Last login: Thu Oct 29 11:39:05 on ttys007 (base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % cd ~/r2r2r-scripts ssh -i ~/.ssh/id_rsa_pi ubuntu@192.168.2.1 'pgrep -f mecharm_daemon.py >/dev/null && echo デーモン動いてる || (setsid nohup python3 /home/ubuntu/mecharm_daemon.py >/home/ubuntu/daemon.log 2>&1 &); sleep 8; tail -3 ~/daemon.log; ss -ltn | grep 5555' python3 dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py デーモン動いてる [DAEMON 14:37:47] cmd received: get_angles [DAEMON 14:37:47] cmd received: set_fresh_mode [DAEMON 14:37:47] 切断: ('192.168.2.2', 60628) LISTEN 0 1 0.0.0.0:5555 0.0.0.0:* [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: [0.08, 1.23, 0.61, -0.17, -0.26, -29.79] [SEND] HOME へ移動指令 [WAIT] t=2.0s max_err=1.23° [DONE] HOME 到達 max_err=1.23° [POST] 最終姿勢: [0.08, 1.23, 0.61, -0.17, -0.26, -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 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % RAW=/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes 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 --alpha 0.7 [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= +3.2 dx= +19.6 response=0.439 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +4.2 dx= +22.7 response=0.399 → ずれ (|dx|=22.7 > 20) [ALIGN ] dy= +7.3 dx= +19.6 response=0.390 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +9.3 dx= +18.6 response=0.428 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +6.3 dx= +17.5 response=0.424 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +5.2 dx= +16.2 response=0.520 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +7.2 dx= +11.7 response=0.462 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +9.2 dx= +9.5 response=0.468 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +10.2 dx= +7.4 response=0.441 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +12.3 dx= +5.2 response=0.352 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +14.1 dx= +4.1 response=0.344 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +15.3 dx= +8.7 response=0.407 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +18.1 dx= +5.6 response=0.388 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +23.3 dx= +4.5 response=0.301 → ずれ (|dy|=23.3 > 20) [ALIGN ] dy= +28.3 dx= +5.8 response=0.292 → ずれ (|dy|=28.3 > 20) [ALIGN ] dy= +30.3 dx= +6.6 response=0.325 → ずれ (|dy|=30.3 > 20) [ALIGN ] dy= +28.3 dx= +3.4 response=0.262 → ずれ (|dy|=28.3 > 20) [ALIGN ] dy= +23.2 dx= +3.8 response=0.272 → ずれ (|dy|=23.2 > 20) [ALIGN ] dy= +15.3 dx= +7.9 response=0.409 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +9.2 dx= +8.1 response=0.550 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +3.5 dx= +2.4 response=0.443 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -1.9 dx= -2.1 response=0.278 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -6.7 dx= -3.8 response=0.240 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -10.6 dx= -0.7 response=0.232 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -12.3 dx= +6.1 response=0.292 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -10.5 dx= +4.2 response=0.290 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -7.6 dx= +0.2 response=0.267 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -4.8 dx= -1.7 response=0.252 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -3.6 dx= -1.2 response=0.282 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -2.6 dx= -1.0 response=0.335 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -3.7 dx= -2.1 response=0.282 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -2.3 dx= +4.9 response=0.432 → 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 --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_20261029_115543 [CAMERA] 写り方 dy=-19.0 dx=+12.0 response=0.035 → 測れない (相関が弱く dx/dy が当てにならない (response=0.035 < 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_20261029_115543 [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=0.035 < 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 % 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_20261029_115631 [CAMERA] 写り方 dy=-7.0 dx=+4.2 response=0.317 → 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) ^C [STOP ] Ctrl-C ^CTraceback (most recent call last): File "/Users/shimazueiichi/r2r2r-scripts/pi05/run_policy_client.py", line 757, in sys.exit(main()) ^^^^^^ File "/Users/shimazueiichi/r2r2r-scripts/pi05/run_policy_client.py", line 743, in main policy.close() File "/Users/shimazueiichi/r2r2r-scripts/pi05/policy_ws.py", line 65, in close self.ws.close() File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/sync/connection.py", line 593, in close with self.send_context(): ^^^^^^^^^^^^^^^^^^^ File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/contextlib.py", line 144, in __exit__ next(self.gen) File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/sync/connection.py", line 1002, in send_context self.recv_events_thread.join(timeout) File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/threading.py", line 1153, in join self._wait_for_tstate_lock(timeout=max(timeout, 0)) File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/threading.py", line 1169, in _wait_for_tstate_lock if lock.acquire(block, timeout): ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ KeyboardInterrupt (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_20261029_115718 [CAMERA] 写り方 dy=-8.1 dx=+4.9 response=0.199 → 測れない (相関が弱く dx/dy が当てにならない (response=0.199 < 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_20261029_115718 [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=0.199 < 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 % 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_20261029_115733 [CAMERA] 写り方 dy=-8.0 dx=+5.0 response=0.194 → 測れない (相関が弱く dx/dy が当てにならない (response=0.194 < 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_20261029_115733 [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=0.194 < 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 % 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_20261029_115823 [CAMERA] 写り方 dy=-8.1 dx=+4.9 response=0.212 → 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 617ms 10ステップ先 Δ= -9.2 +19.7 +4.3 -2.0 -23.2 +1.3 [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 > [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) [ -1.80, +4.85, +0.65, -0.24, -4.01, -29.72] speed=20 wait=1.0s (pre max|Δ|=3.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.29° (tol 3.0°) [VIA ] step 2 Δ= -1.9 +3.6 +0.0 -0.1 -3.8 +0.1 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -4.76, +11.66, +2.20, -1.00, -12.18, -29.25] speed=20 wait=1.0s (pre max|Δ|=9.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 5 Δ= -2.8 +5.9 +0.7 -1.0 -9.5 +0.5 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -8.07, +18.54, +4.27, -1.97, -20.68, -28.68] speed=20 wait=1.0s (pre max|Δ|=9.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.05° (tol 3.0°) [VIA ] step 8 Δ= -3.4 +5.9 +1.4 -1.9 -9.4 +1.0 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -9.15, +20.96, +4.88, -2.16, -23.42, -28.48] speed=20 wait=1.0s (pre max|Δ|=3.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 9 Δ= -1.5 +1.4 -0.3 -0.8 -3.1 +0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.01°（関節 j1） [001] 推論 1730ms 10ステップ先 Δ=-11.4 +21.6 +5.7 -0.4 -26.6 +0.7 [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) [ -12.66, +27.70, +6.55, -2.70, -30.51, -28.21] speed=20 wait=1.0s (pre max|Δ|=7.22°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 2 Δ= -3.5 +5.7 +1.0 -0.6 -7.2 +0.4 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -16.17, +34.66, +8.60, -2.70, -39.11, -28.13] speed=20 wait=1.0s (pre max|Δ|=8.88°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 5 Δ= -3.8 +5.9 +1.4 -0.3 -8.9 +0.3 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -19.70, +41.80, +10.79, -2.50, -47.58, -28.10] speed=20 wait=1.0s (pre max|Δ|=8.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.09° (tol 3.0°) [VIA ] step 8 Δ= -3.4 +6.0 +1.5 -0.0 -8.8 +0.2 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -20.53, +43.60, +11.24, -2.45, -49.93, -28.07] speed=20 wait=1.0s (pre max|Δ|=2.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 9 Δ= -0.9 +0.7 -0.2 +0.0 -2.7 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.96°（関節 j1） [002] 推論 565ms 10ステップ先 Δ= -6.8 +13.8 +5.0 +0.1 -18.4 +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_chunk002_via02: send_angles (single) [ -23.90, +50.58, +13.19, -2.86, -59.34, -27.99] speed=20 wait=1.0s (pre max|Δ|=9.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 2 Δ= -3.1 +6.0 +1.8 -0.5 -9.3 +0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -26.57, +56.40, +15.26, -2.79, -66.18, -27.98] speed=20 wait=1.0s (pre max|Δ|=7.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.08° (tol 3.0°) [VIA ] step 5 Δ= -2.9 +4.8 +1.6 -0.3 -7.3 +0.2 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -27.55, +58.26, +16.43, -2.36, -68.18, -27.92] speed=20 wait=1.0s (pre max|Δ|=2.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 8 Δ= -1.4 +0.8 +0.8 +0.0 -2.3 +0.3 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -27.67, +58.41, +16.44, -2.29, -68.40, -27.90] speed=20 wait=1.0s (pre max|Δ|=0.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -0.8 -0.1 -0.1 +0.2 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.91°（関節 j1） [003] 推論 761ms 10ステップ先 Δ= +0.1 +3.7 -2.8 -2.7 +3.0 +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 > [SEND] pi05_chunk003_via02: send_angles (single) [ -27.85, +60.49, +17.14, -2.15, -70.09, -27.85] speed=20 wait=1.0s (pre max|Δ|=1.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 2 Δ= +0.0 +1.2 +0.6 +0.0 -1.5 +0.3 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -27.64, +61.07, +16.59, -2.70, -69.50, -27.78] speed=20 wait=1.0s (pre max|Δ|=0.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.90° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -0.4 -0.8 -0.6 +0.9 +0.2 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -27.81, +62.57, +14.29, -4.56, -66.40, -27.70] speed=20 wait=1.0s (pre max|Δ|=4.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.18° (tol 3.0°) [VIA ] step 8 Δ= +0.1 +0.7 -3.1 -2.3 +4.0 +0.3 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -27.78, +62.99, +13.68, -4.94, -65.65, -27.71] speed=20 wait=1.0s (pre max|Δ|=1.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.52° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -0.5 -1.6 -0.8 +1.9 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.52°（関節 j2） [004] 推論 1531ms 7ステップ先 Δ= +0.1 +1.4 -3.8 -2.1 +4.0 +0.3 グリッパー→閉 [VIA ] 中継点 3 点: step 2, 5, 6 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) [ -27.63, +64.91, +11.79, -6.27, -63.18, -27.69] speed=20 wait=1.0s (pre max|Δ|=3.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.77° (tol 3.0°) [VIA ] step 2 Δ= +0.1 +0.9 -3.4 -1.6 +2.9 +0.2 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -27.67, +65.38, +11.37, -6.80, -62.36, -27.69] speed=20 wait=1.0s (pre max|Δ|=1.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.19° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -0.3 -1.2 -0.8 +1.3 +0.3 着いた [SEND] pi05_chunk004_via06: send_angles (single) [ -27.67, +65.38, +11.37, -6.80, -62.36, -27.69] speed=20 wait=1.0s (pre max|Δ|=1.19°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.19° (tol 3.0°) [VIA ] step 6 Δ= +0.3 -0.6 -1.2 -0.4 +1.0 +0.3 着いた [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [STATE ] 目標を渡す 目標と実測の最大差 0.92°（関節 j4） [005] 推論 590ms 10ステップ先 Δ= +0.6 -4.7 +4.7 +2.3 -3.7 +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_chunk005_via02: send_angles (single) [ -27.75, +64.39, +12.75, -5.98, -63.74, -27.58] speed=20 wait=1.0s (pre max|Δ|=1.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.44° (tol 3.0°) [VIA ] step 2 Δ= +0.2 -1.6 +0.9 +0.8 -0.5 +0.2 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -27.74, +63.09, +14.52, -5.20, -65.28, -27.47] speed=20 wait=1.0s (pre max|Δ|=2.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.50° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -2.7 +2.5 +1.5 -2.0 +0.3 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -27.49, +61.69, +16.25, -4.59, -66.74, -27.43] speed=20 wait=1.0s (pre max|Δ|=2.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.94° (tol 3.0°) [VIA ] step 8 Δ= +0.3 -2.9 +2.2 +1.3 -2.6 +0.2 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -27.36, +61.31, +16.52, -4.48, -66.98, -27.45] speed=20 wait=1.0s (pre max|Δ|=2.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.23° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -2.3 +0.6 +0.5 -1.7 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.23°（関節 j1） [006] 推論 601ms 10ステップ先 Δ= +9.9 -5.8 -0.0 +2.9 -1.6 -1.6 [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) [ -27.45, +60.74, +17.64, -3.91, -68.17, -27.44] speed=20 wait=1.0s (pre max|Δ|=2.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.36° (tol 3.0°) [VIA ] step 2 Δ= -0.1 -2.8 +1.3 +0.7 -1.9 -0.4 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -26.93, +60.19, +18.08, -3.49, -69.01, -27.54] speed=20 wait=1.0s (pre max|Δ|=2.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.12° (tol 3.0°) [VIA ] step 5 Δ= +0.5 -2.9 +0.5 +0.1 -1.7 -0.6 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -19.72, +58.32, +16.49, -2.26, -68.03, -28.46] speed=20 wait=1.0s (pre max|Δ|=7.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.41° (tol 3.0°) [VIA ] step 8 Δ= +7.8 -4.0 -1.4 +0.6 -0.0 -1.4 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -17.44, +57.77, +15.97, -1.87, -67.38, -28.72] speed=20 wait=1.0s (pre max|Δ|=2.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.43° (tol 3.0°) [VIA ] step 9 Δ= +2.4 -3.0 -1.8 -0.1 +0.6 -1.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.43°（関節 j1） [007] 推論 607ms 10ステップ先 Δ=+27.0 -9.3 -7.3 +3.8 +6.4 -2.5 [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_chunk007_via02: send_angles (single) [ -9.78, +55.85, +14.67, -0.40, -65.92, -29.65] speed=20 wait=1.0s (pre max|Δ|=7.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.24° (tol 3.0°) [VIA ] step 2 Δ= +7.8 -4.4 -2.5 +1.3 +2.1 -1.4 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ -1.60, +53.84, +12.83, +1.01, -64.39, -30.29] speed=20 wait=1.0s (pre max|Δ|=8.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.49° (tol 3.0°) [VIA ] step 5 Δ= +8.2 -4.3 -3.0 +1.4 +2.7 -1.0 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +6.89, +51.47, +10.58, +1.98, -62.26, -30.60] speed=20 wait=1.0s (pre max|Δ|=8.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.49° (tol 3.0°) [VIA ] step 8 Δ= +8.6 -4.9 -3.5 +0.8 +2.9 -0.6 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +9.47, +50.94, +9.94, +2.13, -61.59, -30.61] speed=20 wait=1.0s (pre max|Δ|=3.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.67° (tol 3.0°) [VIA ] step 9 Δ= +2.7 -3.0 -1.9 +0.0 +1.2 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.67°（関節 j1） [008] 推論 603ms 10ステップ先 Δ=+26.4 -7.9 -8.5 +0.4 +6.7 -0.6 [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_chunk008_via02: send_angles (single) [ +16.83, +48.87, +7.93, +2.39, -59.50, -30.71] speed=20 wait=1.0s (pre max|Δ|=7.52°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.45° (tol 3.0°) [VIA ] step 2 Δ= +7.5 -4.7 -3.8 -0.1 +2.4 -0.4 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +25.60, +46.78, +5.62, +2.62, -56.92, -30.80] speed=20 wait=1.0s (pre max|Δ|=8.