(base) shimazueiichi@shimadzueiichinoMacBook-Pro drag_teaching % python3 record_teach_demo.py run --teach drag_v2_20221013_231249.json --execute --no-record
[RTD   ] 到達許容差は本線 run_pick_place.py の stage 値を使います（区間ごと。一律 8.0° は 2026-10-19 にやめた）:
[RTD   ]   HOME                       2.5°  ← rpp.TOL_HOME（stage1_to_home / HOME 復帰）
[RTD   ]   APPROACH_PICK              2.0°  ← rpp.TOL_APPROACH（approach 系）
[RTD   ]   PICK                       3.0°  ← rpp.TOL_PICK_PLACE（stage4_pick）
[RTD   ]   APPROACH_PICK (lift)       3.0°  ← rpp.TOL_LIFT_BACK（lift の残差 2.19° を吸収）
[RTD   ]   APPROACH_PLACE             3.0°  ← rpp.TOL_APPROACH_PLACE（stage7）
[RTD   ]   PLACE                      3.0°  ← rpp.TOL_PICK_PLACE（stage8_place）
[RTD   ]   APPROACH_PLACE (retreat)   3.0°  ← rpp.TOL_LIFT_BACK（stage10_lift_back）
[RTD   ] 到達を待つ最大時間 = clamp(2.0 + max|Δ|/20*3.0, 8.0, 30.0) 秒（本線と同じ wr._compute_arrival_timeout）
[RTD   ] モード: EXECUTE（実機）  記録: OFF (--no-record)
[RTD   ] Pi から教えた記録を取得します: ubuntu@192.168.2.1:r2r2r-scripts/dynamic_tracking_limits/drag_teaching/drag_v2_20221013_231249.json
[RTD   ] 取得しました → /var/folders/5w/2q2mc64n6yv63gfh31h34w6h0000gn/T/record_teach_demo_fu0xc9ff/drag_v2_20221013_231249.json
[RTD   ] 入力ファイル: drag_v2_20221013_231249.json
[RTD   ] 抽出ウェイポイント:
  APPROACH_PICK  <- phase APPROACH_PICK argmax_idx=146 (start=146 end=194, gap=12.04°)
                    angles = [ -28.12,  +57.21,  +19.86,   -3.60,  -71.80,  -27.50]
  PICK           <- gripper close mark idx=214（PICK phase 範囲内）
                    angles = [ -27.68,  +63.10,  +13.27,   -8.26,  -59.76,  -27.33]
  APPROACH_PLACE <- phase APPROACH_PLACE argmax_idx=286 (start=286 end=321, gap=20.83°)
                    angles = [ +41.04,  +42.36,   +1.66,   +2.54,  -49.39,  -31.90]
  PLACE          <- gripper open mark idx=345（PLACE phase 範囲内）
                    angles = [ +40.69,  +61.78,   +1.14,   +4.13,  -70.22,  -31.28]
[RTD   ] JOINT_LIMITS 一括検証 OK（全 endpoint + HOME）
[RTD   ] 姿勢検査 OK（全 137 姿勢が 有限値 + JOINT_LIMITS + J4_SAFE [-90.0, +60.0] 内）
[RTD   ] j4 の余裕は最小 18.20°（しきい値 3.0° 以上）
[RTD   ] 現在姿勢を daemon から取得します
[RTD   ] 現在姿勢 = [  +0.17,   +1.31,   +2.10,   +0.26,   -0.26,  -30.23]
==============================================================================
[RTD   ] 実行プラン（daemon 経由・区間ごとに 1 回送信 → 到達待ち）
==============================================================================
  [STEP  1] MOVE → HOME (single send + settle)  speed=20
            current = [  +0.17,   +1.31,   +2.10,   +0.26,   -0.26,  -30.23]
            to HOME = [  +0.00,   +0.00,   +0.00,   +0.00,   +0.00,  -30.00]
            max |Δ| = 2.10°  (settle 3.0s)
  [STEP  2] GRIPPER OPEN  daemon_set_gripper(0, 50, wait=0) ×1 回（daemon 事前 2.0s + 事後 2.0s + 待ち 2.0s）= 計 6.0s
            開いたかは確認しません（gv を使わず・開始前の y/n も無し。判定は終了後の y/n と動画）
  [STEP  3] MOVE → APPROACH_PICK  segment HOME → APPROACH_PICK  tol=2.0°  [rpp.TOL_APPROACH（approach 系）]
