +54.00,  +21.84,   -3.46,  -65.80,  -26.71]  speed=20 wait=0.0s  (pre max|Δ|=4.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.63° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -4.3  +2.2  -0.4  +0.4  -0.0  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +11.90,  +53.20,  +22.61,   -3.45,  -66.16,  -26.71]  speed=20 wait=0.0s  (pre max|Δ|=2.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -2.4  +0.1  -0.4  -0.1  +0.0  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +12.16,  +54.09,  +17.47,   -3.93,  -65.08,  -26.44]  speed=20 wait=0.0s  (pre max|Δ|=5.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.8  -1.5  -5.0  -0.9  +1.0  +0.3  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +12.64,  +54.87,  +15.32,   -4.12,  -64.52,  -26.35]  speed=20 wait=0.0s  (pre max|Δ|=3.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -0.7  -3.0  -0.5  +1.2  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.11°（関節 j1）
[008] 推論 744ms  10ステップ先  Δ= +1.3  -1.9  -7.3  -0.7  +0.2  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk008_via02: send_angles (single) [ +12.66,  +54.77,  +13.98,   -4.15,  -64.63,  -26.38]  speed=20 wait=0.0s  (pre max|Δ|=2.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.22° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -1.2  -2.4  -0.5  +0.2  +0.2  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +12.90,  +54.75,  +11.97,   -4.28,  -64.62,  -26.42]  speed=20 wait=0.0s  (pre max|Δ|=3.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.88° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  -1.2  -3.2  -0.4  +0.2  +0.1  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +13.20,  +54.29,   +9.85,   -4.36,  -64.74,  -26.42]  speed=20 wait=0.0s  (pre max|Δ|=3.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.69° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -1.7  -3.1  +0.0  +0.1  +0.1  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +13.34,  +54.08,   +9.05,   -4.41,  -64.69,  -26.44]  speed=20 wait=0.0s  (pre max|Δ|=1.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.90° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -1.9  -1.9  -0.0  +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）
[009] 推論 556ms  10ステップ先  Δ= +0.2 -14.4  -2.5  -0.2  +2.1  -0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk009_via02: send_angles (single) [ +13.55,  +50.74,   +8.18,   -4.47,  -64.18,  -26.59]  speed=20 wait=0.0s  (pre max|Δ|=5.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -5.2  -2.3  -0.1  +0.7  -0.0  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +13.57,  +43.93,   +8.53,   -4.44,  -63.29,  -26.65]  speed=20 wait=0.0s  (pre max|Δ|=8.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -8.7  -0.9  +0.0  +1.4  -0.1  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +13.37,  +41.40,   +8.20,   -4.51,  -62.84,  -26.66]  speed=20 wait=0.0s  (pre max|Δ|=4.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -4.5  -1.2  -0.0  +0.8  -0.1  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +13.24,  +41.63,   +7.94,   -4.56,  -62.77,  -26.67]  speed=20 wait=0.0s  (pre max|Δ|=1.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -1.7  -1.5  +0.0  +0.4  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.70°（関節 j1）
[010] 推論 693ms  10ステップ先  Δ= +4.7  -8.9  -2.9  +0.4  +3.7  -0.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk010_via02: send_angles (single) [ +13.80,  +40.25,   +8.15,   -4.38,  -62.68,  -26.74]  speed=20 wait=0.0s  (pre max|Δ|=3.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  -3.1  -1.2  +0.2  +0.5  -0.2  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +13.95,  +37.35,   +7.69,   -4.36,  -62.09,  -26.80]  speed=20 wait=0.0s  (pre max|Δ|=5.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -5.0  -1.7  +0.9  +0.9  -0.3  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +15.65,  +35.37,   +6.72,   -4.38,  -60.38,  -27.04]  speed=20 wait=0.0s  (pre max|Δ|=3.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.9  -3.7  -2.7  +0.9  +1.9  -0.5  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +17.67,  +34.42,   +6.46,   -4.19,  -59.50,  -27.20]  speed=20 wait=0.0s  (pre max|Δ|=2.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.05° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.2  -2.8  -1.7  +0.6  +0.7  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.05°（関節 j1）