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.52° (tol 3.0°) [VIA ] step 5 Δ= +9.0 -4.5 -3.6 +0.1 +2.9 -0.4 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +34.33, +45.53, +3.59, +2.88, -55.19, -30.89] speed=20 wait=1.0s (pre max|Δ|=8.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.37° (tol 3.0°) [VIA ] step 8 Δ= +8.9 -3.8 -3.3 +0.1 +2.0 -0.4 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +35.71, +45.71, +3.26, +2.96, -55.17, -30.93] speed=20 wait=1.0s (pre max|Δ|=2.19°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.19° (tol 3.0°) [VIA ] step 9 Δ= +1.3 -2.2 -1.8 -0.1 +0.2 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.19°（関節 j1） [009] 推論 1526ms 10ステップ先 Δ= +3.9 +10.9 -3.7 +0.6 -9.3 -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_chunk009_via02: send_angles (single) [ +40.48, +47.46, +1.95, +3.04, -54.53, -31.04] speed=20 wait=1.0s (pre max|Δ|=4.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 2 Δ= +4.4 -0.4 -3.1 -0.0 +0.8 -0.5 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +40.37, +52.80, +1.89, +3.26, -59.16, -31.00] speed=20 wait=1.0s (pre max|Δ|=4.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.60° (tol 3.0°) [VIA ] step 5 Δ= -0.3 +4.3 -1.5 -0.1 -4.3 -0.2 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +40.11, +57.64, +1.58, +3.56, -63.52, -30.99] speed=20 wait=1.0s (pre max|Δ|=5.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.84° (tol 3.0°) [VIA ] step 8 Δ= -0.6 +3.6 -1.8 +0.2 -6.0 -0.2 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +39.93, +58.82, +1.43, +3.68, -64.65, -31.00] speed=20 wait=1.0s (pre max|Δ|=2.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.90° (tol 3.0°) [VIA ] step 9 Δ= -0.8 +0.0 -2.0 +0.4 -2.3 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.90°（関節 j2） [010] 推論 552ms 6ステップ先 Δ= -0.0 +2.5 -2.0 +0.4 -3.3 -0.2 グリッパー→開 [VIA ] 中継点 2 点: step 2, 5 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk010_via02: send_angles (single) [ +40.05, +62.42, +1.41, +3.90, -67.39, -31.00] speed=20 wait=1.0s (pre max|Δ|=2.88°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.92° (tol 3.0°) [VIA ] step 2 Δ= +0.1 +2.5 -1.9 +0.3 -2.9 -0.2 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +39.87, +62.39, +1.38, +4.00, -67.80, -31.00] speed=20 wait=1.0s (pre max|Δ|=1.95°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.95° (tol 3.0°) [VIA ] step 5 Δ= -0.0 -1.2 -2.0 +0.5 -0.7 +0.3 着いた [Pi] GRIPPER: OPEN result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.95°（関節 j2） [011] 推論 611ms 10ステップ先 Δ= -0.1 -18.2 -1.8 +0.1 +17.1 -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_chunk011_via02: send_angles (single) [ +39.88, +58.00, +1.41, +3.96, -63.94, -31.19] speed=20 wait=1.0s (pre max|Δ|=5.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.20° (tol 3.0°) [VIA ] step 2 Δ= -0.1 -5.6 -1.9 +0.2 +5.1 +0.1 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +40.29, +52.92, +1.35, +3.93, -59.18, -31.44] speed=20 wait=1.0s (pre max|Δ|=7.28°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.01° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -7.3 -2.0 +0.2 +5.6 -0.2 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +40.30, +47.34, +1.49, +3.95, -53.90, -31.73] speed=20 wait=1.0s (pre max|Δ|=7.59°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.23° (tol 3.0°) [VIA ] step 8 Δ= +0.1 -7.6 -1.8 +0.2 +5.9 -0.4 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +39.85, +45.38, +1.49, +3.89, -51.95, -31.80] speed=20 wait=1.0s (pre max|Δ|=4.19°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.25° (tol 3.0°) [VIA ] step 9 Δ= -0.4 -4.2 -1.8 +0.1 +2.4 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.25°（関節 j1） [012] 推論 1727ms 10ステップ先 Δ=-20.9 -26.6 -2.4 -3.0 +28.5 -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_chunk012_via02: send_angles (single) [ +35.17, +38.74, +1.31, +3.12, -44.05, -31.71] speed=20 wait=1.0s (pre max|Δ|=8.89°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.12° (tol 3.0°) [VIA ] step 2 Δ= -5.2 -8.9 -2.0 -0.7 +8.0 -0.3 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +28.72, +31.29, +1.09, +2.09, -35.31, -31.52] speed=20 wait=1.0s (pre max|Δ|=9.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.02° (tol 3.0°) [VIA ] step 5 Δ= -6.7 -9.6 -2.2 -1.9 +9.1 -0.2 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +21.70, +23.14, +0.92, +1.08, -25.74, -31.34] speed=20 wait=1.0s (pre max|Δ|=10.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.90° (tol 3.0°) [VIA ] step 8 Δ= -7.1 -10.2 -1.8 -1.6 +9.9 +0.0 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +19.40, +21.00, +0.89, +0.86, -23.55, -31.31] speed=20 wait=1.0s (pre max|Δ|=4.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.85° (tol 3.0°) [VIA ] step 9 Δ= -2.7 -4.0 -1.8 -0.6 +2.4 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.85°（関節 j1） [013] 推論 554ms 10ステップ先 Δ=-16.5 -19.7 -1.4 -0.1 +19.8 +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_chunk013_via02: send_angles (single) [ +13.01, +13.11, +1.06, +0.50, -14.79, -31.14] speed=20 wait=1.0s (pre max|Δ|=9.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 3.0°) [VIA ] step 2 Δ= -6.2 -9.7 -1.7 -0.0 +8.9 +0.2 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +6.02, +5.66, +1.22, +0.46, -6.37, -31.07] speed=20 wait=1.0s (pre max|Δ|=9.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.50° (tol 3.0°) [VIA ] step 5 Δ= -7.3 -9.1 -1.5 -0.4 +8.7 +0.3 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +2.77, +3.27, +1.22, +0.47, -4.07, -31.07] speed=20 wait=1.0s (pre max|Δ|=3.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.50° (tol 3.0°) [VIA ] step 8 Δ= -3.6 -3.8 -1.5 +0.1 +2.5 +0.2 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +2.69, +3.20, +1.30, +0.46, -3.92, -31.06] speed=20 wait=1.0s (pre max|Δ|=1.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.42° (tol 3.0°) [VIA ] step 9 Δ= -0.0 -1.4 -1.4 +0.1 +0.5 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.42°（関節 j2） [014] 推論 554ms 10ステップ先 Δ= -1.0 -1.9 -1.5 +0.0 +0.6 +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_chunk014_via02: send_angles (single) [ +1.49, +2.93, +1.29, +0.44, -3.76, -31.00] speed=20 wait=1.0s (pre max|Δ|=1.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.64° (tol 3.0°) [VIA ] step 2 Δ= -1.2 -1.6 -1.4 +0.1 +0.5 +0.3 着いた [SEND] pi05_chunk014_via05: send_angles (single) [ +1.48, +2.82, +1.27, +0.44, -3.66, -30.99] speed=20 wait=1.0s (pre max|Δ|=1.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.57° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -1.8 -1.5 +0.1 +0.2 +0.3 着いた [SEND] pi05_chunk014_via08: send_angles (single) [ +1.59, +2.63, +1.22, +0.41, -3.64, -30.98] speed=20 wait=1.0s (pre max|Δ|=1.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.50° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -1.8 -1.5 +0.1 +0.2 +0.3 着いた [SEND] pi05_chunk014_via09: send_angles (single) [ +1.70, +2.63, +1.20, +0.39, -3.58, -30.98] speed=20 wait=1.0s (pre max|Δ|=1.52°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.52° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -1.5 -1.5 +0.0 +0.3 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.52°（関節 j2） [015] 推論 632ms 10ステップ先 Δ= +0.5 -1.2 -1.4 +0.1 -0.2 +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 > 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|=4.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.75° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_115823 (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_20261029_120216 [CAMERA] 写り方 dy=-8.2 dx=+3.3 response=0.176 → 測れない (相関が弱く dx/dy が当てにならない (response=0.176 < 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_20261029_120216 [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=0.176 < 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 % 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_20261029_120221 [CAMERA] 写り方 dy=-19.9 dx=+10.4 response=0.094 → 測れない (相関が弱く dx/dy が当てにならない (response=0.094 < 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_20261029_120221 [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=0.094 < 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 % 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_20261029_120236 [CAMERA] 写り方 dy=-8.3 dx=+3.4 response=0.178 → 測れない (相関が弱く dx/dy が当てにならない (response=0.178 < 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_20261029_120236 [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=0.178 < 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 % (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_20261029_120242 [CAMERA] 写り方 dy=-8.4 dx=+3.4 response=0.173 → 測れない (相関が弱く dx/dy が当てにならない (response=0.173 < 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_20261029_120242 [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=0.173 < 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 % 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_20261029_120254 [CAMERA] 写り方 dy=-8.4 dx=+3.4 response=0.175 → 測れない (相関が弱く dx/dy が当てにならない (response=0.175 < 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_20261029_120254 [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=0.175 < 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 % 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_20261029_120304 [CAMERA] 写り方 dy=-8.3 dx=+3.5 response=0.177 → 測れない (相関が弱く dx/dy が当てにならない (response=0.177 < 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_20261029_120304 [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=0.177 < 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 % 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 --alpha 0.7 python3 pi05/run_policy_client.py --raw-dir $RAW --steps-per-chunk 10 --via-stride 3 --settle-retries 0 --state-from-target --execute [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= -2.6 dx= +0.8 response=0.396 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) q ^C [STOP ] Ctrl-C [DONE ] 終了 (何も書いていません) [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_20261029_120455 [CAMERA] 写り方 dy=-8.6 dx=+3.0 response=0.177 → 測れない (相関が弱く dx/dy が当てにならない (response=0.177 < 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_20261029_120455 [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=0.177 < 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 % 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 --alpha 0.7 python3 pi05/run_policy_client.py --raw-dir $RAW --steps-per-chunk 10 --via-stride 3 --settle-retries 0 --state-from-target --execute [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= -1.8 dx= +2.3 response=0.462 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) ^C [STOP ] Ctrl-C [DONE ] 終了 (何も書いていません) [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_20261029_120557 [CAMERA] 写り方 dy=-85.4 dx=+60.5 response=0.003 → 測れない (相関が弱く dx/dy が当てにならない (response=0.003 < 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_20261029_120557 [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=0.003 < 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 % 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_20261029_120615 [CAMERA] 写り方 dy=-8.3 dx=+3.3 response=0.184 → 測れない (相関が弱く dx/dy が当てにならない (response=0.184 < 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_20261029_120615 [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=0.184 < 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 % python3 pi05/run_policy_client.py --raw-dir $RAW --steps-per-chunk 10 --via-stride 3 --settle-retries 0 --state-from-target --execute --ignore-framing [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_20261029_120644 [CAMERA] 写り方 dy=-8.5 dx=+3.2 response=0.183 → 測れない (相関が弱く dx/dy が当てにならない (response=0.183 < 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 [WARN ] 写り方が『測れない』だが --ignore-framing が指定されたので続けます [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 1104ms 10ステップ先 Δ= -9.4 +20.0 +5.5 -2.9 -24.0 +2.5 [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 > [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) [ -2.39, +5.85, +2.81, -0.37, -5.35, -29.63] speed=20 wait=1.0s (pre max|Δ|=5.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.05° (tol 3.0°) [VIA ] step 2 Δ= -2.1 +4.4 +1.1 -0.6 -5.3 +0.6 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -5.47, +12.72, +4.82, -1.43, -13.59, -28.80] speed=20 wait=1.0s (pre max|Δ|=9.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 5 Δ= -2.8 +6.1 +1.1 -1.4 -9.3 +0.7 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -8.63, +19.32, +6.70, -2.42, -21.54, -27.93] speed=20 wait=1.0s (pre max|Δ|=9.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.07° (tol 3.0°) [VIA ] step 8 Δ= -3.0 +5.6 +1.2 -1.3 -9.1 +1.0 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -9.67, +21.48, +7.25, -2.68, -24.07, -27.69] speed=20 wait=1.0s (pre max|Δ|=2.89°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 9 Δ= -1.1 +1.1 -0.2 -0.1 -2.9 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.93°（関節 j1） [001] 推論 637ms 10ステップ先 Δ=-12.5 +22.7 +6.1 +0.2 -30.0 +0.7 [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) [ -13.84, +28.39, +9.24, -3.36, -32.28, -27.42] speed=20 wait=1.0s (pre max|Δ|=8.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.14° (tol 3.0°) [VIA ] step 2 Δ= -4.3 +6.0 +1.2 -0.5 -8.3 +0.5 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -17.49, +35.49, +11.51, -3.16, -41.68, -27.33] speed=20 wait=1.0s (pre max|Δ|=9.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 5 Δ= -3.4 +6.0 +1.4 +0.3 -9.7 +0.3 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -21.09, +43.05, +13.65, -2.83, -51.42, -27.25] speed=20 wait=1.0s (pre max|Δ|=10.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.07° (tol 3.0°) [VIA ] step 8 Δ= -4.0 +6.6 +1.5 +0.9 -10.1 +0.2 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -22.05, +45.09, +14.17, -2.73, -54.03, -27.22] speed=20 wait=1.0s (pre max|Δ|=2.88°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 9 Δ= -1.5 +1.0 -0.1 +0.5 -2.9 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.96°（関節 j1） [002] 推論 549ms 10ステップ先 Δ= -6.3 +12.4 +3.9 +0.5 -14.9 +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_chunk002_via02: send_angles (single) [ -25.16, +52.24, +16.11, -3.19, -63.09, -27.20] speed=20 wait=1.0s (pre max|Δ|=8.87°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 2 Δ= -3.3 +6.2 +1.4 -0.3 -8.9 +0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -27.42, +56.74, +17.75, -2.95, -68.14, -27.19] speed=20 wait=1.0s (pre max|Δ|=5.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 5 Δ= -2.7 +3.5 +1.1 -0.3 -5.5 +0.2 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -28.40, +58.49, +18.65, -2.46, -69.32, -27.15] speed=20 wait=1.0s (pre max|Δ|=1.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 8 Δ= -1.2 +0.8 +0.5 +0.1 -1.3 +0.2 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -28.20, +58.49, +18.52, -2.40, -69.13, -27.16] speed=20 wait=1.0s (pre max|Δ|=0.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -0.9 -0.1 +0.1 +0.0 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.92°（関節 j1） [003] 推論 555ms 10ステップ先 Δ= -0.2 +2.6 -3.1 -2.6 +3.3 +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_chunk003_via02: send_angles (single) [ -28.16, +59.50, +18.72, -2.47, -69.83, -27.15] speed=20 wait=1.0s (pre max|Δ|=0.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 2 Δ= -0.2 +0.1 +0.1 -0.1 -0.7 +0.2 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -27.88, +60.33, +17.87, -3.31, -69.11, -27.10] speed=20 wait=1.0s (pre max|Δ|=0.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -0.1 -0.8 -0.9 +0.4 +0.2 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -28.03, +61.47, +16.13, -4.62, -66.58, -27.12] speed=20 wait=1.0s (pre max|Δ|=3.