Last login: Thu Oct 22 09:07:18 on ttys006 (base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % ssh -i ~/.ssh/id_rsa_pi ubuntu@192.168.2.1 'ss -ltn | grep 5555' || { ssh -i ~/.ssh/id_rsa_pi ubuntu@192.168.2.1 "setsid nohup python3 /home/ubuntu/mecharm_daemon.py >/home/ubuntu/daemon.log 2>&1 &"; sleep 5; ssh -i ~/.ssh/id_rsa_pi ubuntu@192.168.2.1 'tail -3 ~/daemon.log; ss -ltn | grep 5555'; } [DAEMON 14:50:28] ✓ MyCobot 初期化完了 [DAEMON 14:50:28] startup_warmup angles=[-0.35, 93.25, -7.99, 1.84, -86.83, -29.7] [DAEMON 14:50:28] ポート 5555 で待ち受け中... LISTEN 0 1 0.0.0.0:5555 0.0.0.0:* (base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % cd ~/r2r2r-scripts python3 dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()" [INIT] daemon 接続中... [WARN] fresh_mode切替不可: daemon error: set_fresh_mode is not available in this pymycobot environment [INIT] fresh_mode=1 [PRE] 現在姿勢: [-0.35, 93.25, -7.99, 1.84, -86.83, -29.70] [SEND] HOME へ移動指令 [WAIT] t=2.1s max_err=8.78° [WAIT] t=2.6s max_err=1.31° [DONE] HOME 到達 max_err=1.31° [POST] 最終姿勢: [-0.26, 1.23, 0.61, 0.52, 1.31, -29.79] [WARN] fresh_mode切替不可: daemon error: set_fresh_mode is not available in this pymycobot environment [EXIT] fresh_mode=0, socket close [Pi] GRIPPER: OPEN result= -1 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts RAW=/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes python3 pi05/run_policy_client.py --raw-dir $RAW --steps-per-chunk 10 --execute [SAFE ] 安全範囲 (学習 19 本 ±10°): j0[-72,+55] j1[-9,+88] j2[-46,+41] j3[-18,+27] j4[-90,+10] j5[-51,-14] [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_teach_v1_trim2/raw_episodes [MODE ] EXECUTE steps/chunk=10 max_move=20.0° log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_095251 [CAMERA] 写り方 dy=-0.5 dx=+0.6 response=0.524 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg [POLICY] 接続 ws://localhost:8000 metadata={} [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) [000] 推論 52684ms 10ステップ先 Δ=-10.5 +20.0 +5.0 -3.0 -20.0 +2.1 [LIMIT] j1 移動量 +21.2° を ±20° に制限 [LIMIT] j4 移動量 -27.0° を ±20° に制限 Enter=実行 / s=送らず次へ / 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= -1 [SEND] pi05_chunk000: send_angles (single) [ -10.74, +21.23, +5.75, -2.77, -20.26, -27.74] speed=20 wait=1.0s (pre max|Δ|=20.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [001] 推論 861ms 10ステップ先 Δ=-12.5 +20.0 +6.3 +0.1 -20.0 +0.5 [LIMIT] j1 移動量 +23.7° を ±20° に制限 [LIMIT] j4 移動量 -28.5° を ±20° に制限 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk001: send_angles (single) [ -23.21, +42.23, +12.68, -2.94, -39.24, -27.79] speed=20 wait=1.0s (pre max|Δ|=20.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [002] 推論 804ms 10ステップ先 Δ= -9.5 +16.5 +5.5 -0.0 -20.0 +0.1 [LIMIT] j4 移動量 -20.5° を ±20° に制限 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk002: send_angles (single) [ -32.98, +59.66, +18.79, -2.23, -59.02, -27.81] speed=20 wait=1.0s (pre max|Δ|=19.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.44° (tol 3.0°) [003] 推論 2310ms 7ステップ先 Δ= +0.1 +1.8 -1.6 -1.0 +1.0 +0.1 グリッパー→閉 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk003: send_angles (single) [ -32.81, +62.17, +16.77, -3.07, -59.50, -27.87] speed=20 wait=1.0s (pre max|Δ|=1.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 3.0°) [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [004] 推論 804ms 10ステップ先 Δ=+13.5 -5.2 -1.2 +2.7 +0.2 -1.7 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk004: send_angles (single) [ -19.49, +57.40, +15.34, +0.14, -61.43, -30.00] speed=20 wait=1.0s (pre max|Δ|=13.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.99° (tol 3.0°) [005] 推論 806ms 10ステップ先 Δ=+20.0 -5.7 -4.9 +3.5 +3.6 -2.0 [LIMIT] j0 移動量 +25.9° を ±20° に制限 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk005: send_angles (single) [ +0.41, +53.59, +11.16, +3.68, -54.86, -31.23] speed=20 wait=1.0s (pre max|Δ|=20.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.39° (tol 3.0°) [006] 推論 2172ms 10ステップ先 Δ=+20.0 -7.9 -4.5 +0.9 +7.2 -0.2 [LIMIT] j0 移動量 +24.4° を ±20° に制限 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk006: send_angles (single) [ +20.08, +48.06, +8.16, +3.66, -48.66, -30.77] speed=20 wait=1.0s (pre max|Δ|=20.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.65° (tol 3.0°) [007] 推論 1081ms 10ステップ先 Δ=+19.7 +1.4 -6.4 +1.5 +2.7 -0.9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk007: send_angles (single) [ +39.41, +52.10, +3.37, +5.31, -46.20, -31.73] speed=20 wait=1.0s (pre max|Δ|=19.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.37° (tol 3.0°) [008] 推論 2683ms 10ステップ先 Δ= +0.7 +10.9 -2.4 +0.9 -9.2 -0.1 グリッパー→開 Enter=実行 / s=送らず次へ / 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=1.0s (pre max|Δ|=53.08°, post-send timeout 10.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_095251