[011] 推論 1541ms  10ステップ先  Δ= +9.4  +1.4  -2.0  +1.9  +1.5  -1.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk011_via02: send_angles (single) [ +19.56,  +34.38,   +6.39,   -3.82,  -58.51,  -27.37]  speed=20 wait=0.0s  (pre max|Δ|=2.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.09° (tol 3.0°)
       [VIA   ] step  2  Δ= +2.1  -2.1  -1.7  +1.1  +1.2  -0.7  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +22.71,  +34.34,   +6.15,   -3.32,  -57.38,  -27.57]  speed=20 wait=0.0s  (pre max|Δ|=3.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  5  Δ= +3.3  -2.1  -1.9  +0.8  +1.2  -0.9  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +26.40,  +36.75,   +6.10,   -2.84,  -57.81,  -27.74]  speed=20 wait=0.0s  (pre max|Δ|=3.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +3.6  +0.3  -2.0  +0.8  -0.2  -1.1  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +26.88,  +37.82,   +6.13,   -2.82,  -58.18,  -27.73]  speed=20 wait=0.0s  (pre max|Δ|=1.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.95° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -0.1  -2.0  -0.1  -0.5  -0.9  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.95°（関節 j2）
[012] 推論 556ms  10ステップ先  Δ= +9.0  +5.3  -4.7  +2.2  -1.3  -2.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk012_via02: send_angles (single) [ +30.45,  +38.41,   +4.47,   -2.02,  -57.21,  -28.55]  speed=20 wait=0.0s  (pre max|Δ|=3.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  2  Δ= +3.9  -0.7  -3.6  +1.2  +0.4  -1.7  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +33.91,  +39.62,   +3.27,   -1.46,  -56.67,  -29.03]  speed=20 wait=0.0s  (pre max|Δ|=3.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  5  Δ= +3.5  +0.3  -2.6  +1.0  +1.0  -1.2  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +35.53,  +43.08,   +3.35,   -1.19,  -58.22,  -29.18]  speed=20 wait=0.0s  (pre max|Δ|=2.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  +2.5  -1.6  +0.5  -1.3  -0.7  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +35.51,  +44.38,   +3.41,   -1.07,  -58.95,  -29.19]  speed=20 wait=0.0s  (pre max|Δ|=2.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -0.0  -1.3  +0.2  -2.0  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.39°（関節 j4）
[013] 推論 558ms  10ステップ先  Δ= +3.5 +11.2  -4.6  +2.2  -3.2  -1.8
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk013_via02: send_angles (single) [ +37.87,  +45.51,   +2.51,   -0.54,  -57.52,  -29.72]  speed=20 wait=0.0s  (pre max|Δ|=2.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  2  Δ= +2.1  -0.0  -2.2  +0.9  +0.0  -1.1  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +39.84,  +49.18,   +1.18,   +0.10,  -57.27,  -30.27]  speed=20 wait=0.0s  (pre max|Δ|=3.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.63° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.0  +2.3  -3.0  +0.5  +0.3  -0.8  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +39.39,  +55.12,   +0.35,   +0.64,  -59.68,  -30.50]  speed=20 wait=0.0s  (pre max|Δ|=4.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  +4.8  -2.4  +0.4  -2.1  -0.6  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +39.28,  +56.68,   +0.11,   +0.78,  -60.73,  -30.50]  speed=20 wait=0.0s  (pre max|Δ|=2.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  +0.3  -1.9  +0.4  -2.9  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.91°（関節 j2）
[014] 推論 758ms  7ステップ先  Δ= -0.5  +4.4  -2.4  +1.2  -5.1  -0.6  グリッパー→開
       [VIA   ] 中継点 3 点: step 2, 5, 6