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.35° (tol 3.0°) [VIA ] step 8 Δ= -0.0 +0.1 -2.5 -1.7 +3.0 +0.2 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -28.12, +62.00, +15.48, -4.96, -65.82, -27.13] speed=20 wait=1.0s (pre max|Δ|=2.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -0.4 -1.8 -0.8 +2.1 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.39°（関節 j2） [004] 推論 1559ms 7ステップ先 Δ= +0.3 +0.9 -3.6 -2.2 +4.0 +0.2 グリッパー→閉 [VIA ] 中継点 3 点: step 2, 5, 6 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) [ -27.94, +63.50, +13.84, -6.24, -63.47, -27.10] speed=20 wait=1.0s (pre max|Δ|=3.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 2 Δ= +0.2 +0.5 -3.0 -1.6 +2.9 +0.2 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -27.83, +63.87, +13.23, -6.83, -62.57, -27.14] speed=20 wait=1.0s (pre max|Δ|=1.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.27° (tol 3.0°) [VIA ] step 5 Δ= +0.6 -0.6 -1.4 -0.8 +1.4 +0.2 着いた [SEND] pi05_chunk004_via06: send_angles (single) [ -27.83, +63.87, +13.23, -6.83, -62.57, -27.14] speed=20 wait=1.0s (pre max|Δ|=1.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.27° (tol 3.0°) [VIA ] step 6 Δ= +0.4 -0.7 -1.3 -0.4 +0.8 +0.3 着いた [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.06°（関節 j4） [005] 推論 616ms 10ステップ先 Δ= +0.1 -3.8 +4.5 +1.9 -4.2 +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_chunk005_via02: send_angles (single) [ -27.93, +63.02, +14.58, -6.08, -63.98, -27.16] speed=20 wait=1.0s (pre max|Δ|=1.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.57° (tol 3.0°) [VIA ] step 2 Δ= +0.3 -1.6 +0.7 +0.5 -0.4 +0.3 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -27.88, +62.03, +16.28, -5.34, -65.66, -27.08] speed=20 wait=1.0s (pre max|Δ|=2.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.60° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -2.6 +2.3 +1.2 -2.0 +0.3 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -27.91, +61.01, +18.06, -4.78, -67.42, -27.08] speed=20 wait=1.0s (pre max|Δ|=3.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.83° (tol 3.0°) [VIA ] step 8 Δ= +0.1 -2.6 +2.4 +1.3 -3.1 -0.5 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -28.08, +60.75, +18.39, -4.64, -67.79, -27.10] speed=20 wait=1.0s (pre max|Δ|=2.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.00° (tol 3.0°) [VIA ] step 9 Δ= -0.5 -2.1 +0.8 +0.6 -1.9 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.00°（関節 j1） [006] 推論 621ms 10ステップ先 Δ= +2.7 -3.3 +0.9 +1.3 -3.3 -0.9 [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) [ -28.17, +60.05, +19.58, -4.11, -69.11, -27.11] speed=20 wait=1.0s (pre max|Δ|=2.70°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.17° (tol 3.0°) [VIA ] step 2 Δ= -0.7 -2.7 +1.4 +0.7 -2.0 -0.5 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -28.55, +59.93, +19.93, -4.10, -69.81, -27.04] speed=20 wait=1.0s (pre max|Δ|=2.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.29° (tol 3.0°) [VIA ] step 5 Δ= -0.7 -2.3 +0.4 +0.1 -1.8 -0.4 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -26.95, +59.88, +19.15, -3.95, -69.92, -27.24] speed=20 wait=1.0s (pre max|Δ|=2.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 8 Δ= +1.7 -2.3 -0.4 -0.4 -0.5 -0.6 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -24.80, +59.48, +18.53, -3.65, -69.65, -27.50] speed=20 wait=1.0s (pre max|Δ|=2.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.57° (tol 3.0°) [VIA ] step 9 Δ= +2.1 -2.7 -1.1 -0.6 -0.2 -0.9 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.57°（関節 j1） [007] 推論 626ms 10ステップ先 Δ=+28.9 -8.6 -7.2 +4.9 +5.9 -3.5 [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_chunk007_via02: send_angles (single) [ -16.12, +57.38, +16.45, -2.08, -67.59, -28.39] speed=20 wait=1.0s (pre max|Δ|=9.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.47° (tol 3.0°) [VIA ] step 2 Δ= +9.1 -4.7 -3.0 +1.4 +1.8 -1.3 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ -7.54, +55.61, +14.53, -0.49, -65.94, -29.30] speed=20 wait=1.0s (pre max|Δ|=8.89°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.30° (tol 3.0°) [VIA ] step 5 Δ= +8.9 -4.2 -3.2 +1.5 +3.5 -1.3 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +0.96, +53.87, +12.82, +0.99, -64.30, -30.16] speed=20 wait=1.0s (pre max|Δ|=8.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.64° (tol 3.0°) [VIA ] step 8 Δ= +8.6 -4.0 -3.0 +1.6 +2.7 -1.2 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +3.69, +53.41, +12.26, +1.35, -63.53, -30.34] speed=20 wait=1.0s (pre max|Δ|=3.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.22° (tol 3.0°) [VIA ] step 9 Δ= +3.1 -3.1 -1.8 +0.5 +1.3 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.22°（関節 j1） [008] 推論 1513ms 10ステップ先 Δ=+28.0 -9.6 -9.4 +1.2 +8.4 -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_chunk008_via02: send_angles (single) [ +11.94, +51.02, +10.08, +2.01, -61.25, -30.43] speed=20 wait=1.0s (pre max|Δ|=8.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.59° (tol 3.0°) [VIA ] step 2 Δ= +8.3 -4.6 -4.0 +0.4 +2.6 -0.4 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +20.37, +48.55, +7.85, +2.44, -58.74, -30.46] speed=20 wait=1.0s (pre max|Δ|=8.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.33° (tol 3.0°) [VIA ] step 5 Δ= +8.6 -5.1 -3.7 +0.3 +2.8 -0.3 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +29.36, +46.43, +5.33, +2.74, -56.04, -30.52] speed=20 wait=1.0s (pre max|Δ|=9.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 8 Δ= +9.1 -4.4 -3.9 +0.2 +3.1 -0.4 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +31.61, +46.01, +4.68, +2.80, -55.53, -30.56] speed=20 wait=1.0s (pre max|Δ|=2.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.68° (tol 3.0°) [VIA ] step 9 Δ= +2.3 -2.8 -2.2 -0.1 +0.9 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.68°（関節 j1） [009] 推論 557ms 10ステップ先 Δ= +8.2 +7.0 -5.8 +1.0 -3.9 -0.7 [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_chunk009_via02: send_angles (single) [ +39.12, +46.00, +1.62, +2.98, -52.82, -30.75] speed=20 wait=1.0s (pre max|Δ|=7.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.69° (tol 3.0°) [VIA ] step 2 Δ= +7.5 -2.7 -4.7 +0.2 +2.3 -0.5 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +40.43, +49.44, +0.87, +3.19, -53.72, -30.89] speed=20 wait=1.0s (pre max|Δ|=2.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.67° (tol 3.0°) [VIA ] step 5 Δ= +1.2 +0.7 -2.2 +0.1 -0.6 -0.5 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +40.25, +54.59, +0.69, +3.72, -58.08, -30.90] speed=20 wait=1.0s (pre max|Δ|=5.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.85° (tol 3.0°) [VIA ] step 8 Δ= -0.7 +3.9 -1.9 +0.7 -5.0 -0.3 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +39.86, +55.67, +0.54, +3.84, -59.03, -30.93] speed=20 wait=1.0s (pre max|Δ|=2.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.48° (tol 3.0°) [VIA ] step 9 Δ= -0.3 -0.2 -2.0 +0.5 -1.6 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.48°（関節 j2） [010] 推論 556ms 8ステップ先 Δ= -0.4 +6.0 -1.4 +0.9 -7.3 -0.4 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 > [SEND] pi05_chunk010_via02: send_angles (single) [ +40.00, +61.00, +0.46, +4.13, -63.28, -30.90] speed=20 wait=1.0s (pre max|Δ|=4.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.56° (tol 3.0°) [VIA ] step 2 Δ= -0.2 +4.3 -1.6 +0.6 -4.7 -0.3 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +39.84, +63.02, +0.56, +4.40, -65.45, -30.94] speed=20 wait=1.0s (pre max|Δ|=2.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 5 Δ= -0.4 +0.8 -1.5 +0.5 -2.6 -0.4 着いた [SEND] pi05_chunk010_via07: send_angles (single) [ +39.72, +62.68, +0.63, +4.44, -65.80, -30.94] speed=20 wait=1.0s (pre max|Δ|=1.39°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.39° (tol 3.0°) [VIA ] step 7 Δ= -0.5 -1.4 -1.4 +0.2 -0.2 +0.3 着いた [Pi] GRIPPER: OPEN result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.39°（関節 j2） [011] 推論 631ms 10ステップ先 Δ= -0.3 -18.1 -0.8 +0.1 +16.0 -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_chunk011_via02: send_angles (single) [ +39.70, +58.20, +0.70, +4.39, -61.67, -31.11] speed=20 wait=1.0s (pre max|Δ|=5.87°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.18° (tol 3.0°) [VIA ] step 2 Δ= -0.6 -5.9 -1.3 +0.2 +3.9 +0.1 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +40.50, +52.94, +0.74, +4.34, -56.36, -31.41] speed=20 wait=1.0s (pre max|Δ|=7.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.07° (tol 3.0°) [VIA ] step 5 Δ= +0.8 -7.4 -1.3 +0.0 +6.7 -0.2 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +40.57, +47.68, +1.00, +4.33, -51.29, -31.66] speed=20 wait=1.0s (pre max|Δ|=7.33°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.15° (tol 3.0°) [VIA ] step 8 Δ= -0.1 -7.3 -1.0 -0.2 +5.9 -0.5 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +40.02, +45.98, +1.18, +4.29, -49.56, -31.74] speed=20 wait=1.0s (pre max|Δ|=3.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.35° (tol 3.0°) [VIA ] step 9 Δ= -0.7 -3.8 -0.8 -0.3 +2.3 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.35°（関節 j1） [012] 推論 1454ms 10ステップ先 Δ=-20.6 -27.0 -1.5 -3.3 +28.2 +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_chunk012_via02: send_angles (single) [ +35.16, +39.12, +1.07, +3.41, -41.68, -31.63] speed=20 wait=1.0s (pre max|Δ|=9.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.27° (tol 3.0°) [VIA ] step 2 Δ= -5.5 -9.2 -1.0 -1.2 +8.1 -0.2 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +28.95, +31.26, +0.91, +2.40, -32.86, -31.45] speed=20 wait=1.0s (pre max|Δ|=10.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.05° (tol 3.0°) [VIA ] step 5 Δ= -6.5 -10.1 -1.1 -1.8 +9.2 +0.0 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +22.52, +23.53, +0.71, +1.45, -24.09, -31.29] speed=20 wait=1.0s (pre max|Δ|=9.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.95° (tol 3.0°) [VIA ] step 8 Δ= -6.6 -9.8 -1.3 -1.5 +9.1 +0.3 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +20.14, +21.28, +0.55, +1.23, -21.55, -31.28] speed=20 wait=1.0s (pre max|Δ|=4.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.01° (tol 3.0°) [VIA ] step 9 Δ= -3.0 -4.2 -1.5 -0.6 +2.9 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.01°（関節 j1） [013] 推論 554ms 10ステップ先 Δ=-16.7 -20.0 -1.0 -0.3 +18.9 +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_chunk013_via02: send_angles (single) [ +13.24, +12.93, +0.75, +0.75, -12.44, -31.10] speed=20 wait=1.0s (pre max|Δ|=10.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 2 Δ= -6.8 -10.4 -1.3 -0.3 +9.4 +0.5 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +6.71, +5.77, +0.96, +0.77, -4.93, -31.04] speed=20 wait=1.0s (pre max|Δ|=8.81°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.43° (tol 3.0°) [VIA ] step 5 Δ= -6.5 -8.8 -1.1 -0.3 +7.8 +0.4 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +3.34, +3.16, +0.97, +0.74, -2.54, -31.02] speed=20 wait=1.0s (pre max|Δ|=4.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.32° (tol 3.0°) [VIA ] step 8 Δ= -3.7 -4.0 -1.1 -0.0 +2.6 +0.4 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +3.31, +3.33, +0.98, +0.76, -2.85, -31.02] speed=20 wait=1.0s (pre max|Δ|=1.15°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.15° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -1.1 -1.0 +0.1 -0.0 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.15°（関節 j1） [014] 推論 544ms 10ステップ先 Δ= -1.5 -1.9 -1.0 +0.0 +0.3 +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_chunk014_via02: send_angles (single) [ +1.90, +2.86, +0.99, +0.77, -2.66, -30.99] speed=20 wait=1.0s (pre max|Δ|=1.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.62° (tol 3.0°) [VIA ] step 2 Δ= -1.4 -1.6 -1.0 +0.1 +0.2 +0.4 着いた [SEND] pi05_chunk014_via05: send_angles (single) [ +1.88, +2.71, +1.03, +0.74, -2.46, -31.00] speed=20 wait=1.0s (pre max|Δ|=1.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.68° (tol 3.0°) [VIA ] step 5 Δ= -0.1 -1.8 -1.0 +0.0 +0.3 +0.3 着いた [SEND] pi05_chunk014_via08: send_angles (single) [ +1.80, +2.57, +1.08, +0.73, -2.51, -30.98] speed=20 wait=1.0s (pre max|Δ|=1.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.56° (tol 3.0°) [VIA ] step 8 Δ= -0.1 -1.8 -0.9 +0.0 +0.3 +0.3 着いた [SEND] pi05_chunk014_via09: send_angles (single) [ +1.78, +2.54, +1.06, +0.74, -2.47, -30.98] speed=20 wait=1.0s (pre max|Δ|=1.59°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.59° (tol 3.0°) [VIA ] step 9 Δ= -0.2 -1.6 -1.0 +0.0 +0.3 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.59°（関節 j1） [015] 推論 1447ms 10ステップ先 Δ= -0.8 -1.7 -1.1 -0.0 +0.4 +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_chunk015_via02: send_angles (single) [ +1.01, +2.51, +0.98, +0.72, -2.39, -30.97] speed=20 wait=1.0s (pre max|Δ|=1.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.62° (tol 3.0°) [VIA ] step 2 Δ= -0.9 -1.6 -1.0 +0.0 +0.4 +0.2 着いた [SEND] pi05_chunk015_via05: send_angles (single) [ +0.92, +2.39, +0.99, +0.73, -2.46, -30.96] speed=20 wait=1.0s (pre max|Δ|=1.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 5 Δ= +0.1 -1.7 -1.0 +0.0 +0.3 +0.2 着いた [SEND] pi05_chunk015_via08: send_angles (single) [ +0.96, +2.33, +0.96, +0.69, -2.30, -30.97] speed=20 wait=1.0s (pre max|Δ|=1.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.71° (tol 3.0°) [VIA ] step 8 Δ= +0.2 -1.7 -1.1 -0.0 +0.4 +0.2 着いた [SEND] pi05_chunk015_via09: send_angles (single) [ +1.09, +2.39, +0.92, +0.69, -2.44, -30.96] speed=20 wait=1.0s (pre max|Δ|=1.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -1.7 -1.1 -0.0 +0.1 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.65°（関節 j1） [016] 推論 554ms 10ステップ先 Δ= -0.6 -1.7 -1.1 -0.1 -0.5 +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 > 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|=4.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_120644 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 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 --alpha 0.7 [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= -2.7 dx= +0.7 response=0.374 → 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 --state-from-target --execute --ignore-framing [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_20261029_121202 [CAMERA] 写り方 dy=-18.5 dx=+11.2 response=0.049 → 測れない (相関が弱く dx/dy が当てにならない (response=0.049 < 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 [WARN ] 写り方が『測れない』だが --ignore-framing が指定されたので続けます [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 555ms 10ステップ先 Δ= -9.5 +18.2 +5.2 -2.6 -21.8 +2.0 [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 > [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) [ -2.59, +5.48, +2.89, -0.45, -4.91, -29.81] speed=20 wait=1.0s (pre max|Δ|=5.08°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 2 Δ= -2.2 +4.2 +1.0 -0.7 -5.1 +0.4 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -5.52, +11.56, +4.60, -1.28, -12.12, -29.13] speed=20 wait=1.0s (pre max|Δ|=7.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.09° (tol 3.0°) [VIA ] step 5 Δ= -2.5 +5.2 +0.8 -1.1 -7.9 +0.9 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -8.83, +17.76, +6.60, -2.13, -19.85, -28.37] speed=20 wait=1.0s (pre max|Δ|=8.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 8 Δ= -3.0 +5.1 +1.2 -1.1 -8.7 +0.9 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -9.83, +19.56, +7.10, -2.32, -21.60, -28.22] speed=20 wait=1.0s (pre max|Δ|=2.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 9 Δ= -0.9 +0.8 -0.3 -0.0 -2.3 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.91°（関節 j1） [001] 推論 887ms 10ステップ先 Δ=-11.6 +22.1 +6.1 -0.3 -28.6 +0.8 [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) [ -13.32, +26.46, +8.97, -3.03, -29.67, -27.80] speed=20 wait=1.0s (pre max|Δ|=7.