            from    = [  +0.00,   +0.00,   +0.00,   +0.00,   +0.00,  -30.00]
            to      = [ -28.12,  +57.21,  +19.86,   -3.60,  -71.80,  -27.50]
            max |Δ| = 71.80°  1 回送信 speed=20  (~ 3.6s @ 20°/s 目安・到達待ち 最大 12.8s)
  [STEP  4] MOVE → PICK  segment APPROACH_PICK → PICK  [critical]  tol=3.0°  [rpp.TOL_PICK_PLACE（stage4_pick）]
            from    = [ -28.12,  +57.21,  +19.86,   -3.60,  -71.80,  -27.50]
            to      = [ -27.68,  +63.10,  +13.27,   -8.26,  -59.76,  -27.33]
            max |Δ| = 12.04°  1 回送信 speed=20  (~ 0.6s @ 20°/s 目安・到達待ち 最大 8.0s)
  [STEP  5] GRIPPER CLOSE  daemon_set_gripper_value(20, 50) + sleep(2.0s)
  [STEP  6] MOVE → APPROACH_PICK (lift)  segment PICK → APPROACH_PICK (lift)  tol=3.0°  [rpp.TOL_LIFT_BACK（lift の残差 2.19° を吸収）]
            from    = [ -27.68,  +63.10,  +13.27,   -8.26,  -59.76,  -27.33]
            to      = [ -28.12,  +57.21,  +19.86,   -3.60,  -71.80,  -27.50]
            max |Δ| = 12.04°  1 回送信 speed=20  (~ 0.6s @ 20°/s 目安・到達待ち 最大 8.0s)
  [STEP  7] MOVE → APPROACH_PLACE  segment APPROACH_PICK → APPROACH_PLACE  tol=3.0°  [rpp.TOL_APPROACH_PLACE（stage7）]
            from    = [ -28.12,  +57.21,  +19.86,   -3.60,  -71.80,  -27.50]
            to      = [ +41.04,  +42.36,   +1.66,   +2.54,  -49.39,  -31.90]
            max |Δ| = 69.16°  1 回送信 speed=20  (~ 3.5s @ 20°/s 目安・到達待ち 最大 12.4s)
  [STEP  8] MOVE → PLACE  segment APPROACH_PLACE → PLACE  [critical]  tol=3.0°  [rpp.TOL_PICK_PLACE（stage8_place）]
            from    = [ +41.04,  +42.36,   +1.66,   +2.54,  -49.39,  -31.90]
            to      = [ +40.69,  +61.78,   +1.14,   +4.13,  -70.22,  -31.28]
            max |Δ| = 20.83°  1 回送信 speed=20  (~ 1.0s @ 20°/s 目安・到達待ち 最大 8.0s)
  [STEP  9] GRIPPER OPEN  daemon_set_gripper(0, 50, wait=0) ×1 回（daemon 事前 2.0s + 事後 2.0s + 待ち 2.0s）= 計 6.0s
            開いたかは確認しません（gv を使わず・開始前の y/n も無し。判定は終了後の y/n と動画）
  [STEP 10] MOVE → APPROACH_PLACE (retreat)  segment PLACE → APPROACH_PLACE (retreat)  tol=3.0°  [rpp.TOL_LIFT_BACK（stage10_lift_back）]
            from    = [ +40.69,  +61.78,   +1.14,   +4.13,  -70.22,  -31.28]
            to      = [ +41.04,  +42.36,   +1.66,   +2.54,  -49.39,  -31.90]
            max |Δ| = 20.83°  1 回送信 speed=20  (~ 1.0s @ 20°/s 目安・到達待ち 最大 8.0s)
  [STEP 11] MOVE → HOME  segment APPROACH_PLACE → HOME  tol=2.5°  [rpp.TOL_HOME（stage1_to_home / HOME 復帰）]
            from    = [ +41.04,  +42.36,   +1.66,   +2.54,  -49.39,  -31.90]
            to      = [  +0.00,   +0.00,   +0.00,   +0.00,   +0.00,  -30.00]
            max |Δ| = 49.39°  1 回送信 speed=20  (~ 2.5s @ 20°/s 目安・到達待ち 最大 9.4s)
==============================================================================
[RTD   ] 送信 = 8 回（STEP 1 + move 7 区間）, 想定所要時間 ≈ 29.8s（最悪 73.0s）
[RTD   ]   内訳: 先頭 settle 3.0s + 移動 12.8s（max|Δ| 合計 256.1° @ 20°/s 目安） + gripper 14.0s