[SEND] pi05_chunk014_via02: send_angles (single) [ +39.25,  +61.16,   -0.30,   +1.33,  -63.39,  -30.59]  speed=20 wait=0.0s  (pre max|Δ|=3.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.6  +3.3  -2.3  +0.9  -3.7  -0.5  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [ +39.27,  +62.21,   -0.40,   +1.64,  -64.75,  -30.63]  speed=20 wait=0.0s  (pre max|Δ|=2.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.5  -0.1  -1.5  +0.6  -2.4  -0.5  着いた
[SEND] pi05_chunk014_via06: send_angles (single) [ +39.27,  +62.21,   -0.40,   +1.64,  -64.75,  -30.63]  speed=20 wait=0.0s  (pre max|Δ|=1.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  6  Δ= -0.5  -1.1  -1.5  +0.2  -0.8  -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 1.54°（関節 j2）
[015] 推論 1557ms  10ステップ先  Δ= -1.2 -16.1  -1.2  +0.4 +15.2  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk015_via02: send_angles (single) [ +39.48,  +58.42,   -0.36,   +1.71,  -61.27,  -30.69]  speed=20 wait=0.0s  (pre max|Δ|=4.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.71° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  -4.9  -1.5  +0.3  +2.7  -0.4  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [ +39.46,  +53.68,   -0.21,   +1.79,  -56.36,  -30.75]  speed=20 wait=0.0s  (pre max|Δ|=7.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.3  -6.6  -1.3  +0.3  +7.6  -0.4  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [ +39.07,  +48.75,   -0.09,   +1.80,  -50.62,  -30.79]  speed=20 wait=0.0s  (pre max|Δ|=8.17°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.81° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.7  -6.9  -1.1  +0.2  +8.2  -0.4  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [ +38.58,  +47.13,   -0.05,   +1.79,  -48.79,  -30.79]  speed=20 wait=0.0s  (pre max|Δ|=3.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.17° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  -3.7  -1.1  -0.2  +3.8  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.17°（関節 j1）
[016] 推論 560ms  10ステップ先  Δ=-19.0 -25.3  -1.1  -1.7 +26.1  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk016_via02: send_angles (single) [ +35.16,  +41.38,   -0.12,   +1.59,  -42.55,  -30.87]  speed=20 wait=0.0s  (pre max|Δ|=7.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.12° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.9  -7.9  -1.2  -0.2  +7.9  -0.4  着いた
[SEND] pi05_chunk016_via05: send_angles (single) [ +29.36,  +34.25,   -0.14,   +0.98,  -35.03,  -30.88]  speed=20 wait=0.0s  (pre max|Δ|=9.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.4  -9.3  -1.2  -1.0  +8.9  -0.3  着いた
[SEND] pi05_chunk016_via08: send_angles (single) [ +22.24,  +26.29,   -0.02,   +0.27,  -26.98,  -30.87]  speed=20 wait=0.0s  (pre max|Δ|=9.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.2  -9.9  -1.1  -1.5  +9.1  -0.3  着いた
[SEND] pi05_chunk016_via09: send_angles (single) [ +20.12,  +23.99,   -0.06,   +0.07,  -24.39,  -30.88]  speed=20 wait=0.0s  (pre max|Δ|=4.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.5  -4.1  -1.2  -1.2  +3.5  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.67°（関節 j1）
[017] 推論 559ms  10ステップ先  Δ=-11.4 -14.6  -0.8  -0.7 +14.8  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk017_via02: send_angles (single) [ +16.86,  +19.08,   +0.06,   -0.13,  -18.68,  -30.84]  speed=20 wait=0.0s  (pre max|Δ|=6.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.80° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.0  -6.6  -1.1  -0.6  +6.6  -0.2  着いた
[SEND] pi05_chunk017_via05: send_angles (single) [ +10.89,  +12.35,   +0.22,   -0.28,  -11.85,  -30.85]  speed=20 wait=0.0s  (pre max|Δ|=8.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.53° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.2  -8.4  -0.9  -0.7  +7.5  -0.1  着いた
[SEND] pi05_chunk017_via08: send_angles (single) [  +8.40,  +10.75,   +0.31,   -0.26,  -10.26,  -30.86]  speed=20 wait=0.0s  (pre max|Δ|=3.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  8  Δ= -2.6  -3.1  -0.8  -0.7  +2.3  -0.1  着いた