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.13° (tol 3.0°) [VIA ] step 2 Δ= -3.3 +6.0 +1.2 -0.4 -7.6 +0.6 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -17.07, +33.45, +11.21, -3.07, -38.51, -27.67] speed=20 wait=1.0s (pre max|Δ|=9.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 5 Δ= -4.1 +5.9 +1.6 -0.0 -9.3 +0.4 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -20.40, +40.30, +13.35, -3.00, -47.75, -27.61] speed=20 wait=1.0s (pre max|Δ|=9.52°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 8 Δ= -3.1 +5.9 +1.4 +0.2 -9.5 +0.2 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -21.58, +42.60, +13.90, -2.95, -50.69, -27.58] speed=20 wait=1.0s (pre max|Δ|=3.59°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 9 Δ= -1.4 +1.4 +0.0 +0.2 -3.6 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.99°（関節 j1） [002] 推論 2344ms 10ステップ先 Δ= -6.5 +12.6 +5.1 +0.7 -15.6 +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_chunk002_via02: send_angles (single) [ -24.93, +49.15, +15.75, -3.39, -59.37, -27.53] speed=20 wait=1.0s (pre max|Δ|=8.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 2 Δ= -3.1 +5.6 +1.9 -0.2 -8.5 +0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -27.43, +54.43, +17.69, -3.23, -64.94, -27.51] speed=20 wait=1.0s (pre max|Δ|=6.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 5 Δ= -2.6 +4.3 +1.4 -0.2 -6.1 +0.3 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -28.41, +56.10, +18.90, -2.62, -66.47, -27.44] speed=20 wait=1.0s (pre max|Δ|=1.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 8 Δ= -1.2 +0.6 +0.7 +0.3 -1.3 +0.2 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -28.37, +56.16, +18.95, -2.56, -66.46, -27.42] speed=20 wait=1.0s (pre max|Δ|=0.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -1.0 -0.0 +0.1 +0.4 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.96°（関節 j1） [003] 推論 1556ms 10ステップ先 Δ= +0.1 +2.5 -1.3 -1.2 +0.2 +0.2 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) [ -28.99, +57.55, +19.55, -2.36, -67.87, -27.41] speed=20 wait=1.0s (pre max|Δ|=0.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.89° (tol 3.0°) [VIA ] step 2 Δ= -0.2 +0.4 +0.6 +0.3 -1.0 +0.2 着いた [VIA ] step 5 Δ= +0.0 -0.0 -0.3 -0.0 -0.1 +0.2 送らず (0.5° 以下) [SEND] pi05_chunk003_via08: send_angles (single) [ -28.70, +59.59, +17.73, -3.87, -66.66, -27.36] speed=20 wait=1.0s (pre max|Δ|=1.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.34° (tol 3.0°) [VIA ] step 8 Δ= +0.1 +1.2 -1.7 -1.2 +1.1 +0.2 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -28.70, +59.59, +17.73, -3.87, -66.66, -27.36] speed=20 wait=1.0s (pre max|Δ|=1.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.34° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -1.1 -1.3 -0.5 +1.1 +0.2 着いた [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.34°（関節 j2） [004] 推論 915ms 10ステップ先 Δ= +4.4 -2.3 -1.6 +1.0 -0.8 -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_chunk004_via02: send_angles (single) [ -28.80, +59.35, +18.36, -3.53, -67.58, -27.39] speed=20 wait=1.0s (pre max|Δ|=1.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.38° (tol 3.0°) [VIA ] step 2 Δ= +0.0 -1.4 -0.7 -0.0 +0.0 +0.2 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -29.06, +59.29, +18.78, -3.50, -68.56, -27.34] speed=20 wait=1.0s (pre max|Δ|=1.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.44° (tol 3.0°) [VIA ] step 5 Δ= -0.2 -1.4 -0.3 +0.0 -1.0 +0.3 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ -26.92, +59.01, +18.07, -2.93, -68.82, -27.72] speed=20 wait=1.0s (pre max|Δ|=1.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.72° (tol 3.0°) [VIA ] step 8 Δ= +1.9 -1.7 -1.0 +0.6 -1.2 -0.2 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ -24.42, +58.39, +17.43, -2.51, -68.38, -28.08] speed=20 wait=1.0s (pre max|Δ|=2.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.25° (tol 3.0°) [VIA ] step 9 Δ= +2.2 -2.3 -1.6 +0.4 -0.6 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.25°（関節 j1） [005] 推論 737ms 10ステップ先 Δ=+28.2 -9.3 -8.0 +5.3 +5.6 -3.1 [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_chunk005_via02: send_angles (single) [ -16.25, +56.25, +15.52, -1.05, -66.38, -29.00] speed=20 wait=1.0s (pre max|Δ|=7.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.63° (tol 3.0°) [VIA ] step 2 Δ= +7.5 -4.4 -3.5 +2.1 +1.5 -1.3 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -7.73, +54.24, +13.58, +0.43, -64.90, -29.90] speed=20 wait=1.0s (pre max|Δ|=9.05°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.44° (tol 3.0°) [VIA ] step 5 Δ= +9.0 -4.6 -3.1 +1.4 +2.5 -1.8 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ +1.21, +52.08, +11.58, +1.82, -63.09, -30.67] speed=20 wait=1.0s (pre max|Δ|=9.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.50° (tol 3.0°) [VIA ] step 8 Δ= +9.0 -4.6 -3.4 +1.3 +2.5 -1.3 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ +4.43, +51.31, +10.96, +2.18, -62.25, -30.81] speed=20 wait=1.0s (pre max|Δ|=3.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.47° (tol 3.0°) [VIA ] step 9 Δ= +3.6 -3.3 -1.9 +0.4 +1.3 -0.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.47°（関節 j1） [006] 推論 563ms 10ステップ先 Δ=+27.5 -7.3 -9.3 +0.7 +8.2 -0.6 [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) [ +12.02, +49.56, +8.77, +2.58, -59.82, -30.91] speed=20 wait=1.0s (pre max|Δ|=7.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.64° (tol 3.0°) [VIA ] step 2 Δ= +7.6 -4.2 -4.1 +0.2 +2.8 -0.4 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +20.92, +47.88, +6.30, +2.86, -57.02, -30.99] speed=20 wait=1.0s (pre max|Δ|=8.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.48° (tol 3.0°) [VIA ] step 5 Δ= +9.0 -4.2 -3.7 +0.0 +3.2 -0.4 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +29.77, +46.54, +4.08, +3.05, -54.76, -31.08] speed=20 wait=1.0s (pre max|Δ|=8.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.41° (tol 3.0°) [VIA ] step 8 Δ= +8.9 -3.8 -3.6 -0.0 +2.5 -0.4 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +31.89, +46.48, +3.61, +3.07, -54.37, -31.10] speed=20 wait=1.0s (pre max|Δ|=2.47°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.47° (tol 3.0°) [VIA ] step 9 Δ= +2.3 -2.5 -2.0 -0.2 +0.6 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.47°（関節 j1） [007] 推論 817ms 10ステップ先 Δ= +7.6 +8.3 -6.2 +1.6 -4.7 -1.4 [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_chunk007_via02: send_angles (single) [ +39.18, +46.51, +0.01, +3.57, -50.92, -32.05] speed=20 wait=1.0s (pre max|Δ|=7.37°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.44° (tol 3.0°) [VIA ] step 2 Δ= +7.4 -2.4 -5.6 +0.4 +3.7 -1.3 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +40.31, +50.51, -0.85, +4.02, -52.76, -32.27] speed=20 wait=1.0s (pre max|Δ|=2.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.70° (tol 3.0°) [VIA ] step 5 Δ= +1.1 +1.6 -2.4 +0.2 -1.7 -0.6 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +39.57, +56.10, -0.57, +4.57, -58.16, -32.18] speed=20 wait=1.0s (pre max|Δ|=7.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.27° (tol 3.0°) [VIA ] step 8 Δ= -0.8 +4.3 -1.3 +0.7 -7.1 -0.2 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +39.37, +57.22, -0.63, +4.73, -59.32, -32.18] speed=20 wait=1.0s (pre max|Δ|=1.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.33° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -0.1 -1.3 -0.0 -1.8 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.33°（関節 j2） [008] 推論 1477ms 7ステップ先 Δ= +0.3 +5.3 -2.1 +0.7 -5.5 -0.4 グリッパー→開 [VIA ] 中継点 3 点: step 2, 5, 6 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk008_via02: send_angles (single) [ +39.46, +61.94, -1.17, +5.14, -62.50, -32.31] speed=20 wait=1.0s (pre max|Δ|=3.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.87° (tol 3.0°) [VIA ] step 2 Δ= +0.0 +3.6 -1.9 +0.4 -3.6 -0.3 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +39.72, +63.65, -1.43, +5.46, -64.36, -32.42] speed=20 wait=1.0s (pre max|Δ|=2.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.26° (tol 3.0°) [VIA ] step 5 Δ= +0.2 +0.6 -2.1 +0.7 -1.5 +0.2 着いた [SEND] pi05_chunk008_via06: send_angles (single) [ +39.72, +63.65, -1.43, +5.46, -64.36, -32.42] speed=20 wait=1.0s (pre max|Δ|=1.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.26° (tol 3.0°) [VIA ] step 6 Δ= -0.0 -1.1 -1.3 +0.3 +0.4 +0.4 着いた [Pi] GRIPPER: OPEN result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.26°（関節 j2） [009] 推論 595ms 10ステップ先 Δ= +0.2 -15.7 +1.2 +0.1 +11.6 -0.1 [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_chunk009_via02: send_angles (single) [ +40.00, +59.83, -1.24, +5.45, -60.94, -32.60] speed=20 wait=1.0s (pre max|Δ|=4.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.30° (tol 3.0°) [VIA ] step 2 Δ= +0.2 -4.9 -1.1 +0.2 +3.8 +0.2 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +40.80, +55.88, -0.80, +5.47, -57.85, -32.77] speed=20 wait=1.0s (pre max|Δ|=6.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.21° (tol 3.0°) [VIA ] step 5 Δ= +1.0 -6.3 -0.6 +0.2 +4.4 +0.0 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +40.69, +50.95, +0.58, +5.50, -54.64, -32.88] speed=20 wait=1.0s (pre max|Δ|=7.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.22° (tol 3.0°) [VIA ] step 8 Δ= -0.2 -7.1 +0.8 -0.4 +4.1 -0.1 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +40.06, +49.05, +1.06, +5.39, -53.16, -32.86] speed=20 wait=1.0s (pre max|Δ|=4.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.45° (tol 3.0°) [VIA ] step 9 Δ= -1.0 -4.1 -0.2 -0.6 +2.0 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.45°（関節 j1） [010] 推論 627ms 10ステップ先 Δ=-16.8 -24.9 -0.4 -4.1 +25.2 +1.4 [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_chunk010_via02: send_angles (single) [ +36.62, +42.67, +1.35, +4.69, -46.70, -32.70] speed=20 wait=1.0s (pre max|Δ|=8.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.24° (tol 3.0°) [VIA ] step 2 Δ= -3.4 -8.8 -0.1 -1.2 +6.6 +0.1 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +31.14, +36.03, +1.41, +3.61, -39.02, -32.17] speed=20 wait=1.0s (pre max|Δ|=8.88°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.11° (tol 3.0°) [VIA ] step 5 Δ= -5.7 -8.9 -0.1 -1.5 +8.1 +0.5 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +25.09, +28.77, +1.22, +2.39, -30.50, -31.54] speed=20 wait=1.0s (pre max|Δ|=9.37°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.07° (tol 3.0°) [VIA ] step 8 Δ= -6.2 -9.4 -0.8 -1.6 +8.9 +1.1 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +23.18, +26.63, +1.11, +2.04, -28.12, -31.41] speed=20 wait=1.0s (pre max|Δ|=4.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 3.0°) [VIA ] step 9 Δ= -2.4 -4.2 -0.9 -0.7 +2.6 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.93°（関節 j1） [011] 推論 694ms 10ステップ先 Δ=-21.3 -25.5 -0.8 -1.2 +25.5 +0.8 [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_chunk011_via02: send_angles (single) [ +16.55, +19.20, +1.21, +0.99, -20.01, -31.10] speed=20 wait=1.0s (pre max|Δ|=9.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.71° (tol 3.0°) [VIA ] step 2 Δ= -6.4 -9.4 -0.8 -0.7 +8.2 +0.5 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +9.19, +10.64, +1.33, +0.57, -10.82, -30.97] speed=20 wait=1.0s (pre max|Δ|=10.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.57° (tol 3.0°) [VIA ] step 5 Δ= -7.5 -10.3 -0.7 -1.0 +9.5 +0.3 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +2.84, +3.96, +1.23, +0.46, -3.72, -30.82] speed=20 wait=1.0s (pre max|Δ|=8.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.40° (tol 3.0°) [VIA ] step 8 Δ= -6.4 -8.3 -0.8 -0.6 +7.4 +0.4 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +1.58, +3.01, +1.19, +0.42, -2.74, -30.79] speed=20 wait=1.0s (pre max|Δ|=2.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.56° (tol 3.0°) [VIA ] step 9 Δ= -1.6 -2.3 -0.8 -0.3 +1.3 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.56°（関節 j1） [012] 推論 1534ms 10ステップ先 Δ= -0.2 -1.1 -1.0 -0.2 -0.5 +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_chunk012_via02: send_angles (single) [ +1.00, +3.12, +1.06, +0.46, -2.89, -30.82] speed=20 wait=1.0s (pre max|Δ|=1.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.45° (tol 3.0°) [VIA ] step 2 Δ= -0.1 -1.5 -1.0 -0.2 -0.1 +0.2 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +0.86, +3.36, +1.06, +0.49, -3.21, -30.86] speed=20 wait=1.0s (pre max|Δ|=1.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.21° (tol 3.0°) [VIA ] step 5 Δ= -0.3 -1.2 -1.0 -0.2 -0.4 +0.2 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +0.86, +3.40, +0.99, +0.49, -3.38, -30.86] speed=20 wait=1.0s (pre max|Δ|=1.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.17° (tol 3.0°) [VIA ] step 8 Δ= -0.3 -1.2 -1.0 -0.2 -0.6 +0.2 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +0.90, +3.43, +0.99, +0.48, -3.28, -30.85] speed=20 wait=1.0s (pre max|Δ|=1.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.14° (tol 3.0°) [VIA ] step 9 Δ= -0.2 -1.1 -1.0 -0.2 -0.5 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.14°（関節 j1） [013] 推論 819ms 10ステップ先 Δ= -0.7 -1.1 -1.0 -0.3 -0.6 +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 > 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|=4.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.02° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_121202 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 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 --alpha 0.7 [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= -2.8 dx= +0.7 response=0.333 → 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 --state-from-target --execute --ignore-framing [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_20261029_121650 [CAMERA] 写り方 dy=-21.1 dx=+10.1 response=0.051 → 測れない (相関が弱く dx/dy が当てにならない (response=0.051 < 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 [WARN ] 写り方が『測れない』だが --ignore-framing が指定されたので続けます [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 1602ms 10ステップ先 Δ= -9.7 +19.1 +5.6 -2.7 -23.1 +2.2 [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 > [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) [ -2.53, +5.67, +2.98, -0.29, -5.54, -29.73] speed=20 wait=1.0s (pre max|Δ|=5.28°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.88° (tol 3.0°) [VIA ] step 2 Δ= -2.2 +4.4 +1.0 -0.6 -5.3 +0.5 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -5.83, +12.26, +5.00, -1.36, -13.51, -28.91] speed=20 wait=1.0s (pre max|Δ|=8.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 5 Δ= -3.2 +5.8 +1.1 -1.4 -8.8 +1.1 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -9.02, +18.46, +7.06, -2.28, -21.24, -28.16] speed=20 wait=1.0s (pre max|Δ|=8.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.05° (tol 3.0°) [VIA ] step 8 Δ= -3.2 +5.2 +1.3 -1.1 -8.8 +0.9 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -10.01, +20.33, +7.66, -2.48, -23.36, -28.01] speed=20 wait=1.0s (pre max|Δ|=2.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 9 Δ= -1.0 +0.8 -0.3 -0.2 -2.6 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.02°（関節 j1） [001] 推論 735ms 10ステップ先 Δ=-12.2 +23.2 +6.2 -0.1 -29.6 +0.8 [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) [ -13.81, +27.45, +9.59, -3.18, -31.73, -27.65] speed=20 wait=1.0s (pre max|Δ|=8.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 2 Δ= -3.6 +6.1 +1.2 -0.5 -8.0 +0.6 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -17.47, +34.55, +11.83, -3.08, -40.92, -27.55] speed=20 wait=1.0s (pre max|Δ|=9.81°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 5 Δ= -4.0 +6.0 +1.5 +0.3 -9.8 +0.3 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -21.16, +42.25, +14.06, -2.85, -50.47, -27.47] speed=20 wait=1.0s (pre max|Δ|=9.