[RTD   ]   到達確認: 許容は区間ごと（本線 run_pick_place.py の stage 値）/ 最大は clamp(2.0 + max|Δ|/20*3.0, 8.0, 30.0) 秒
[RTD   ]   届かないとき: 送信前から 1.0° 未満しか動いていなければ 5.0s 待って**同じ目標へ 1 回だけ**再送（本線と同じ）。それでも届かなければ ABORT（HOME へ自動で戻らない）
[RTD   ]   実測 j4: [-90.0, +60.0] の外は WARN / [-98.0, +68.0] の外は ABORT
==============================================================================
[RTD   ] measure: /Volumes/KIOXIA/r2r2r-data/mecharm_calibration/teach_poses_LOG359/measure_20261022_164406.json
[RTD   ]   measured_at = 2026-10-22T16:44:08.337908  block = (+127.6, +216.8) mm  box = (-213.6, +178.2) mm
[RTD   ] 再生直前: 上カメラでマット四隅とブロック画素を確認します
[RTD   ] 再生直前: block = (+134.5, +221.9) mm（measure の homography で換算）
[RTD   ] 確認画像: /Volumes/KIOXIA/r2r2r-data/mecharm_calibration/teach_poses_LOG359/prerun_20261022_164609.jpg
[RTD   ] [WARN] ブロックが measure 時から動いています（止めません・項目8）: ブロックが measure 時から 19.4px（≒8.6mm）動いています（許容 10.6px = 5.0mm）。ブロックを戻すか measure をやり直してください
[RTD   ] [WARN]   画素の差 19.4px（許容 10.6px = 5.0mm）/ mm 換算の差 8.60mm
[RTD   ] [WARN]   つかみ損ねる可能性があります。気になるなら Enter の前に measure を取り直してください
[RTD   ] [SAFETY] 再生中はグリッパーが実機で開閉します。爪に指を挟まないこと。
[RTD   ] [SAFETY] 止めるときはアームの電源を切ること。Ctrl-C は新しい送信をやめるだけで、進行中の移動は止まりません。
[RTD   ] [SAFETY] 開いたかの自動確認はしません（gv は使わない）。STEP 2 で open を送ってから PICK へ降ります。
[RTD   ] 周囲に手・物が無いか確認してください。OK なら Enter で開始

[RTD   ] 試行フォルダ: /Volumes/KIOXIA/r2r2r-data/runs/run_pick_place/run_0001_20261022_164615
[RTD   ] 教えた記録のコピー: /Volumes/KIOXIA/r2r2r-data/runs/run_pick_place/run_0001_20261022_164615/teach/drag_v2_20221013_231249.json
  [WARN] fresh_mode切替不可: daemon error: set_fresh_mode is not available in this pymycobot environment
[RTD   ] daemon_set_fresh_mode(1)（最新コマンド優先・本線 run_pick_place.py L3976 と同じ。647 試行の実績はこの状態）
[STEP  1] MOVE → HOME  daemon_send_angles(HOME, 20)
[STEP  1] 到達待ち 許容 2.5°[TOL_HOME（stage1_to_home / HOME 復帰）] / 最大 8.0s
[RTD   ] 先頭移動: 送信直前の実測で max|Δ| = 2.10° / 到達待ち 最大 8.0s
[STEP  1] 3.0s 待ちます（settle）
[RTD   ] arrival OK (current → HOME, max|Δ|=2.10° <= tol 2.5°)
[STEP  2] GRIPPER OPEN → daemon_set_gripper(0, 50, wait=0)
[RTD   ] 静止確認 OK（step2_open: 連続 3 回・連続差 最大 0.00° <= 1.0°）
  [Pi] GRIPPER: OPEN result= -1
[RTD   ] gripper open (1/1 回目) の daemon 往復 = 3.559s
[STEP  2] open 後 2.0s 待ちます（本線の daemon wait=2 相当・読み取りなし）
[STEP  2] gripper dwell 2.0s（読み取りなし）
[STEP  3] MOVE → APPROACH_PICK  segment HOME → APPROACH_PICK  (1 回送信 speed=20 → 到達待ち 許容 2.0°[TOL_APPROACH（approach 系）] / 最大 12.8s)
[RTD   ] 送信 OK（daemon 往復 2.559s）
[RTD   ] arrival OK (HOME → APPROACH_PICK, max|Δ|=1.32° <= tol 2.0°)
[STEP  4] MOVE → PICK  segment APPROACH_PICK → PICK  (1 回送信 speed=20 → 到達待ち 許容 3.0°[TOL_PICK_PLACE（stage4_pick）] / 最大 8.0s)  [critical]
[RTD   ] 送信 OK（daemon 往復 2.565s）
[RTD   ] arrival OK (APPROACH_PICK → PICK, max|Δ|=1.32° <= tol 3.0°)
[STEP  5] GRIPPER CLOSE → daemon_set_gripper_value(20, 50)
[RTD   ] 静止確認 OK（step5_close: 連続 3 回・連続差 最大 0.09° <= 1.0°）
  [Pi] GRIPPER: VALUE=20 speed=50 result= -1
