(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts RAW=/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes 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()" python3 pi05/camera_align.py --raw-dir $RAW --episode run_0001_20261019_192343 --scale 5 [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: [-0.43, 1.31, 1.05, -0.26, 0.26, -30.23] [SEND] HOME へ移動指令 [WAIT] t=2.0s max_err=1.31° [DONE] HOME 到達 max_err=1.31° [POST] 最終姿勢: [-0.43, 1.31, 1.05, -0.26, 0.26, -30.23] [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 [REF ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_192343/frames/000000.jpg [REF ] お手本 run_0001_20261019_192343 (つかんだ瞬間の j0 = -27.7°) [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 [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= -2.0 dx= -0.9 response=0.725 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) ^C [STOP ] Ctrl-C [DONE ] 終了 (何も書いていません) (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 pi05/run_policy_client.py --raw-dir $RAW --steps-per-chunk 10 --via-stride 3 --settle-retries 0 --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_131036 [CAMERA] 写り方 dy=-6.9 dx=+1.8 response=0.581 → 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 1601ms 10ステップ先 Δ=-10.3 +19.3 +4.8 -2.2 -22.3 +2.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 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_via02: send_angles (single) [ -2.74, +5.42, +1.26, -0.48, -4.31, -29.91] speed=20 wait=1.0s (pre max|Δ|=4.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.90° (tol 3.0°) [VIA ] step 2 Δ= -2.3 +4.1 +0.2 -0.2 -4.6 +0.3 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -5.89, +11.97, +3.01, -1.27, -11.79, -29.24] speed=20 wait=1.0s (pre max|Δ|=8.28°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 5 Δ= -2.7 +5.7 +0.9 -1.1 -8.3 +0.9 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -9.39, +18.48, +5.21, -2.26, -19.85, -28.41] speed=20 wait=1.0s (pre max|Δ|=8.52°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 8 Δ= -3.2 +5.5 +1.4 -1.9 -8.5 +1.0 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -10.69, +20.56, +5.81, -2.46, -22.05, -28.16] speed=20 wait=1.0s (pre max|Δ|=2.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 9 Δ= -1.1 +1.0 -0.2 -0.9 -2.5 +0.5 着いた [001] 推論 1155ms 10ステップ先 Δ=-12.7 +24.2 +6.4 -0.2 -30.2 +0.5 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk001_via02: send_angles (single) [ -14.40, +28.34, +8.35, -2.63, -30.70, -28.10] speed=20 wait=1.0s (pre max|Δ|=8.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.10° (tol 3.0°) [VIA ] step 2 Δ= -3.7 +6.8 +1.8 -0.5 -8.2 +0.3 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -18.45, +35.78, +10.42, -2.48, -40.29, -27.98] speed=20 wait=1.0s (pre max|Δ|=10.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 5 Δ= -4.5 +6.3 +1.3 -0.1 -10.4 +0.3 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -22.14, +42.89, +12.27, -2.27, -49.57, -27.88] speed=20 wait=1.0s (pre max|Δ|=9.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.05° (tol 3.0°) [VIA ] step 8 Δ= -3.4 +6.1 +1.3 +0.6 -9.9 +0.3 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -23.42, +45.73, +12.86, -2.20, -52.69, -27.85] speed=20 wait=1.0s (pre max|Δ|=3.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 9 Δ= -1.6 +1.8 +0.0 +0.3 -3.5 +0.3 着いた [002] 推論 852ms 10ステップ先 Δ= -6.9 +13.2 +4.7 +0.1 -16.6 +0.2 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk002_via02: send_angles (single) [ -27.32, +53.33, +14.88, -2.61, -61.20, -27.93] speed=20 wait=1.0s (pre max|Δ|=8.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.89° (tol 3.0°) [VIA ] step 2 Δ= -3.7 +6.5 +2.1 -0.2 -8.6 +0.1 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -29.71, +58.46, +16.74, -2.51, -67.08, -27.90] speed=20 wait=1.0s (pre max|Δ|=6.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 5 Δ= -2.6 +4.2 +1.4 -0.3 -6.4 +0.0 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -30.61, +59.98, +17.59, -2.24, -69.14, -27.82] speed=20 wait=1.0s (pre max|Δ|=2.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 8 Δ= -0.9 +0.6 +0.6 -0.0 -2.2 -0.1 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -30.51, +60.03, +17.50, -2.23, -69.17, -27.80] speed=20 wait=1.0s (pre max|Δ|=0.87°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.87° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -0.9 -0.2 -0.1 +0.2 -0.1 着いた [003] 推論 884ms 10ステップ先 Δ= +0.1 +3.7 -4.3 -3.0 +5.2 +0.1 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 / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk003_via02: send_angles (single) [ -30.84, +62.06, +16.37, -3.01, -67.98, -27.63] speed=20 wait=1.0s (pre max|Δ|=1.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.36° (tol 3.0°) [VIA ] step 2 Δ= +0.3 +1.2 -1.3 -0.9 +1.4 +0.0 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -30.83, +63.52, +14.31, -4.36, -65.23, -27.59] speed=20 wait=1.0s (pre max|Δ|=4.