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 8 Δ= -3.3 +6.8 +1.6 +0.9 -9.8 +0.3 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -22.35, +44.56, +14.60, -2.85, -53.30, -27.44] speed=20 wait=1.0s (pre max|Δ|=3.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 9 Δ= -1.5 +1.3 +0.0 +0.1 -3.2 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.96°（関節 j1） [002] 推論 554ms 10ステップ先 Δ= -5.9 +12.3 +4.2 +0.3 -15.0 +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_chunk002_via02: send_angles (single) [ -25.44, +51.35, +16.45, -3.23, -61.71, -27.41] speed=20 wait=1.0s (pre max|Δ|=8.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 2 Δ= -2.8 +5.8 +1.2 -0.4 -8.0 +0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -27.73, +56.46, +18.26, -3.06, -67.02, -27.39] speed=20 wait=1.0s (pre max|Δ|=5.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 5 Δ= -2.6 +4.2 +1.4 -0.1 -5.8 +0.2 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -28.43, +57.89, +19.24, -2.61, -68.74, -27.33] speed=20 wait=1.0s (pre max|Δ|=1.68°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 8 Δ= -0.7 +0.4 +0.6 +0.0 -1.7 +0.3 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -28.55, +57.86, +19.37, -2.51, -68.70, -27.32] speed=20 wait=1.0s (pre max|Δ|=1.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -1.0 +0.2 +0.0 -0.1 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.02°（関節 j1） [003] 推論 545ms 10ステップ先 Δ= +0.6 +2.4 -2.5 -2.3 +2.3 +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_chunk003_via02: send_angles (single) [ -28.68, +58.64, +19.67, -2.44, -69.62, -27.31] speed=20 wait=1.0s (pre max|Δ|=1.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 2 Δ= +0.1 -0.2 +0.5 +0.0 -1.1 +0.2 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -28.34, +59.32, +18.94, -3.05, -69.06, -27.29] speed=20 wait=1.0s (pre max|Δ|=0.59°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 5 Δ= +0.5 -0.3 -0.2 -0.6 +0.4 +0.2 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -28.27, +60.71, +17.28, -4.35, -67.07, -27.32] speed=20 wait=1.0s (pre max|Δ|=2.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.44° (tol 3.0°) [VIA ] step 8 Δ= +0.6 +0.4 -1.9 -1.8 +2.4 +0.2 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -28.22, +61.26, +16.63, -4.73, -66.25, -27.34] speed=20 wait=1.0s (pre max|Δ|=2.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.29° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -0.5 -2.1 -0.8 +2.2 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.29°（関節 j2） [004] 推論 683ms 9ステップ先 Δ= +0.7 +1.5 -4.4 -2.9 +5.2 +0.2 グリッパー→閉 [VIA ] 中継点 3 点: step 2, 5, 8 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) [ -27.92, +62.70, +14.92, -6.06, -63.91, -27.34] speed=20 wait=1.0s (pre max|Δ|=3.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 2 Δ= +0.5 +0.5 -3.0 -1.7 +2.6 +0.2 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -27.77, +63.67, +13.58, -7.03, -61.95, -27.34] speed=20 wait=1.0s (pre max|Δ|=2.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.80° (tol 3.0°) [VIA ] step 5 Δ= -0.0 +0.0 -2.1 -1.2 +2.3 +0.1 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ -27.67, +63.67, +13.48, -7.17, -61.85, -27.31] speed=20 wait=1.0s (pre max|Δ|=0.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.84° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -0.7 -0.8 -0.5 +0.9 +0.4 着いた [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.16°（関節 j4） [005] 推論 1485ms 10ステップ先 Δ= +1.2 -4.2 +4.8 +2.2 -4.0 +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_chunk005_via02: send_angles (single) [ -27.65, +62.66, +14.94, -6.39, -63.53, -27.28] speed=20 wait=1.0s (pre max|Δ|=1.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.41° (tol 3.0°) [VIA ] step 2 Δ= +0.6 -1.8 +1.2 +0.5 -0.5 +0.4 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -27.66, +61.63, +16.84, -5.53, -65.11, -27.19] speed=20 wait=1.0s (pre max|Δ|=2.87°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 5 Δ= +0.5 -2.4 +2.9 +1.1 -2.2 +0.3 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -27.67, +60.59, +18.58, -4.84, -66.90, -27.10] speed=20 wait=1.0s (pre max|Δ|=2.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.63° (tol 3.0°) [VIA ] step 8 Δ= +0.4 -2.5 +2.5 +1.5 -2.8 -0.0 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -27.02, +60.18, +18.62, -4.67, -66.98, -27.14] speed=20 wait=1.0s (pre max|Δ|=2.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.04° (tol 3.0°) [VIA ] step 9 Δ= +0.5 -2.0 +0.5 +0.6 -1.4 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.04°（関節 j1） [006] 推論 541ms 10ステップ先 Δ= +5.8 -4.0 +0.3 +1.9 -3.1 -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_chunk006_via02: send_angles (single) [ -27.04, +59.62, +19.61, -4.13, -68.41, -27.16] speed=20 wait=1.0s (pre max|Δ|=2.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.25° (tol 3.0°) [VIA ] step 2 Δ= +0.4 -2.6 +1.5 +0.9 -2.5 -0.5 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -27.34, +59.52, +19.94, -4.11, -69.21, -27.08] speed=20 wait=1.0s (pre max|Δ|=2.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.35° (tol 3.0°) [VIA ] step 5 Δ= +0.1 -2.4 +0.4 +0.1 -1.9 -0.4 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -23.67, +58.71, +18.85, -3.51, -69.13, -27.42] speed=20 wait=1.0s (pre max|Δ|=3.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.46° (tol 3.0°) [VIA ] step 8 Δ= +3.7 -3.2 -0.7 +0.5 -1.4 -0.7 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -21.62, +58.21, +18.36, -3.16, -68.82, -27.64] speed=20 wait=1.0s (pre max|Δ|=2.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.43° (tol 3.0°) [VIA ] step 9 Δ= +2.2 -3.0 -1.2 -0.6 -0.8 -0.9 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.43°（関節 j1） [007] 推論 690ms 10ステップ先 Δ=+27.6 -9.1 -7.1 +4.3 +4.9 -3.4 [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_chunk007_via02: send_angles (single) [ -13.41, +55.98, +16.59, -1.58, -66.89, -28.54] speed=20 wait=1.0s (pre max|Δ|=8.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.37° (tol 3.0°) [VIA ] step 2 Δ= +8.3 -4.7 -2.8 +1.2 +1.1 -1.5 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ -5.59, +54.12, +14.87, -0.17, -65.59, -29.35] speed=20 wait=1.0s (pre max|Δ|=8.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.39° (tol 3.0°) [VIA ] step 5 Δ= +8.0 -4.2 -3.0 +1.0 +2.4 -1.2 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +2.85, +52.10, +12.97, +1.16, -63.87, -30.13] speed=20 wait=1.0s (pre max|Δ|=8.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.48° (tol 3.0°) [VIA ] step 8 Δ= +8.7 -4.4 -3.0 +1.0 +3.5 -1.2 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +5.88, +51.55, +12.33, +1.50, -63.14, -30.31] speed=20 wait=1.0s (pre max|Δ|=3.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.59° (tol 3.0°) [VIA ] step 9 Δ= +3.3 -3.0 -1.8 +0.1 +1.6 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.59°（関節 j1） [008] 推論 1502ms 10ステップ先 Δ=+28.6 -8.9 -9.2 +1.0 +9.1 -0.6 [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_chunk008_via02: send_angles (single) [ +14.15, +49.40, +10.17, +2.07, -60.80, -30.41] speed=20 wait=1.0s (pre max|Δ|=8.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.45° (tol 3.0°) [VIA ] step 2 Δ= +8.3 -4.7 -3.9 +0.4 +2.8 -0.4 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +22.93, +47.31, +7.92, +2.39, -58.09, -30.43] speed=20 wait=1.0s (pre max|Δ|=8.87°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.43° (tol 3.0°) [VIA ] step 5 Δ= +8.9 -4.5 -3.6 +0.3 +3.1 -0.4 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +31.95, +45.43, +5.51, +2.62, -55.30, -30.48] speed=20 wait=1.0s (pre max|Δ|=9.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.38° (tol 3.0°) [VIA ] step 8 Δ= +9.0 -4.3 -3.8 +0.3 +3.1 -0.3 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +34.41, +45.21, +4.89, +2.65, -54.66, -30.52] speed=20 wait=1.0s (pre max|Δ|=2.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.60° (tol 3.0°) [VIA ] step 9 Δ= +2.4 -2.6 -2.0 +0.0 +1.0 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.60°（関節 j1） [009] 推論 564ms 10ステップ先 Δ= +5.7 +9.7 -4.2 +0.7 -8.0 -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_chunk009_via02: send_angles (single) [ +40.72, +45.89, +3.05, +2.70, -53.03, -30.58] speed=20 wait=1.0s (pre max|Δ|=6.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.92° (tol 3.0°) [VIA ] step 2 Δ= +6.2 -1.9 -3.8 +0.1 +1.8 -0.3 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +40.70, +51.27, +2.81, +2.97, -57.06, -30.56] speed=20 wait=1.0s (pre max|Δ|=3.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.58° (tol 3.0°) [VIA ] step 5 Δ= +0.1 +3.5 -1.7 +0.2 -3.7 -0.2 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +40.47, +56.34, +2.73, +3.27, -61.93, -30.57] speed=20 wait=1.0s (pre max|Δ|=6.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 3.0°) [VIA ] step 8 Δ= -0.2 +3.9 -1.7 +0.6 -6.3 -0.3 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +40.29, +57.50, +2.65, +3.36, -62.88, -30.58] speed=20 wait=1.0s (pre max|Δ|=2.33°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.74° (tol 3.0°) [VIA ] step 9 Δ= -0.4 -0.1 -1.7 +0.5 -2.3 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.74°（関節 j2） [010] 推論 769ms 6ステップ先 Δ= -0.3 +4.2 -2.0 +0.7 -5.0 -0.3 グリッパー→開 [VIA ] 中継点 2 点: step 2, 5 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk010_via02: send_angles (single) [ +40.35, +62.25, +2.50, +3.65, -66.78, -30.58] speed=20 wait=1.0s (pre max|Δ|=3.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.89° (tol 3.0°) [VIA ] step 2 Δ= -0.3 +3.7 -1.9 +0.5 -3.9 -0.3 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +40.40, +62.72, +2.38, +3.77, -67.89, -30.60] speed=20 wait=1.0s (pre max|Δ|=2.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.01° (tol 3.0°) [VIA ] step 5 Δ= -0.6 -0.6 -2.0 +0.3 -0.4 +0.2 着いた [Pi] GRIPPER: OPEN result= -1 [STATE ] 目標を渡す 目標と実測の最大差 2.01°（関節 j2） [011] 推論 1526ms 10ステップ先 Δ= -0.3 -16.7 -2.1 -0.4 +14.3 -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_chunk011_via02: send_angles (single) [ +40.45, +59.71, +2.40, +3.83, -65.84, -30.78] speed=20 wait=1.0s (pre max|Δ|=3.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 2 Δ= -0.5 -3.9 -2.0 -0.3 +1.7 +0.2 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +40.66, +54.36, +2.32, +3.73, -60.37, -31.04] speed=20 wait=1.0s (pre max|Δ|=7.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.15° (tol 3.0°) [VIA ] step 5 Δ= -0.4 -7.7 -2.1 -0.4 +7.2 -0.1 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +40.83, +48.67, +2.29, +3.75, -54.93, -31.35] speed=20 wait=1.0s (pre max|Δ|=7.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 8 Δ= -0.2 -7.8 -2.1 -0.4 +6.4 -0.4 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +40.63, +46.89, +2.26, +3.73, -53.30, -31.43] speed=20 wait=1.0s (pre max|Δ|=3.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.41° (tol 3.0°) [VIA ] step 9 Δ= -0.4 -3.9 -2.1 -0.4 +2.2 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.41°（関節 j1） [012] 推論 738ms 10ステップ先 Δ=-18.3 -25.8 -2.7 -3.2 +27.0 -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_chunk012_via02: send_angles (single) [ +37.45, +40.82, +2.20, +3.23, -46.77, -31.48] speed=20 wait=1.0s (pre max|Δ|=8.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.15° (tol 3.0°) [VIA ] step 2 Δ= -3.6 -8.5 -1.9 -0.9 +6.8 -0.6 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +31.55, +33.60, +1.91, +2.29, -38.37, -31.35] speed=20 wait=1.0s (pre max|Δ|=9.37°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.08° (tol 3.0°) [VIA ] step 5 Δ= -6.3 -9.4 -2.2 -1.6 +8.9 -0.4 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +24.79, +25.75, +1.49, +1.24, -29.13, -31.21] speed=20 wait=1.0s (pre max|Δ|=9.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 3.0°) [VIA ] step 8 Δ= -6.9 -9.9 -2.5 -1.6 +9.5 -0.3 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +22.70, +23.51, +1.41, +0.98, -26.58, -31.18] speed=20 wait=1.0s (pre max|Δ|=4.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.06° (tol 3.0°) [VIA ] step 9 Δ= -2.0 -4.2 -1.8 -0.6 +3.0 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.06°（関節 j1） [013] 推論 1575ms 10ステップ先 Δ=-19.8 -23.0 -1.9 -0.5 +23.0 -0.1 [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_chunk013_via02: send_angles (single) [ +16.44, +16.21, +1.41, +0.34, -18.28, -31.01] speed=20 wait=1.0s (pre max|Δ|=9.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.84° (tol 3.0°) [VIA ] step 2 Δ= -6.2 -9.4 -1.8 -0.4 +8.4 -0.2 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +9.29, +8.16, +1.46, +0.18, -9.54, -30.96] speed=20 wait=1.0s (pre max|Δ|=9.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.79° (tol 3.0°) [VIA ] step 5 Δ= -7.8 -9.8 -1.8 -0.5 +9.0 -0.3 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +3.46, +2.99, +1.36, +0.16, -3.99, -30.92] speed=20 wait=1.0s (pre max|Δ|=6.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.89° (tol 3.0°) [VIA ] step 8 Δ= -6.1 -6.7 -1.9 -0.4 +5.9 -0.3 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +2.85, +2.56, +1.32, +0.17, -3.76, -30.90] speed=20 wait=1.0s (pre max|Δ|=1.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 3.0°) [VIA ] step 9 Δ= -0.8 -1.7 -1.9 -0.3 +0.5 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.93°（関節 j2） [014] 推論 752ms 10ステップ先 Δ= -2.1 -1.8 -2.1 -0.3 +0.4 -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_chunk014_via02: send_angles (single) [ +1.19, +2.19, +1.30, +0.18, -3.60, -30.90] speed=20 wait=1.0s (pre max|Δ|=2.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.95° (tol 3.0°) [VIA ] step 2 Δ= -1.8 -2.0 -2.0 -0.3 +0.4 -0.2 着いた [SEND] pi05_chunk014_via05: send_angles (single) [ +0.90, +2.30, +1.22, +0.18, -3.81, -30.94] speed=20 wait=1.0s (pre max|Δ|=2.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.03° (tol 3.0°) [VIA ] step 5 Δ= +0.0 -1.4 -2.0 -0.2 +0.0 -0.3 着いた [SEND] pi05_chunk014_via08: send_angles (single) [ +0.86, +2.40, +1.18, +0.19, -3.65, -30.94] speed=20 wait=1.0s (pre max|Δ|=2.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.07° (tol 3.0°) [VIA ] step 8 Δ= +0.1 -1.3 -2.1 -0.2 +0.2 -0.3 着いた [SEND] pi05_chunk014_via09: send_angles (single) [ +0.85, +2.39, +1.16, +0.18, -3.60, -30.95] speed=20 wait=1.0s (pre max|Δ|=2.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.09° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -1.3 -2.1 -0.2 +0.3 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.09°（関節 j2） [015] 推論 622ms 10ステップ先 Δ= -0.5 -1.2 -2.0 -0.1 -0.1 -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 > 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|=3.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.75° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_121650 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 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 --alpha 0.7 [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= -1.7 dx= +2.5 response=0.477 → 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 --state-from-target --execute --ignore-framing [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_20261029_122156 [CAMERA] 写り方 dy=-8.3 dx=+3.1 response=0.212 → 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 557ms 10ステップ先 Δ= -9.7 +20.1 +5.5 -2.5 -23.9 +2.6 [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, +6.35, +2.73, -0.25, -5.94, -29.59] speed=20 wait=1.0s (pre max|Δ|=5.