[RTD   ] gripper close (1/1 回目) の daemon 往復 = 1.553s
[STEP  5] gripper dwell 2.0s（読み取りなし）
[STEP  6] MOVE → APPROACH_PICK (lift)  segment PICK → APPROACH_PICK (lift)  (1 回送信 speed=20 → 到達待ち 許容 3.0°[TOL_LIFT_BACK（lift の残差 2.19° を吸収）] / 最大 8.0s)
[RTD   ] 送信 OK（daemon 往復 2.555s）
[RTD   ] arrival OK (PICK → APPROACH_PICK (lift), max|Δ|=2.64° <= tol 3.0°)
[STEP  7] MOVE → APPROACH_PLACE  segment APPROACH_PICK → APPROACH_PLACE  (1 回送信 speed=20 → 到達待ち 許容 3.0°[TOL_APPROACH_PLACE（stage7）] / 最大 12.4s)
[RTD   ] 送信 OK（daemon 往復 2.548s）
[RTD   ] arrival OK (APPROACH_PICK → APPROACH_PLACE, max|Δ|=2.55° <= tol 3.0°)
[STEP  8] MOVE → PLACE  segment APPROACH_PLACE → PLACE  (1 回送信 speed=20 → 到達待ち 許容 3.0°[TOL_PICK_PLACE（stage8_place）] / 最大 8.0s)  [critical]
[RTD   ] 送信 OK（daemon 往復 2.567s）
[RTD   ] arrival OK (APPROACH_PLACE → PLACE, max|Δ|=2.20° <= tol 3.0°)
[STEP  9] GRIPPER OPEN → daemon_set_gripper(0, 50, wait=0)
[RTD   ] 静止確認 OK（step9_open: 連続 3 回・連続差 最大 1.32° <= 1.0°）
  [Pi] GRIPPER: OPEN result= -1
[RTD   ] gripper open (1/1 回目) の daemon 往復 = 3.575s
[STEP  9] open 後 2.0s 待ちます（本線の daemon wait=2 相当・読み取りなし）
[STEP  9] gripper dwell 2.0s（読み取りなし）
[STEP 10] MOVE → APPROACH_PLACE (retreat)  segment PLACE → APPROACH_PLACE (retreat)  (1 回送信 speed=20 → 到達待ち 許容 3.0°[TOL_LIFT_BACK（stage10_lift_back）] / 最大 8.0s)
[RTD   ] 送信 OK（daemon 往復 2.553s）
[RTD   ] arrival OK (PLACE → APPROACH_PLACE (retreat), max|Δ|=2.11° <= tol 3.0°)
[STEP 11] MOVE → HOME  segment APPROACH_PLACE → HOME  (1 回送信 speed=20 → 到達待ち 許容 2.5°[TOL_HOME（stage1_to_home / HOME 復帰）] / 最大 9.4s)
[RTD   ] 送信 OK（daemon 往復 2.594s）
[RTD   ] arrival OK (APPROACH_PLACE → HOME, max|Δ|=1.93° <= tol 2.5°)
  [WARN] fresh_mode切替不可: daemon error: set_fresh_mode is not available in this pymycobot environment
[RTD   ] daemon_set_fresh_mode(0) 完了
[RTD   ] 実測角の読み取り: ok 40/40 回, 実効 0.86 Hz（目標 3.0 Hz 以上）
[RTD   ] [WARN] 実測角の読み取りが目標 3.0 Hz を下回りました（0.86 Hz）。学習データの state 密度が 19 本より薄くなります
[RTD   ] send_angles の daemon 往復 (7 回): 平均 2.563s / p50 2.559s / 最大 2.594s（timeout 6.0s）
[RTD   ] [WARN] 送信 1 回に 2.594s かかった回があります。daemon は送信後に角度を読み直すので、動き始めで読めないと伸びます（単発送信なので試行全体への影響は小さい）
[RTD   ] 区間の所要（送信→到達確認まで）(8 区間): 平均 3.09s / 最大 5.93s
==============================================================================
[RTD   ] 再生 完了
==============================================================================
[RTD   ] つかめたか (y/n) > y
[RTD   ] 箱に入ったか (y/n) > y
[RTD   ] 試行 JSON: /Volumes/KIOXIA/r2r2r-data/runs/run_pick_place/run_0001_20261022_164615/run_0001_20261022_164615.json
[LEDGER] append OK: /Volumes/KIOXIA/r2r2r-data/runs/pick_place_ledger_v3.csv (pick=yes place=yes recording_status=none)
[RTD   ] 次に進むには: python3 /Users/shimazueiichi/r2r2r-scripts/pi05/build_demo_episodes.py --run run_0001_20261022_164615 --dataset mecharm_redblock_box_teach_v1
(base) shimazueiichi@shimadzueiichinoMacBook-Pro drag_teaching %