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 </dev/null >>/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