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.37° (tol 3.0°) [VIA ] step 2 Δ= -2.4 +4.9 +1.0 -0.5 -5.8 +0.6 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -5.71, +12.85, +4.60, -1.10, -13.54, -28.75] speed=20 wait=1.0s (pre max|Δ|=8.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 5 Δ= -2.7 +5.6 +0.9 -1.1 -9.0 +0.7 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -8.93, +19.48, +6.67, -2.04, -21.67, -27.79] speed=20 wait=1.0s (pre max|Δ|=9.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.08° (tol 3.0°) [VIA ] step 8 Δ= -3.0 +5.6 +1.3 -1.2 -9.1 +0.9 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -10.09, +21.60, +7.24, -2.26, -24.09, -27.54] speed=20 wait=1.0s (pre max|Δ|=2.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.90° (tol 3.0°) [VIA ] step 9 Δ= -1.5 +1.0 -0.2 -0.2 -2.8 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.90°（関節 j1） [001] 推論 622ms 10ステップ先 Δ=-12.6 +22.6 +5.9 +0.2 -29.2 +0.6 [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) [ -13.91, +28.35, +9.19, -2.88, -32.15, -27.25] speed=20 wait=1.0s (pre max|Δ|=8.16°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.18° (tol 3.0°) [VIA ] step 2 Δ= -4.1 +5.9 +1.1 -0.2 -8.2 +0.4 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -17.67, +35.64, +11.48, -2.74, -41.60, -27.20] speed=20 wait=1.0s (pre max|Δ|=9.70°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.09° (tol 3.0°) [VIA ] step 5 Δ= -4.3 +6.1 +1.5 -0.1 -9.7 +0.1 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -21.32, +42.71, +13.43, -2.62, -50.72, -27.16] speed=20 wait=1.0s (pre max|Δ|=9.59°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 8 Δ= -3.3 +6.0 +1.3 +0.0 -9.6 +0.2 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -22.47, +45.05, +13.96, -2.57, -53.23, -27.13] speed=20 wait=1.0s (pre max|Δ|=3.05°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 9 Δ= -1.3 +1.4 -0.0 -0.1 -3.1 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.00°（関節 j1） [002] 推論 631ms 10ステップ先 Δ= -6.6 +13.1 +4.5 +0.2 -16.1 +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) [ -25.65, +51.94, +15.71, -2.99, -62.02, -27.09] speed=20 wait=1.0s (pre max|Δ|=8.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 2 Δ= -2.7 +5.9 +1.7 -0.6 -8.4 +0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -28.45, +57.28, +17.48, -2.76, -67.77, -27.07] speed=20 wait=1.0s (pre max|Δ|=6.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 5 Δ= -3.1 +4.4 +1.3 -0.4 -6.3 +0.1 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -29.51, +58.96, +18.47, -2.26, -69.68, -27.04] speed=20 wait=1.0s (pre max|Δ|=2.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.89° (tol 3.0°) [VIA ] step 8 Δ= -1.2 +0.7 +0.7 +0.0 -2.2 +0.1 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -29.58, +59.12, +18.44, -2.17, -69.70, -27.03] speed=20 wait=1.0s (pre max|Δ|=0.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.82° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -0.7 -0.0 +0.1 +0.1 -0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.82°（関節 j1） [003] 推論 664ms 10ステップ先 Δ= +1.0 +2.8 -4.2 -3.0 +5.4 -0.1 [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_chunk003_via02: send_angles (single) [ -29.35, +59.59, +17.99, -2.56, -69.27, -27.02] speed=20 wait=1.0s (pre max|Δ|=0.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 2 Δ= +0.5 -0.3 -0.5 -0.3 +0.5 -0.0 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -29.06, +60.64, +16.55, -3.73, -67.40, -27.03] speed=20 wait=1.0s (pre max|Δ|=2.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.12° (tol 3.0°) [VIA ] step 5 Δ= +0.7 +0.2 -1.9 -1.5 +2.9 -0.5 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -28.97, +62.30, +14.71, -5.02, -64.95, -27.03] speed=20 wait=1.0s (pre max|Δ|=4.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.15° (tol 3.0°) [VIA ] step 8 Δ= -0.1 +1.1 -2.8 -1.7 +4.6 -1.0 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -28.85, +62.74, +14.27, -5.26, -64.39, -27.03] speed=20 wait=1.0s (pre max|Δ|=1.19°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.19° (tol 3.0°) [VIA ] step 9 Δ= -0.2 -0.7 -1.2 -0.3 +0.6 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.19°（関節 j2） [004] 推論 1550ms 6ステップ先 Δ= -0.3 +0.4 -2.8 -1.5 +2.5 -0.5 グリッパー→閉 [VIA ] 中継点 2 点: step 2, 5 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) [ -28.89, +64.02, +12.90, -6.22, -62.56, -27.04] speed=20 wait=1.0s (pre max|Δ|=2.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 2 Δ= -0.2 +0.4 -2.6 -1.3 +2.2 -0.4 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -28.93, +64.01, +12.69, -6.44, -62.48, -27.03] speed=20 wait=1.0s (pre max|Δ|=1.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 5 Δ= -0.0 -0.9 -0.9 -0.6 +0.5 +1.0 着いた [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.50°（関節 j4） [005] 推論 731ms 10ステップ先 Δ= +0.2 -3.3 +3.5 +1.3 -2.9 +0.6 [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) [ -29.04, +63.21, +14.08, -5.73, -64.00, -27.04] speed=20 wait=1.0s (pre max|Δ|=1.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.56° (tol 3.0°) [VIA ] step 2 Δ= +0.2 -1.7 +0.5 +0.4 -0.0 +0.5 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -29.08, +62.32, +15.68, -5.09, -65.28, -26.99] speed=20 wait=1.0s (pre max|Δ|=2.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.57° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -2.5 +2.1 +1.0 -1.3 +0.3 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -28.97, +61.63, +16.94, -4.79, -66.67, -26.99] speed=20 wait=1.0s (pre max|Δ|=2.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.82° (tol 3.0°) [VIA ] step 8 Δ= +0.2 -2.3 +1.9 +1.0 -2.2 -0.4 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -29.02, +61.53, +17.04, -4.78, -66.85, -26.99] speed=20 wait=1.0s (pre max|Δ|=1.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.92° (tol 3.0°) [VIA ] step 9 Δ= -0.0 -1.9 +0.7 +0.5 -1.3 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.92°（関節 j1） [006] 推論 655ms 10ステップ先 Δ= +0.5 -2.4 +1.3 +0.6 -3.4 -0.6 [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) [ -29.10, +60.86, +18.30, -4.22, -67.96, -27.03] speed=20 wait=1.0s (pre max|Δ|=2.59°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.15° (tol 3.0°) [VIA ] step 2 Δ= -0.3 -2.6 +2.0 +0.8 -2.0 -0.4 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -29.16, +60.75, +18.72, -4.24, -68.82, -26.99] speed=20 wait=1.0s (pre max|Δ|=2.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.26° (tol 3.0°) [VIA ] step 5 Δ= -0.6 -2.3 +0.7 -0.1 -1.6 -0.3 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -28.99, +61.10, +17.94, -4.57, -69.19, -27.06] speed=20 wait=1.0s (pre max|Δ|=1.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.91° (tol 3.0°) [VIA ] step 8 Δ= -0.4 -1.9 -0.2 -0.4 -1.5 -0.4 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -28.40, +61.05, +17.63, -4.53, -69.19, -27.16] speed=20 wait=1.0s (pre max|Δ|=1.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.96° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -2.0 -0.8 -0.5 -0.9 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.96°（関節 j1） [007] 推論 1560ms 10ステップ先 Δ=+17.4 -6.2 -3.6 +3.3 +1.9 -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_chunk007_via02: send_angles (single) [ -28.05, +60.42, +18.48, -4.09, -69.85, -27.17] speed=20 wait=1.0s (pre max|Δ|=2.59°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.50° (tol 3.0°) [VIA ] step 2 Δ= +0.5 -2.6 +0.1 -0.0 -0.8 -0.5 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ -21.80, +59.16, +17.21, -2.90, -68.78, -27.85] speed=20 wait=1.0s (pre max|Δ|=6.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.45° (tol 3.0°) [VIA ] step 5 Δ= +6.8 -3.8 -1.1 +1.1 +0.3 -1.1 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ -13.55, +57.36, +15.30, -1.28, -66.99, -28.81] speed=20 wait=1.0s (pre max|Δ|=8.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.66° (tol 3.0°) [VIA ] step 8 Δ= +8.5 -4.3 -3.1 +1.3 +3.6 -1.7 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ -11.16, +56.81, +14.71, -0.79, -66.38, -29.09] speed=20 wait=1.0s (pre max|Δ|=3.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.60° (tol 3.0°) [VIA ] step 9 Δ= +2.6 -3.2 -1.8 -0.1 +2.0 -0.8 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.60°（関節 j1） [008] 推論 569ms 10ステップ先 Δ=+29.3 -9.5 -8.6 +3.3 +7.9 -1.9 [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_chunk008_via02: send_angles (single) [ -3.10, +54.96, +13.00, +0.72, -64.69, -30.01] speed=20 wait=1.0s (pre max|Δ|=8.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.43° (tol 3.0°) [VIA ] step 2 Δ= +8.1 -4.5 -3.5 +1.4 +2.0 -1.3 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +5.46, +52.77, +10.99, +1.90, -62.99, -30.48] speed=20 wait=1.0s (pre max|Δ|=8.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.33° (tol 3.0°) [VIA ] step 5 Δ= +8.8 -4.6 -3.2 +1.0 +2.0 -0.7 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +15.07, +50.55, +8.59, +2.54, -60.26, -30.55] speed=20 wait=1.0s (pre max|Δ|=9.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.62° (tol 3.0°) [VIA ] step 8 Δ= +9.8 -4.6 -3.7 +0.7 +2.9 -0.4 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +18.12, +49.89, +7.94, +2.62, -59.44, -30.56] speed=20 wait=1.0s (pre max|Δ|=3.28°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.66° (tol 3.0°) [VIA ] step 9 Δ= +3.2 -3.3 -2.0 +0.1 +0.8 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.66°（関節 j1） [009] 推論 662ms 10ステップ先 Δ=+21.9 -3.4 -7.3 +0.4 +4.4 -0.6 [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_chunk009_via02: send_angles (single) [ +25.87, +48.02, +6.05, +2.82, -57.06, -30.70] speed=20 wait=1.0s (pre max|Δ|=7.68°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.69° (tol 3.0°) [VIA ] step 2 Δ= +7.7 -4.5 -3.7 +0.0 +2.5 -0.5 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +34.54, +46.44, +3.96, +2.94, -54.33, -30.78] speed=20 wait=1.0s (pre max|Δ|=8.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.51° (tol 3.0°) [VIA ] step 5 Δ= +8.8 -4.3 -3.6 +0.0 +3.0 -0.4 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +39.93, +47.91, +2.49, +3.16, -54.33, -30.81] speed=20 wait=1.0s (pre max|Δ|=5.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 8 Δ= +5.3 -1.0 -3.1 +0.2 +0.2 -0.3 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +40.09, +49.15, +2.40, +3.25, -55.16, -30.83] speed=20 wait=1.0s (pre max|Δ|=1.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 9 Δ= -0.2 +0.2 -1.5 -0.1 -0.7 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.46°（関節 j2） [010] 推論 1469ms 10ステップ先 Δ= +0.5 +11.6 -2.0 +0.6 -12.6 -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_chunk010_via02: send_angles (single) [ +40.39, +54.57, +2.17, +3.51, -60.06, -30.83] speed=20 wait=1.0s (pre max|Δ|=5.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.69° (tol 3.0°) [VIA ] step 2 Δ= +0.1 +4.2 -1.7 +0.1 -5.6 -0.2 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +40.79, +59.52, +2.05, +3.69, -64.37, -30.81] speed=20 wait=1.0s (pre max|Δ|=5.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.81° (tol 3.0°) [VIA ] step 5 Δ= +0.5 +3.7 -1.8 +0.4 -5.3 -0.2 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +40.74, +62.03, +1.88, +3.92, -66.96, -30.83] speed=20 wait=1.0s (pre max|Δ|=3.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.98° (tol 3.0°) [VIA ] step 8 Δ= +0.5 +1.2 -2.0 +0.6 -3.4 -0.3 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +40.79, +61.95, +1.84, +3.98, -67.07, -30.83] speed=20 wait=1.0s (pre max|Δ|=2.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.02° (tol 3.0°) [VIA ] step 9 Δ= +0.5 -1.2 -2.0 +0.5 +0.1 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.02°（関節 j2） [011] 推論 790ms 4ステップ先 Δ= +0.4 -0.4 -2.1 +0.4 -1.2 +0.2 グリッパー→開 [VIA ] 中継点 2 点: step 2, 3 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk011_via02: send_angles (single) [ +40.67, +62.75, +1.81, +4.12, -68.36, -30.84] speed=20 wait=1.0s (pre max|Δ|=2.05°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.44° (tol 3.0°) [VIA ] step 2 Δ= +0.4 -0.4 -2.1 +0.4 -1.2 +0.2 着いた [SEND] pi05_chunk011_via03: send_angles (single) [ +40.67, +62.75, +1.81, +4.12, -68.36, -30.84] speed=20 wait=1.0s (pre max|Δ|=1.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.44° (tol 3.0°) [VIA ] step 3 Δ= +0.4 -1.0 -1.4 +0.3 -0.3 +0.3 着いた [Pi] GRIPPER: OPEN result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.44°（関節 j2） [012] 推論 1732ms 10ステップ先 Δ= +0.7 -17.3 -1.1 +0.2 +15.3 -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_chunk012_via02: send_angles (single) [ +40.70, +58.96, +1.92, +4.16, -65.13, -31.03] speed=20 wait=1.0s (pre max|Δ|=4.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.29° (tol 3.0°) [VIA ] step 2 Δ= +0.4 -4.8 -1.3 +0.3 +2.9 +0.1 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +40.96, +53.71, +1.94, +4.06, -59.90, -31.24] speed=20 wait=1.0s (pre max|Δ|=7.54°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.18° (tol 3.0°) [VIA ] step 5 Δ= +0.6 -7.5 -1.3 -0.1 +7.0 -0.1 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +41.21, +48.08, +2.01, +4.09, -54.13, -31.52] speed=20 wait=1.0s (pre max|Δ|=7.81°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.19° (tol 3.0°) [VIA ] step 8 Δ= +0.1 -7.8 -1.2 -0.3 +6.8 -0.4 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +41.02, +46.42, +2.20, +4.11, -52.71, -31.60] speed=20 wait=1.0s (pre max|Δ|=3.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.35° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -3.8 -1.1 -0.4 +2.0 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.35°（関節 j1） [013] 推論 746ms 10ステップ先 Δ=-19.7 -26.5 -2.1 -3.4 +28.6 +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_chunk013_via02: send_angles (single) [ +36.78, +39.95, +2.01, +3.41, -45.16, -31.54] speed=20 wait=1.0s (pre max|Δ|=8.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.23° (tol 3.0°) [VIA ] step 2 Δ= -4.4 -8.8 -1.2 -1.1 +7.7 -0.3 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +30.58, +32.77, +1.68, +2.41, -36.49, -31.36] speed=20 wait=1.0s (pre max|Δ|=9.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.21° (tol 3.0°) [VIA ] step 5 Δ= -6.7 -9.4 -1.6 -1.7 +9.1 -0.2 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +23.68, +24.68, +1.25, +1.38, -27.05, -31.16] speed=20 wait=1.0s (pre max|Δ|=10.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.00° (tol 3.0°) [VIA ] step 8 Δ= -6.7 -10.3 -2.0 -1.5 +9.8 +0.0 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +21.43, +22.28, +1.18, +1.09, -24.26, -31.10] speed=20 wait=1.0s (pre max|Δ|=4.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.15° (tol 3.0°) [VIA ] step 9 Δ= -2.2 -4.3 -2.1 -0.7 +3.0 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.15°（関節 j1） [014] 推論 581ms 10ステップ先 Δ=-18.6 -22.0 -1.8 -0.3 +22.7 +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 > [SEND] pi05_chunk014_via02: send_angles (single) [ +15.01, +14.37, +1.34, +0.61, -15.34, -30.96] speed=20 wait=1.0s (pre max|Δ|=10.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.91° (tol 3.0°) [VIA ] step 2 Δ= -6.2 -10.1 -1.9 -0.2 +9.2 +0.3 着いた [SEND] pi05_chunk014_via05: send_angles (single) [ +7.90, +6.78, +1.38, +0.51, -6.40, -30.87] speed=20 wait=1.0s (pre max|Δ|=9.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.87° (tol 3.0°) [VIA ] step 5 Δ= -7.3 -9.3 -1.9 -0.4 +9.2 +0.4 着いた [SEND] pi05_chunk014_via08: send_angles (single) [ +2.88, +2.58, +1.35, +0.49, -1.82, -30.79] speed=20 wait=1.0s (pre max|Δ|=5.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.90° (tol 3.0°) [VIA ] step 8 Δ= -5.2 -5.8 -1.9 -0.3 +4.7 +0.4 着いた [SEND] pi05_chunk014_via09: send_angles (single) [ +2.54, +2.44, +1.41, +0.49, -1.82, -30.77] speed=20 wait=1.0s (pre max|Δ|=1.