[SEND] pi05_chunk017_via09: send_angles (single) [  +8.84,  +11.07,   +0.35,   -0.30,  -10.51,  -30.86]  speed=20 wait=0.0s  (pre max|Δ|=1.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  -1.1  -0.8  -0.2  +0.3  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.14°（関節 j1）
[018] 推論 816ms  10ステップ先  Δ= -7.0  -8.3  -0.5  -0.3  +7.4  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk018_via02: send_angles (single) [  +2.14,   +4.20,   +0.50,   -0.40,   -3.72,  -30.80]  speed=20 wait=0.0s  (pre max|Δ|=8.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.33° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.1  -8.0  -0.6  -0.3  +7.1  +0.0  着いた
[SEND] pi05_chunk018_via05: send_angles (single) [  +1.30,   +3.82,   +0.53,   -0.42,   -3.58,  -30.77]  speed=20 wait=0.0s  (pre max|Δ|=1.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  5  Δ= -1.0  -1.7  -0.6  -0.3  +0.7  +0.1  着いた
[SEND] pi05_chunk018_via08: send_angles (single) [  +1.33,   +4.00,   +0.57,   -0.37,   -3.46,  -30.75]  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  8  Δ= +0.1  -1.5  -0.6  -0.3  +0.7  +0.1  着いた
[SEND] pi05_chunk018_via09: send_angles (single) [  +1.27,   +3.91,   +0.61,   -0.37,   -3.42,  -30.74]  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  9  Δ= +0.0  -1.5  -0.5  -0.3  +0.6  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.53°（関節 j1）
[019] 推論 1529ms  10ステップ先  Δ= -1.2  -2.0  -0.6  -0.2  +0.7  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk019_via02: send_angles (single) [  -0.40,   +3.46,   +0.56,   -0.35,   -2.99,  -30.75]  speed=20 wait=0.0s  (pre max|Δ|=1.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.6  -2.0  -0.6  -0.3  +0.9  +0.1  着いた
[SEND] pi05_chunk019_via05: send_angles (single) [  -0.22,   +3.45,   +0.57,   -0.37,   -3.21,  -30.75]  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  5  Δ= +0.5  -1.5  -0.6  -0.3  -0.1  +0.1  着いた
[SEND] pi05_chunk019_via08: send_angles (single) [  -0.08,   +3.43,   +0.55,   -0.30,   -3.23,  -30.75]  speed=20 wait=0.0s  (pre max|Δ|=1.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  -1.5  -0.6  -0.2  -0.1  +0.1  着いた
[SEND] pi05_chunk019_via09: send_angles (single) [  -0.01,   +3.43,   +0.52,   -0.32,   -3.20,  -30.74]  speed=20 wait=0.0s  (pre max|Δ|=1.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -1.5  -0.6  -0.2  -0.0  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.49°（関節 j1）
[020] 推論 786ms  10ステップ先  Δ= -0.1  -1.5  -0.6  -0.3  +0.2  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk020_via02: send_angles (single) [  -0.42,   +3.41,   +0.57,   -0.27,   -3.02,  -30.71]  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  2  Δ= -0.2  -1.5  -0.6  -0.2  +0.1  +0.1  着いた
[SEND] pi05_chunk020_via05: send_angles (single) [  -0.44,   +3.36,   +0.49,   -0.31,   -2.90,  -30.71]  speed=20 wait=0.0s  (pre max|Δ|=1.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  -1.6  -0.6  -0.2  +0.3  +0.1  着いた
[SEND] pi05_chunk020_via08: send_angles (single) [  -0.39,   +3.31,   +0.50,   -0.35,   -2.93,  -30.69]  speed=20 wait=0.0s  (pre max|Δ|=1.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.52° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -1.6  -0.6  -0.3  +0.2  +0.1  着いた
[SEND] pi05_chunk020_via09: send_angles (single) [  -0.41,   +3.39,   +0.52,   -0.36,   -2.96,  -30.70]  speed=20 wait=0.0s  (pre max|Δ|=1.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -1.4  -0.6  -0.3  +0.2  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.44°（関節 j1）
[021] 推論 1540ms  10ステップ先  Δ= -0.8  -1.5  -0.6  -0.3  +0.1  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk021_via02: send_angles (single) [  -0.93,   +3.37,   +0.51,   -0.37,   -2.81,  -30.68]  speed=20 wait=0.0s  (pre max|Δ|=1.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.7  -1.5  -0.6  -0.3  +0.3  +0.2  着いた
[SEND] pi05_chunk021_via05: send_angles (single) [  -1.01,   +3.36,   +0.52,   -0.38,   -2.89,  -30.69]  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  5  Δ= -0.8  -1.5  -0.6  -0.3  +0.3  +0.2  着いた
