(base) shimazueiichi@shimadzueiichinoMacBook-Pro 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: [-0.61, 1.49, 1.93, -0.17, 45.87, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=2.0s  max_err=45.87°
[WAIT] t=2.6s  max_err=45.87°
[WAIT] t=3.1s  max_err=45.87°
[WAIT] t=3.6s  max_err=45.87°
[WAIT] t=4.2s  max_err=45.87°
[WAIT] t=4.7s  max_err=45.87°
[WAIT] t=5.2s  max_err=45.87°
[WAIT] t=5.7s  max_err=45.87°
[WAIT] t=6.2s  max_err=45.87°
[WAIT] t=6.8s  max_err=45.87°
[WAIT] t=7.3s  max_err=45.87°
[WAIT] t=7.8s  max_err=45.87°
[WAIT] t=8.3s  max_err=45.87°
^C[INTERRUPT] Ctrl+C 検出
[POST] 最終姿勢: [-0.61, 1.49, 1.93, -0.17, 45.87, -30.23]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
^CTraceback (most recent call last):
  File "<string>", line 1, in <module>
  File "/Users/shimazueiichi/r2r2r-scripts/visual_servo_pick.py", line 746, in daemon_set_gripper
    resp = _daemon_request({
           ^^^^^^^^^^^^^^^^^
  File "/Users/shimazueiichi/r2r2r-scripts/visual_servo_pick.py", line 670, in _daemon_request
    chunk = sock.recv(4096)
            ^^^^^^^^^^^^^^^
KeyboardInterrupt

(base) shimazueiichi@shimadzueiichinoMacBook-Pro 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: [-0.61, 1.49, 1.93, -0.17, 45.87, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=2.1s  max_err=44.91°
[WAIT] t=2.6s  max_err=45.00°
[WAIT] t=3.1s  max_err=45.08°
[WAIT] t=3.6s  max_err=45.17°
[WAIT] t=4.1s  max_err=45.26°
[WAIT] t=4.7s  max_err=45.35°
^C[INTERRUPT] Ctrl+C 検出
[POST] 最終姿勢: [0.08, 0.70, 0.52, 0.00, 45.35, -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
(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 --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_183801
[CAMERA] 写り方 dy=-34.0 dx=+12.3 response=0.019 → 測れない (相関が弱く dx/dy が当てにならない (response=0.019 < 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
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261022_183801
[ABORT ] 上カメラの写り方が『測れない』. アームには何も送らずに終了しました.
         相関が弱く dx/dy が当てにならない (response=0.019 < 0.20)
         pi05/camera_align.py で合わせ直す (iPhone を付け直す / 連係カメラを開き直す).
         この写り方のまま続けるなら --ignore-framing
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 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: [-0.26, 0.70, 0.79, 0.35, 45.87, -29.61]
[SEND] HOME へ移動指令
[WAIT] t=2.1s  max_err=45.87°
[WAIT] t=2.6s  max_err=45.87°
[WAIT] t=3.1s  max_err=45.87°
[WAIT] t=3.6s  max_err=45.87°
[WAIT] t=4.2s  max_err=45.87°
[WAIT] t=4.7s  max_err=45.87°
[WAIT] t=5.2s  max_err=45.87°
[WAIT] t=5.7s  max_err=45.87°
[WAIT] t=6.2s  max_err=45.87°
[WAIT] t=6.8s  max_err=45.87°
[WAIT] t=7.3s  max_err=45.87°
[WAIT] t=7.8s  max_err=45.87°
^C[WAIT] t=8.3s  max_err=45.87°
[WAIT] t=8.9s  max_err=45.87°
[WAIT] t=9.4s  max_err=45.87°
[WAIT] t=9.9s  max_err=45.87°
[WAIT] t=10.4s  max_err=45.87°
^C[INTERRUPT] Ctrl+C 検出
[POST] 最終姿勢: [-0.26, 0.70, 0.79, 0.26, 45.87, -29.61]
  [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
^CTraceback (most recent call last):
  File "<string>", line 1, in <module>
  File "/Users/shimazueiichi/r2r2r-scripts/visual_servo_pick.py", line 746, in daemon_set_gripper
    resp = _daemon_request({
           ^^^^^^^^^^^^^^^^^
  File "/Users/shimazueiichi/r2r2r-scripts/visual_servo_pick.py", line 670, in _daemon_request
    chunk = sock.recv(4096)
            ^^^^^^^^^^^^^^^
KeyboardInterrupt

(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % ssh -i ~/.ssh/id_rsa_pi ubuntu@192.168.2.1 "pkill -f '[m]echarm_daemon.py'; sleep 1; pgrep -af '[m]echarm_daemon' || echo 止まっています"
止まっています
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % ssh -i ~/.ssh/id_rsa_pi ubuntu@192.168.2.1 "setsid nohup python3 /home/ubuntu/mecharm_daemon.py </dev/null >>/home/ubuntu/daemon.log 2>&1 &"; sleep 8; ssh -i ~/.ssh/id_rsa_pi ubuntu@192.168.2.1 'tail -3 ~/daemon.log; ss -ltn | grep 5555'
[DAEMON 16:35:15] ✓ MyCobot 初期化完了
[DAEMON 16:35:15] startup_warmup angles=[-0.26, 0.7, 0.79, 0.26, 45.87, -29.7]
[DAEMON 16:35:15] ポート 5555 で待ち受け中...
LISTEN0      1                                 0.0.0.0:5555        0.0.0.0:*    
(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 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: [-0.26, 0.70, 0.79, 0.26, 45.87, -29.70]
[SEND] HOME へ移動指令
[WAIT] t=2.0s  max_err=45.87°
[WAIT] t=2.6s  max_err=45.87°
[WAIT] t=3.1s  max_err=45.87°
[WAIT] t=3.6s  max_err=45.87°
[WAIT] t=4.1s  max_err=45.87°
[WAIT] t=4.7s  max_err=45.87°
[WAIT] t=5.2s  max_err=45.87°
[WAIT] t=5.7s  max_err=45.87°
[WAIT] t=6.2s  max_err=45.87°
[WAIT] t=6.8s  max_err=45.87°
^C[INTERRUPT] Ctrl+C 検出
[POST] 最終姿勢: [-0.26, 0.70, 0.79, 0.26, 45.87, -29.70]
  [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