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.21° (tol 3.0°) [VIA ] step 5 Δ= +0.3 +0.4 -3.2 -1.7 +4.1 +0.1 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -30.96, +64.62, +13.36, -5.09, -64.12, -27.55] speed=20 wait=1.0s (pre max|Δ|=2.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 8 Δ= +0.1 +0.0 -2.0 -1.1 +2.3 +0.1 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -30.96, +64.62, +13.36, -5.09, -64.12, -27.55] speed=20 wait=1.0s (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 -0.8 -0.4 +0.9 +0.2 着いた [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [004] 推論 2181ms 10ステップ先 Δ= +6.6 -4.2 +2.0 +2.7 -1.7 -1.0 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk004_via02: send_angles (single) [ -31.25, +64.76, +15.14, -3.97, -66.91, -27.92] speed=20 wait=1.0s (pre max|Δ|=1.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.08° (tol 3.0°) [VIA ] step 2 Δ= -0.1 -0.8 +1.1 +0.8 -1.3 +0.0 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -31.02, +63.73, +16.42, -3.27, -67.95, -27.94] speed=20 wait=1.0s (pre max|Δ|=2.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -1.8 +2.1 +1.5 -2.1 +0.0 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ -26.69, +62.03, +16.41, -2.37, -67.85, -28.67] speed=20 wait=1.0s (pre max|Δ|=4.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 8 Δ= +4.1 -3.1 +0.8 +1.5 -1.0 -0.8 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ -24.58, +61.35, +16.03, -2.05, -67.43, -28.96] speed=20 wait=1.0s (pre max|Δ|=2.81°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.37° (tol 3.0°) [VIA ] step 9 Δ= +1.8 -2.8 +0.3 +0.0 -1.2 -0.8 着いた [005] 推論 890ms 10ステップ先 Δ=+22.8 -7.3 -4.5 +3.9 +5.5 -2.4 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk005_via02: send_angles (single) [ -18.47, +62.07, +14.97, -0.18, -64.93, -29.26] speed=20 wait=1.0s (pre max|Δ|=5.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 2 Δ= +5.8 -1.6 -1.2 +1.2 +1.4 -0.8 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -11.46, +60.01, +13.59, +1.08, -63.22, -30.02] speed=20 wait=1.0s (pre max|Δ|=6.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.39° (tol 3.0°) [VIA ] step 5 Δ= +6.4 -3.7 -2.4 +2.0 +2.8 -1.4 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -4.02, +57.44, +12.21, +2.29, -61.42, -30.73] speed=20 wait=1.0s (pre max|Δ|=7.66°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.58° (tol 3.0°) [VIA ] step 8 Δ= +7.7 -5.0 -2.5 +1.1 +2.1 -1.5 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -1.36, +56.45, +11.70, +2.62, -60.73, -30.89] speed=20 wait=1.0s (pre max|Δ|=3.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.61° (tol 3.0°) [VIA ] step 9 Δ= +2.7 -3.6 -1.6 -0.0 +1.0 -0.7 着いた [006] 推論 1151ms 10ステップ先 Δ=+25.1 -8.1 -4.2 +1.4 +6.8 -0.4 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk006_via02: send_angles (single) [ +5.12, +57.28, +12.79, +3.35, -60.07, -30.65] speed=20 wait=1.0s (pre max|Δ|=6.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.78° (tol 3.0°) [VIA ] step 2 Δ= +6.6 -1.8 -0.6 +0.4 +0.9 -0.2 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +13.07, +54.60, +11.55, +3.89, -57.99, -30.74] speed=20 wait=1.0s (pre max|Δ|=8.15°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.52° (tol 3.0°) [VIA ] step 5 Δ= +8.1 -4.5 -1.8 +0.5 +2.4 -0.2 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +21.20, +51.63, +9.64, +4.27, -55.05, -30.82] speed=20 wait=1.0s (pre max|Δ|=8.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.59° (tol 3.0°) [VIA ] step 8 Δ= +8.3 -5.5 -3.7 +0.1 +3.3 -0.3 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +23.62, +50.98, +9.11, +4.34, -54.23, -30.86] speed=20 wait=1.0s (pre max|Δ|=3.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.63° (tol 3.0°) [VIA ] step 9 Δ= +2.5 -3.2 -1.9 -0.0 +0.5 -0.3 着いた [007] 推論 2162ms 10ステップ先 Δ=+15.9 +0.3 -7.3 +1.3 +3.7 -1.1 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk007_via02: send_angles (single) [ +30.17, +52.29, +7.90, +5.04, -50.99, -31.17] speed=20 wait=1.0s (pre max|Δ|=6.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.59° (tol 3.0°) [VIA ] step 2 Δ= +6.6 -1.3 -3.1 +0.5 +3.5 -0.6 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +36.42, +50.92, +4.82, +5.43, -48.07, -31.73] speed=20 wait=1.0s (pre max|Δ|=6.19°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.69° (tol 3.0°) [VIA ] step 5 Δ= +6.2 -2.7 -4.7 +0.3 +3.0 -0.7 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +39.25, +52.67, +3.82, +5.75, -49.47, -31.69] speed=20 wait=1.0s (pre max|Δ|=2.87°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.62° (tol 3.0°) [VIA ] step 8 Δ= +2.9 -0.9 -2.3 -0.0 -1.1 -0.1 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +39.44, +53.94, +3.69, +5.87, -50.78, -31.70] speed=20 wait=1.0s (pre max|Δ|=2.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.58° (tol 3.0°) [VIA ] step 9 Δ= +0.2 +0.3 -1.8 -0.3 -2.4 +0.3 着いた [008] 推論 883ms 8ステップ先 Δ= +0.6 +8.7 -2.5 +0.7 -6.2 -0.3 グリッパー→開 [VIA ] 中継点 3 点: step 2, 5, 7 Enter=実行 / s=送らず次へ / 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|=55.10°, post-send timeout 10.3s) [SEND] arrival OK: max|Δ|=2.37° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_131036