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.84° (tol 3.0°) [VIA ] step 9 Δ= -0.2 -1.4 -1.8 -0.3 +0.3 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.84°（関節 j2） [015] 推論 615ms 10ステップ先 Δ= -1.2 -1.7 -1.8 -0.2 +0.0 +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 > [SEND] pi05_chunk015_via02: send_angles (single) [ +1.83, +2.34, +1.36, +0.53, -1.91, -30.78] speed=20 wait=1.0s (pre max|Δ|=1.89°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.89° (tol 3.0°) [VIA ] step 2 Δ= -0.9 -1.5 -1.9 -0.3 +0.2 +0.4 着いた [SEND] pi05_chunk015_via05: send_angles (single) [ +1.81, +2.30, +1.39, +0.53, -2.14, -30.79] speed=20 wait=1.0s (pre max|Δ|=1.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.86° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -1.6 -1.9 -0.3 -0.0 +0.4 着いた [SEND] pi05_chunk015_via08: send_angles (single) [ +1.65, +2.14, +1.45, +0.53, -2.12, -30.78] speed=20 wait=1.0s (pre max|Δ|=1.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.80° (tol 3.0°) [VIA ] step 8 Δ= +0.2 -1.7 -1.8 -0.3 -0.0 +0.3 着いた [SEND] pi05_chunk015_via09: send_angles (single) [ +1.56, +2.17, +1.45, +0.55, -2.10, -30.77] speed=20 wait=1.0s (pre max|Δ|=1.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.80° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -1.7 -1.8 -0.2 +0.0 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.80°（関節 j2） [016] 推論 635ms 10ステップ先 Δ= -0.7 -1.8 -1.9 -0.3 -0.1 +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 > 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|=3.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_122156 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 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_193404 --scale 5 --alpha 0.7 [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_193404/frames/000000.jpg [REF ] お手本 run_0001_20261019_193404 (つかんだ瞬間の j0 = -61.6°) [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= -10.7 dx= -0.1 response=0.338 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -9.1 dx= -0.6 response=0.345 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -10.7 dx= +7.7 response=0.348 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -9.7 dx= +9.6 response=0.354 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -7.9 dx= +10.1 response=0.335 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -4.8 dx= -2.9 response=0.292 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -5.8 dx= +1.3 response=0.356 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -8.8 dx= +3.2 response=0.347 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -10.5 dx= +4.2 response=0.384 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -11.6 dx= +4.4 response=0.363 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -9.7 dx= +1.2 response=0.367 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -10.7 dx= +3.2 response=0.352 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -11.7 dx= +5.1 response=0.275 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -10.5 dx= +5.7 response=0.268 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -12.0 dx= +5.6 response=0.234 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -10.4 dx= +6.3 response=0.244 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -11.7 dx= +1.9 response=0.267 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -13.4 dx= +5.5 response=0.258 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -12.2 dx= +8.9 response=0.274 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -10.9 dx= +5.1 response=0.274 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -9.5 dx= +1.1 response=0.246 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -11.6 dx= +2.0 response=0.250 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 2026-10-29 12:29:02.940 python3[12688:7283186] error messaging the mach port for IMKCFRunLoopWakeUpReliable ^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 --state-from-target --execute --ignore-framing [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_20261029_122909 [CAMERA] 写り方 dy=-7.8 dx=+6.6 response=0.541 → 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 1090ms 10ステップ先 Δ=-19.4 +18.3 +5.8 +0.2 -24.0 -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 > [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) [ -4.57, +5.44, +2.98, +0.37, -5.67, -30.43] speed=20 wait=1.0s (pre max|Δ|=5.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 2 Δ= -4.1 +4.1 +1.3 +0.1 -5.7 -0.3 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -10.95, +11.45, +4.84, +0.39, -13.50, -30.74] speed=20 wait=1.0s (pre max|Δ|=8.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 5 Δ= -6.0 +5.1 +1.0 +0.2 -8.8 -0.6 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -17.55, +17.51, +6.74, +0.42, -21.43, -31.02] speed=20 wait=1.0s (pre max|Δ|=9.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 8 Δ= -7.0 +5.1 +1.2 +0.2 -9.0 -0.9 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -19.84, +19.62, +7.50, +0.41, -24.00, -31.12] speed=20 wait=1.0s (pre max|Δ|=2.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 9 Δ= -2.6 +1.2 +0.0 +0.3 -2.8 -0.9 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.03°（関節 j1） [001] 推論 764ms 10ステップ先 Δ=-21.6 +19.6 +6.7 +1.0 -29.5 -0.7 [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) [ -25.70, +25.51, +9.76, +0.86, -32.53, -31.24] speed=20 wait=1.0s (pre max|Δ|=8.54°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 2 Δ= -5.6 +4.9 +1.4 +1.0 -8.5 -0.6 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -32.84, +31.59, +12.16, +0.91, -41.26, -31.24] speed=20 wait=1.0s (pre max|Δ|=9.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.84° (tol 3.0°) [VIA ] step 5 Δ= -6.7 +5.1 +1.8 -0.2 -9.5 -0.3 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -39.94, +38.23, +14.50, +0.81, -50.74, -31.24] speed=20 wait=1.0s (pre max|Δ|=9.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 8 Δ= -7.7 +5.8 +1.7 -0.8 -10.0 -0.3 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -41.69, +40.29, +15.06, +0.78, -53.53, -31.24] speed=20 wait=1.0s (pre max|Δ|=3.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 9 Δ= -1.9 +1.1 -0.1 -0.6 -3.1 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.93°（関節 j1） [002] 推論 1706ms 10ステップ先 Δ=-18.0 +14.3 +5.9 +0.8 -20.5 -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_chunk002_via02: send_angles (single) [ -48.83, +46.15, +16.95, +1.35, -62.57, -31.31] speed=20 wait=1.0s (pre max|Δ|=8.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.14° (tol 3.0°) [VIA ] step 2 Δ= -7.2 +4.9 +1.3 +0.3 -8.3 -0.4 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -55.21, +51.91, +19.20, +1.71, -70.52, -31.32] speed=20 wait=1.0s (pre max|Δ|=9.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 5 Δ= -6.4 +4.8 +1.7 +0.4 -9.1 -0.3 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -59.31, +55.48, +21.29, +1.89, -74.75, -31.33] speed=20 wait=1.0s (pre max|Δ|=5.15°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 8 Δ= -4.4 +2.7 +1.8 +0.1 -5.1 -0.3 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -59.63, +55.57, +21.55, +1.92, -74.68, -31.36] 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= -0.3 -0.9 +0.0 +0.1 +0.5 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.94°（関節 j1） [003] 推論 726ms 10ステップ先 Δ= -0.9 +5.2 -5.8 -0.6 +9.9 -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_chunk003_via02: send_angles (single) [ -59.92, +57.12, +20.67, +1.94, -74.24, -31.40] speed=20 wait=1.0s (pre max|Δ|=0.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 2 Δ= -0.6 +0.6 -0.9 +0.1 +0.9 -0.4 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -59.87, +59.34, +18.22, +1.55, -70.10, -31.44] speed=20 wait=1.0s (pre max|Δ|=5.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.44° (tol 3.0°) [VIA ] step 5 Δ= -0.6 +1.2 -3.3 -0.3 +5.0 -0.3 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -60.14, +61.31, +16.21, +1.25, -66.04, -31.45] speed=20 wait=1.0s (pre max|Δ|=5.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.36° (tol 3.0°) [VIA ] step 8 Δ= -0.8 +1.0 -3.1 -0.6 +5.5 +0.1 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -60.19, +61.71, +15.71, +1.22, -65.20, -31.45] speed=20 wait=1.0s (pre max|Δ|=0.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 9 Δ= +0.0 -0.6 -1.0 -0.3 -0.5 +0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.95°（関節 j1） [004] 推論 549ms 6ステップ先 Δ= -0.2 +0.0 -2.1 -0.3 +3.4 +0.4 グリッパー→閉 [VIA ] 中継点 2 点: step 2, 5 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) [ -60.35, +62.95, +14.50, +1.20, -62.01, -31.50] speed=20 wait=1.0s (pre max|Δ|=2.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.79° (tol 3.0°) [VIA ] step 2 Δ= -0.1 +0.3 -2.1 -0.3 +2.5 +0.3 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -60.36, +62.70, +14.53, +1.18, -61.07, -31.52] speed=20 wait=1.0s (pre max|Δ|=1.68°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.33° (tol 3.0°) [VIA ] step 5 Δ= -0.2 -0.9 -0.8 -0.2 +1.7 -0.5 着いた [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.24°（関節 j4） [005] 推論 627ms 10ステップ先 Δ= -0.1 -4.1 +3.5 +1.2 -5.5 -1.3 [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_chunk005_via02: send_angles (single) [ -60.25, +62.48, +14.42, +0.54, -61.57, -31.50] speed=20 wait=1.0s (pre max|Δ|=1.15°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.15° (tol 3.0°) [VIA ] step 2 Δ= -0.6 -1.1 -0.3 +0.2 +0.7 -0.7 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -60.18, +61.64, +15.67, +0.89, -63.75, -31.70] speed=20 wait=1.0s (pre max|Δ|=1.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 5 Δ= -0.5 -2.0 +1.0 +0.6 -1.4 -0.8 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -59.91, +60.01, +17.74, +1.28, -67.02, -31.95] speed=20 wait=1.0s (pre max|Δ|=4.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.43° (tol 3.0°) [VIA ] step 8 Δ= -0.2 -3.1 +2.9 +0.8 -4.5 -0.0 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -59.76, +59.56, +18.20, +1.33, -67.77, -31.97] speed=20 wait=1.0s (pre max|Δ|=3.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.31° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -2.4 +0.8 -0.5 -3.2 +0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.31°（関節 j1） [006] 推論 540ms 10ステップ先 Δ= +0.9 -4.7 +3.3 +0.2 -8.2 +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_chunk006_via02: send_angles (single) [ -59.81, +58.36, +19.86, +1.59, -69.95, -32.09] speed=20 wait=1.0s (pre max|Δ|=3.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.02° (tol 3.0°) [VIA ] step 2 Δ= -0.1 -3.5 +1.7 -0.3 -3.5 +0.3 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -59.56, +57.17, +21.37, +1.85, -72.76, -32.15] speed=20 wait=1.0s (pre max|Δ|=3.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.15° (tol 3.0°) [VIA ] step 5 Δ= +0.4 -3.2 +1.2 -0.1 -2.7 +0.2 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -59.26, +57.03, +21.69, +2.02, -74.50, -32.22] speed=20 wait=1.0s (pre max|Δ|=2.70°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.29° (tol 3.0°) [VIA ] step 8 Δ= +0.7 -2.3 +0.3 +0.1 -2.7 +0.1 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -58.82, +57.14, +21.45, +2.11, -74.59, -32.32] speed=20 wait=1.0s (pre max|Δ|=2.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.18° (tol 3.0°) [VIA ] step 9 Δ= +0.7 -2.2 +0.1 -0.1 -0.2 +0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.18°（関節 j1） [007] 推論 433ms 10ステップ先 Δ=+25.3 -5.8 -2.8 +3.5 +0.6 -2.5 [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|=74.44°, post-send timeout 13.2s) [SEND] arrival OK: max|Δ|=2.19° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_122909 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 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_193404 --scale 5 --alpha 0.7 [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_193404/frames/000000.jpg [REF ] お手本 run_0001_20261019_193404 (つかんだ瞬間の j0 = -61.6°) [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= -10.8 dx= +3.4 response=0.633 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) ^C^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 --state-from-target --execute --ignore-framing [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_20261029_123158 [CAMERA] 写り方 dy=-8.0 dx=+7.2 response=0.437 → 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 601ms 10ステップ先 Δ=-17.3 +15.6 +5.0 +0.2 -21.4 -0.9 [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) [ -3.27, +4.13, +2.65, +0.28, -4.04, -30.39] speed=20 wait=1.0s (pre max|Δ|=3.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.41° (tol 3.0°) [VIA ] step 2 Δ= -2.9 +2.6 +0.9 +0.0 -3.8 -0.2 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -9.37, +9.44, +4.35, +0.37, -11.42, -30.71] speed=20 wait=1.0s (pre max|Δ|=8.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 5 Δ= -5.7 +4.4 +0.8 +0.2 -8.8 -0.5 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -15.64, +15.15, +6.13, +0.39, -19.42, -31.03] speed=20 wait=1.0s (pre max|Δ|=8.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 8 Δ= -6.3 +4.8 +0.9 +0.3 -8.6 -0.7 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -17.63, +17.08, +6.72, +0.44, -21.69, -31.14] speed=20 wait=1.0s (pre max|Δ|=2.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 9 Δ= -2.3 +1.0 -0.2 +0.4 -3.0 -0.8 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.93°（関節 j1） [001] 推論 1518ms 10ステップ先 Δ=-20.0 +18.7 +6.0 +1.2 -27.1 -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_chunk001_via02: send_angles (single) [ -23.46, +22.66, +8.78, +0.88, -29.75, -31.38] speed=20 wait=1.0s (pre max|Δ|=7.52°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.98° (tol 3.0°) [VIA ] step 2 Δ= -5.6 +4.6 +1.2 +0.7 -7.5 -0.5 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -30.19, +28.39, +11.10, +1.02, -38.01, -31.46] speed=20 wait=1.0s (pre max|Δ|=10.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.14° (tol 3.0°) [VIA ] step 5 Δ= -7.3 +4.9 +1.5 -0.6 -10.2 -0.2 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -36.61, +34.76, +13.17, +0.93, -46.94, -31.45] speed=20 wait=1.0s (pre max|Δ|=10.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.09° (tol 3.0°) [VIA ] step 8 Δ= -6.7 +5.2 +1.3 -0.6 -10.0 -0.2 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -37.81, +36.74, +13.57, +0.96, -49.50, -31.46] speed=20 wait=1.0s (pre max|Δ|=2.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.05° (tol 3.0°) [VIA ] step 9 Δ= -1.5 +0.9 -0.3 -0.6 -2.9 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.05°（関節 j1） [002] 推論 551ms 10ステップ先 Δ=-21.0 +16.7 +6.4 +0.3 -24.5 -0.1 [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_chunk002_via02: send_angles (single) [ -45.46, +42.65, +15.75, +1.15, -58.51, -31.48] speed=20 wait=1.0s (pre max|Δ|=8.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 2 Δ= -7.6 +4.9 +1.9 -0.2 -8.9 -0.1 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -52.80, +48.97, +17.88, +1.59, -67.46, -31.49] speed=20 wait=1.0s (pre max|Δ|=9.28°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.86° (tol 3.0°) [VIA ] step 5 Δ= -7.5 +5.3 +1.5 +0.2 -9.3 -0.1 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -58.18, +53.75, +19.95, +1.75, -73.56, -31.49] speed=20 wait=1.0s (pre max|Δ|=6.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 8 Δ= -5.7 +3.9 +1.7 -0.2 -6.8 -0.0 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -58.88, +54.46, +20.23, +1.75, -74.11, -31.50] speed=20 wait=1.0s (pre max|Δ|=0.