Last login: Thu Oct 22 09:18:22 on ttys008
(base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % python3 pi05/run_policy_client.py --raw-dir $RAW --steps-per-chunk 10 --via-stride 3 --settle-retries 0 --state-from-target --execute
python3: can't open file '/Users/shimazueiichi/pi05/run_policy_client.py': [Errno 2] No such file or directory
(base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % 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 --via-stride 3 --settle-retries 0 --state-from-target --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_181339
[CAMERA] 写り方 dy=-5.2 dx=+0.2 response=0.551 → 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)
[STATE ] 実測を渡す (直前に送った目標がない)
[000] 推論 59829ms  10ステップ先  Δ=-11.6 +19.8  +3.1  +2.4 -25.0  +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 > 
[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) [  -2.70,   +5.66,   +2.69,   +0.84,   -5.76,  -30.12]  speed=20 wait=1.0s  (pre max|Δ|=5.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.4  +4.2  +0.6  +0.6  -5.5  +0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -6.51,  +12.20,   +3.72,   +1.64,  -14.10,  -29.97]  speed=20 wait=1.0s  (pre max|Δ|=9.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.7  +5.7  +0.0  +1.3  -9.2  +0.3  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -10.62,  +18.97,   +4.86,   +2.38,  -22.54,  -29.82]  speed=20 wait=1.0s  (pre max|Δ|=9.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.9  +5.8  +0.3  +1.4  -9.2  +0.3  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -11.93,  +21.26,   +5.19,   +2.62,  -25.21,  -29.80]  speed=20 wait=1.0s  (pre max|Δ|=3.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.6  +1.3  -0.3  +0.2  -3.3  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.97°（関節 j1）
[001] 推論 642ms  10ステップ先  Δ=-12.9 +22.7  +3.8  +1.6 -30.1  +0.3
       [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) [ -16.38,  +28.04,   +6.64,   +3.06,  -33.96,  -29.76]  speed=20 wait=1.0s  (pre max|Δ|=8.74°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.2  +5.8  +0.8  +0.8  -8.7  +0.1  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -20.36,  +35.26,   +8.11,   +3.59,  -43.43,  -29.66]  speed=20 wait=1.0s  (pre max|Δ|=9.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.03° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.2  +6.2  +0.9  -0.1  -9.8  +0.1  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -24.02,  +42.54,   +9.39,   +3.78,  -52.59,  -29.61]  speed=20 wait=1.0s  (pre max|Δ|=9.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.05° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.4  +6.2  +0.6  -0.2  -9.5  +0.2  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -25.16,  +44.96,   +9.64,   +3.90,  -55.30,  -29.58]  speed=20 wait=1.0s  (pre max|Δ|=3.10°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.3  +1.4  -0.5  -0.1  -3.1  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.09°（関節 j1）
[002] 推論 464ms  10ステップ先  Δ=-11.3 +16.2  +3.0  -0.3 -21.5  +0.0
       [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_chunk002_via02: send_angles (single) [ -29.70,  +51.65,  +10.98,   +3.64,  -64.69,  -29.60]  speed=20 wait=1.0s  (pre max|Δ|=9.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.0  +5.6  +0.9  -0.8  -9.3  +0.1  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -34.15,  +58.02,  +12.20,   +3.62,  -72.67,  -29.65]  speed=20 wait=1.0s  (pre max|Δ|=8.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.9  +5.5  +0.8  -0.4  -8.7  -0.1  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -36.77,  +62.03,  +13.19,   +3.98,  -76.70,  -29.67]  speed=20 wait=1.0s  (pre max|Δ|=4.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  8  Δ= -3.0  +3.1  +0.7  -0.1  -4.6  -0.1  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -37.00,  +62.25,  +13.14,   +4.13,  -76.83,  -29.68]  speed=20 wait=1.0s  (pre max|Δ|=0.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.85° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.9  -0.3  +0.0  +0.2  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.85°（関節 j1）
[003] 推論 563ms  10ステップ先  Δ= -1.2  +3.6  +0.4  -0.5  -4.2  -0.3
       [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) [ -38.00,  +64.32,  +14.31,   +4.10,  -80.10,  -29.72]  speed=20 wait=1.0s  (pre max|Δ|=3.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.89° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.9  +1.2  +0.9  -0.0  -3.1  -0.2  着いた
       [VIA   ] step  5  Δ= +0.4  -0.3  +0.0  -0.2  -0.4  -0.2  送らず (0.5° 以下)
[SEND] pi05_chunk003_via08: send_angles (single) [ -38.23,  +66.06,  +14.15,   +3.72,  -81.11,  -29.77]  speed=20 wait=1.0s  (pre max|Δ|=0.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  +0.8  -0.4  -0.5  -0.7  -0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -38.29,  +66.70,  +13.84,   +3.63,  -81.19,  -29.78]  speed=20 wait=1.0s  (pre max|Δ|=0.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.88° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -0.4  -0.7  -0.4  +0.0  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.88°（関節 j1）
[004] 推論 3182ms  10ステップ先  Δ= +0.0  +5.2  -3.1  -1.7  -0.7  -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 > 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|=81.21°, post-send timeout 14.2s)
[SEND] arrival OK: max|Δ|=2.46° (tol 2.5°)
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_181339
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % >....          
o 2] No such file or directory
(base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % 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 --via-stride 3 --settle-retries 0 --state-from-target --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_181339
[CAMERA] 写り方 dy=-5.2 dx=+0.2 response=0.551 → 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)
[STATE ] 実測を渡す (直前に送った目標がない)


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