[SEND] pi05_chunk021_via08: send_angles (single) [  -1.08,   +3.33,   +0.55,   -0.40,   -3.04,  -30.68]  speed=20 wait=0.0s  (pre max|Δ|=1.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.4  -1.5  -0.6  -0.3  +0.1  +0.2  着いた
[SEND] pi05_chunk021_via09: send_angles (single) [  -1.07,   +3.34,   +0.54,   -0.40,   -3.02,  -30.68]  speed=20 wait=0.0s  (pre max|Δ|=1.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -1.5  -0.6  -0.3  +0.1  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.49°（関節 j1）
[022] 推論 558ms  10ステップ先  Δ= -1.1  -1.6  -0.5  -0.3  +0.8  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk022_via02: send_angles (single) [  -2.09,   +3.17,   +0.57,   -0.41,   -2.61,  -30.67]  speed=20 wait=0.0s  (pre max|Δ|=1.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.40° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.3  -1.7  -0.6  -0.3  +0.5  +0.2  着いた
[SEND] pi05_chunk022_via05: send_angles (single) [  -2.02,   +3.21,   +0.58,   -0.39,   -2.55,  -30.67]  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  5  Δ= +0.3  -1.4  -0.6  -0.3  +0.3  +0.2  着いた
[SEND] pi05_chunk022_via08: send_angles (single) [  -2.01,   +3.21,   +0.59,   -0.43,   -2.43,  -30.66]  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  8  Δ= +0.2  -1.4  -0.6  -0.3  +0.5  +0.2  着いた
[SEND] pi05_chunk022_via09: send_angles (single) [  -1.93,   +3.19,   +0.63,   -0.42,   -2.39,  -30.66]  speed=20 wait=0.0s  (pre max|Δ|=1.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -1.4  -0.5  -0.3  +0.4  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.38°（関節 j1）
[023] 推論 691ms  10ステップ先  Δ= -0.5  -1.6  -0.5  -0.3  +0.5  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
[SEND] pi05_chunk023_via02: send_angles (single) [  -2.53,   +3.19,   +0.65,   -0.44,   -2.27,  -30.64]  speed=20 wait=0.0s  (pre max|Δ|=1.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  -1.4  -0.5  -0.4  +0.5  +0.2  着いた
[SEND] pi05_chunk023_via05: send_angles (single) [  -2.53,   +3.06,   +0.62,   -0.41,   -2.17,  -30.64]  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= -0.3  -1.5  -0.5  -0.3  +0.4  +0.2  着いた
[SEND] pi05_chunk023_via08: send_angles (single) [  -2.77,   +2.92,   +0.60,   -0.40,   -2.26,  -30.62]  speed=20 wait=0.0s  (pre max|Δ|=1.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.6  -1.7  -0.5  -0.3  +0.3  +0.2  着いた
       [PAUSE ] 止める予約 (Enter). 推論 23 を送り終えてから, 次の推論のあと (送る前) で止めます
[SEND] pi05_chunk023_via09: send_angles (single) [  -2.68,   +2.98,   +0.62,   -0.39,   -2.36,  -30.63]  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  9  Δ= -0.5  -1.6  -0.5  -0.3  +0.2  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.59°（関節 j1）
[024] 推論 1524ms  10ステップ先  Δ= -1.1  -1.8  -0.4  -0.3  +0.3  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       [PAUSE ] 止めました (推論 24 はまだ送っていません). Enter で実行すると, また止まらずに進みます
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > h
[SEND] pi05_home: send_angles (single) [  +0.00,   +0.00,   +0.00,   +0.00,   +0.00,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=4.57°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 2.5°)
[RECORD] 記録終了 コマ 809 (8.867 fps) 実測角 747 回 (8.19 Hz)  電流 754 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261114_181300/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > y
[GRIP  ] 閉じて 1 秒後の爪の電流 (中央値): 1 回目 787 (10 行)  (閉じる値 25)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261114_181300
[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))
    (98 秒)
もう1回やりますか? y=やる / 他=終わる > n

=== かかった時間 (Log35 の Pod (id 9wypmq2uhnx2et) につなぎ直し)  モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
  1. Pod につなぎ直す             2 秒
  2. Pod が立ち上がるまで待つ      5 秒
  3. Pod の中を確かめる (つなぎ直し)      8 秒
  3a. スクリプトを送る        101 秒
  3b〜4. 準備とサーバーの起動 (飛ばした)      0 秒
  5. Mac の 8000 番へのトンネル      2 秒
  5b. 空打ち (1 回目の推論の待ちを先に済ませる)      3 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)     15 秒
  8. 実機推論 (1 回目)          111 秒
  7. HOME → 爪を開く → 位置合わせ (2 回目)      9 秒
  8. 実機推論 (2 回目)           98 秒

[LAB   ] Pod は残しています (id 9wypmq2uhnx2et). 片付けは ./lab_stop.sh --log Log35
[TUNNEL] 8000 番のトンネルを閉じました
