(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