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 9 Δ= -0.7 -0.2 +0.0 -0.3 -0.9 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.99°（関節 j1） [003] 推論 595ms 10ステップ先 Δ= -0.9 +5.0 -4.4 -0.6 +8.9 -0.1 [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_chunk003_via02: send_angles (single) [ -59.50, +55.56, +21.01, +1.85, -74.11, -31.55] speed=20 wait=1.0s (pre max|Δ|=0.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 2 Δ= -0.3 +0.1 +0.8 -0.2 -0.0 -0.0 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -59.80, +57.10, +19.53, +1.75, -71.25, -31.61] speed=20 wait=1.0s (pre max|Δ|=3.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.61° (tol 3.0°) [VIA ] step 5 Δ= -0.6 +0.6 -1.5 -0.3 +3.4 -0.1 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -60.06, +59.75, +16.62, +1.44, -66.26, -31.68] speed=20 wait=1.0s (pre max|Δ|=6.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.13° (tol 3.0°) [VIA ] step 8 Δ= -0.9 +1.7 -4.2 -0.6 +6.6 -0.1 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -60.08, +60.42, +15.76, +1.39, -65.14, -31.69] speed=20 wait=1.0s (pre max|Δ|=2.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.29° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -0.3 -2.0 -0.4 +2.1 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.29°（関節 j2） [004] 推論 1477ms 7ステップ先 Δ= -0.1 +1.0 -3.1 -0.3 +4.8 -0.2 グリッパー→閉 [VIA ] 中継点 3 点: step 2, 5, 6 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) [ -60.63, +62.21, +14.01, +1.33, -61.91, -31.72] speed=20 wait=1.0s (pre max|Δ|=3.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 2 Δ= -0.2 +0.9 -3.0 -0.3 +3.7 -0.2 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -60.48, +62.36, +13.91, +1.34, -60.88, -31.72] speed=20 wait=1.0s (pre max|Δ|=1.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 5 Δ= -0.1 -0.7 -1.0 -0.3 +1.6 -0.2 着いた [SEND] pi05_chunk004_via06: send_angles (single) [ -60.48, +62.36, +13.91, +1.34, -60.88, -31.72] speed=20 wait=1.0s (pre max|Δ|=1.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 6 Δ= -0.1 -0.7 -1.0 -0.3 +0.5 -0.3 着いた [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.61°（関節 j4） [005] 推論 627ms 10ステップ先 Δ= +0.5 -4.4 +3.2 +0.8 -6.8 -0.9 [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) [ -60.25, +61.81, +14.16, +0.95, -61.70, -31.72] speed=20 wait=1.0s (pre max|Δ|=1.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.29° (tol 3.0°) [VIA ] step 2 Δ= -0.4 -1.3 -0.6 +0.1 +0.8 -0.4 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -59.85, +60.78, +15.46, +1.21, -64.23, -31.88] speed=20 wait=1.0s (pre max|Δ|=2.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.88° (tol 3.0°) [VIA ] step 5 Δ= -0.0 -2.3 +0.7 +0.3 -1.7 -0.6 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -59.44, +59.17, +17.62, +1.60, -68.35, -32.14] speed=20 wait=1.0s (pre max|Δ|=5.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.26° (tol 3.0°) [VIA ] step 8 Δ= +0.4 -3.5 +2.8 +0.6 -5.9 -0.6 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -59.34, +58.71, +18.00, +1.64, -69.25, -32.19] speed=20 wait=1.0s (pre max|Δ|=2.81°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.63° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -2.7 +0.4 +0.2 -2.8 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.63°（関節 j1） [006] 推論 642ms 10ステップ先 Δ= +2.4 -5.3 +3.5 +1.3 -9.2 -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_chunk006_via02: send_angles (single) [ -59.15, +57.43, +19.97, +2.17, -72.17, -32.44] speed=20 wait=1.0s (pre max|Δ|=3.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.33° (tol 3.0°) [VIA ] step 2 Δ= +0.5 -3.9 +2.4 +0.5 -3.0 +0.1 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -58.80, +56.27, +21.29, +2.54, -75.10, -32.57] speed=20 wait=1.0s (pre max|Δ|=3.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.61° (tol 3.0°) [VIA ] step 5 Δ= +0.9 -3.5 +1.2 +0.8 -2.8 -0.1 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -58.15, +56.15, +21.48, +2.82, -76.67, -32.73] speed=20 wait=1.0s (pre max|Δ|=2.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.73° (tol 3.0°) [VIA ] step 8 Δ= +0.8 -2.7 +0.3 +0.2 -1.0 -0.2 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -57.22, +56.07, +21.10, +2.93, -76.78, -32.85] speed=20 wait=1.0s (pre max|Δ|=2.81°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.81° (tol 3.0°) [VIA ] step 9 Δ= +1.1 -2.8 -0.1 +0.2 -1.1 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.81°（関節 j1） [007] 推論 550ms 10ステップ先 Δ=+26.7 -6.1 -3.1 +3.9 +1.8 -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_chunk007_via02: send_angles (single) [ -49.41, +55.12, +20.00, +4.08, -75.91, -33.52] speed=20 wait=1.0s (pre max|Δ|=7.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.44° (tol 3.0°) [VIA ] step 2 Δ= +8.0 -3.8 -1.2 +1.2 +0.2 -1.0 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ -41.29, +54.30, +19.12, +5.36, -75.21, -34.23] speed=20 wait=1.0s (pre max|Δ|=8.45°, post-send timeout 8.0s) [SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=15.36° actual=[ -41.66, +56.42, +20.47, +5.62, -59.85, -34.71] [SEND] リトライしません: pre→last max|Δ| 16.87° >= 1.0° (部分移動/ストール疑い) [VIA ] step 5 Δ= +8.5 -3.3 -2.0 +0.6 +1.5 -1.3 未到達 [WARN] 未到達. j4 の発熱などを確認してください [SEND] pi05_chunk007_via08: send_angles (single) [ -33.20, +53.14, +18.43, +6.57, -74.70, -34.79] speed=20 wait=1.0s (pre max|Δ|=14.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.05° (tol 3.0°) [VIA ] step 8 Δ= +8.5 -3.3 -2.0 +0.9 -14.9 -0.1 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ -30.70, +52.76, +18.09, +6.82, -74.28, -34.87] speed=20 wait=1.0s (pre max|Δ|=2.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 9 Δ= +2.8 -2.4 -1.6 +0.1 +1.4 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.34°（関節 j1） [008] 推論 587ms 10ステップ先 Δ=+29.6 -5.5 -6.7 +1.1 +6.3 -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_chunk008_via02: send_angles (single) [ -22.00, +51.79, +16.78, +7.50, -72.87, -35.01] speed=20 wait=1.0s (pre max|Δ|=9.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.52° (tol 3.0°) [VIA ] step 2 Δ= +9.1 -3.3 -2.9 +0.6 +2.2 -0.3 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ -12.93, +50.26, +15.36, +7.64, -71.29, -35.02] speed=20 wait=1.0s (pre max|Δ|=9.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.38° (tol 3.0°) [VIA ] step 5 Δ= +9.3 -4.0 -2.7 -0.1 +2.1 -0.3 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ -3.74, +49.48, +13.67, +7.86, -69.50, -35.08] speed=20 wait=1.0s (pre max|Δ|=9.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.37° (tol 3.0°) [VIA ] step 8 Δ= +9.5 -3.2 -2.9 +0.2 +2.2 -0.4 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ -1.52, +49.57, +13.01, +7.92, -69.12, -35.11] speed=20 wait=1.0s (pre max|Δ|=2.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.28° (tol 3.0°) [VIA ] step 9 Δ= +2.3 -2.3 -1.9 +0.2 +0.7 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.28°（関節 j1） [009] 推論 1437ms 10ステップ先 Δ=+25.8 -3.5 -8.3 +0.2 +5.0 -0.6 [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|=69.43°, post-send timeout 12.4s) [SEND] arrival OK: max|Δ|=1.84° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_123158 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 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_193404 --scale 5 --alpha 0.7 [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_193404/frames/000000.jpg [REF ] お手本 run_0001_20261019_193404 (つかんだ瞬間の j0 = -61.6°) [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= -10.7 dx= +3.4 response=0.627 → 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 --state-from-target --execute --ignore-framing [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_20261029_124104 [CAMERA] 写り方 dy=-7.8 dx=+6.8 response=0.512 → 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 1103ms 10ステップ先 Δ=-17.9 +16.3 +5.7 +0.1 -22.4 -0.8 [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) [ -3.75, +4.69, +3.04, +0.28, -4.72, -30.39] speed=20 wait=1.0s (pre max|Δ|=4.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 2 Δ= -3.4 +3.2 +1.2 +0.0 -4.5 -0.2 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -10.06, +10.30, +4.95, +0.32, -12.40, -30.69] speed=20 wait=1.0s (pre max|Δ|=8.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 5 Δ= -6.0 +4.8 +0.9 +0.2 -8.5 -0.5 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -16.40, +15.97, +6.80, +0.35, -20.09, -30.98] speed=20 wait=1.0s (pre max|Δ|=8.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 8 Δ= -6.8 +4.7 +0.9 +0.3 -8.4 -0.7 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -18.30, +17.74, +7.50, +0.34, -22.64, -31.08] speed=20 wait=1.0s (pre max|Δ|=2.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.89° (tol 3.0°) [VIA ] step 9 Δ= -2.5 +0.8 -0.1 +0.3 -3.0 -0.8 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.89°（関節 j1） [001] 推論 554ms 10ステップ先 Δ=-21.4 +19.0 +6.6 +1.2 -29.9 -0.9 [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) [ -24.36, +23.39, +9.71, +0.76, -31.07, -31.23] speed=20 wait=1.0s (pre max|Δ|=8.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 2 Δ= -5.7 +4.8 +1.4 +1.0 -8.3 -0.7 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -31.42, +29.25, +12.12, +0.90, -39.79, -31.28] speed=20 wait=1.0s (pre max|Δ|=9.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.89° (tol 3.0°) [VIA ] step 5 Δ= -6.5 +4.9 +1.6 -0.3 -9.3 -0.5 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -37.97, +35.36, +14.30, +0.77, -49.28, -31.33] speed=20 wait=1.0s (pre max|Δ|=10.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 8 Δ= -7.0 +5.2 +1.5 -0.7 -10.0 -0.5 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -40.02, +37.59, +14.92, +0.74, -52.62, -31.34] speed=20 wait=1.0s (pre max|Δ|=3.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.08° (tol 3.0°) [VIA ] step 9 Δ= -2.2 +1.3 -0.1 -0.6 -3.8 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.08°（関節 j1） [002] 推論 600ms 10ステップ先 Δ=-19.9 +15.6 +6.9 +0.9 -23.7 -0.1 [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_chunk002_via02: send_angles (single) [ -47.46, +43.57, +17.08, +1.05, -61.70, -31.39] speed=20 wait=1.0s (pre max|Δ|=8.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.90° (tol 3.0°) [VIA ] step 2 Δ= -7.4 +4.9 +1.6 +0.2 -8.6 -0.1 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -54.46, +49.54, +19.46, +1.55, -70.38, -31.41] speed=20 wait=1.0s (pre max|Δ|=9.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 5 Δ= -7.4 +5.1 +1.8 +0.1 -9.0 -0.1 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -59.32, +53.81, +21.91, +1.79, -76.20, -31.41] speed=20 wait=1.0s (pre max|Δ|=6.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 8 Δ= -5.2 +3.3 +2.1 +0.0 -6.8 -0.1 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -59.96, +54.26, +22.40, +1.80, -76.83, -31.42] speed=20 wait=1.0s (pre max|Δ|=0.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 9 Δ= -0.7 -0.5 +0.2 -0.2 -0.7 -0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.93°（関節 j1） [003] 推論 1521ms 10ステップ先 Δ= -0.5 +4.8 -5.6 -0.9 +9.7 -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) [ -60.09, +55.14, +21.74, +1.64, -75.51, -31.50] speed=20 wait=1.0s (pre max|Δ|=0.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.21° (tol 3.0°) [VIA ] step 2 Δ= +0.3 -0.1 -0.5 -0.5 +0.7 -0.2 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -60.33, +57.29, +19.20, +1.25, -71.55, -31.56] speed=20 wait=1.0s (pre max|Δ|=5.17°, post-send timeout 8.0s) [SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=11.44° actual=[ -60.38, +58.18, +20.30, +1.58, -60.11, -31.28] [SEND] リトライしません: pre→last max|Δ| 16.61° >= 1.0° (部分移動/ストール疑い) [VIA ] step 5 Δ= +0.1 +1.1 -3.0 -0.8 +5.2 -0.3 未到達 [WARN] 未到達. j4 の発熱などを確認してください [SEND] pi05_chunk003_via08: send_angles (single) [ -60.82, +59.49, +17.07, +1.10, -67.46, -31.55] speed=20 wait=1.0s (pre max|Δ|=7.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 8 Δ= -0.4 +1.3 -3.2 -0.5 -7.4 -0.3 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -60.92, +60.02, +16.64, +1.15, -66.53, -31.57] speed=20 wait=1.0s (pre max|Δ|=1.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.28° (tol 3.0°) [VIA ] step 9 Δ= -0.5 -0.3 -1.4 -0.2 +1.9 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.28°（関節 j2） [004] 推論 563ms 8ステップ先 Δ= -1.1 +1.2 -3.6 -0.2 +7.5 -0.4 グリッパー→閉 [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 > [SEND] pi05_chunk004_via02: send_angles (single) [ -61.39, +61.93, +14.63, +1.08, -62.09, -31.60] speed=20 wait=1.0s (pre max|Δ|=4.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 2 Δ= -1.0 +0.9 -3.3 -0.3 +5.0 -0.3 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -61.53, +62.40, +14.13, +1.19, -59.70, -31.68] speed=20 wait=1.0s (pre max|Δ|=2.87°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.29° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -0.4 -1.4 +0.1 +2.9 -0.4 着いた [SEND] pi05_chunk004_via07: send_angles (single) [ -61.47, +62.17, +14.35, +1.25, -59.59, -31.68] speed=20 wait=1.0s (pre max|Δ|=1.40°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.23° (tol 3.0°) [VIA ] step 7 Δ= +0.2 -0.9 -0.7 +0.2 +1.4 -0.4 着いた [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.23°（関節 j4） [005] 推論 636ms 10ステップ先 Δ= +0.9 -2.6 +2.5 +0.7 -5.9 -0.9 [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) [ -61.30, +62.21, +14.24, +0.51, -59.93, -31.63] speed=20 wait=1.0s (pre max|Δ|=0.89°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.89° (tol 3.0°) [VIA ] step 2 Δ= -0.2 -0.8 -0.1 -0.2 +0.9 -0.3 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -61.07, +61.71, +14.60, +0.45, -61.65, -31.72] speed=20 wait=1.0s (pre max|Δ|=1.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.21° (tol 3.0°) [VIA ] step 5 Δ= +0.0 -1.3 +0.3 -0.2 -0.8 -0.3 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -60.46, +60.55, +16.35, +0.86, -65.65, -32.13] speed=20 wait=1.0s (pre max|Δ|=4.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.99° (tol 3.0°) [VIA ] step 8 Δ= +0.6 -2.4 +2.0 +0.2 -4.8 -0.8 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -60.30, +60.36, +16.80, +0.92, -66.73, -32.22] speed=20 wait=1.0s (pre max|Δ|=4.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.22° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -1.8 +1.2 -1.3 -4.1 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.22°（関節 j4） [006] 推論 605ms 10ステップ先 Δ= +8.2 -6.1 +4.1 +1.5 -10.7 -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_chunk006_via02: send_angles (single) [ -60.07, +58.83, +19.21, +1.53, -70.17, -32.48] speed=20 wait=1.0s (pre max|Δ|=4.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 2 Δ= +0.7 -3.3 +2.2 +0.1 -5.0 +0.1 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -59.60, +57.58, +21.25, +2.10, -73.83, -32.79] speed=20 wait=1.0s (pre max|Δ|=4.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.27° (tol 3.0°) [VIA ] step 5 Δ= +0.7 -3.6 +1.7 +0.7 -4.6 -0.0 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ -55.31, +56.46, +21.55, +2.91, -75.35, -33.36] speed=20 wait=1.0s (pre max|Δ|=4.54°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.60° (tol 3.0°) [VIA ] step 8 Δ= +4.5 -3.4 +0.3 +1.2 -1.9 -0.6 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -52.60, +56.06, +21.01, +3.21, -75.23, -33.62] speed=20 wait=1.0s (pre max|Δ|=3.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.82° (tol 3.0°) [VIA ] step 9 Δ= +3.0 -3.0 -0.2 +0.2 -0.4 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.82°（関節 j1） [007] 推論 1545ms 10ステップ先 Δ=+28.0 -6.3 -4.0 +4.0 +2.3 -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 > [SEND] pi05_chunk007_via02: send_angles (single) [ -44.33, +55.10, +19.64, +4.38, -74.34, -34.41] speed=20 wait=1.0s (pre max|Δ|=8.31°, post-send timeout 8.0s) [SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=12.73° actual=[ -44.56, +56.95, +21.00, +4.74, -61.61, -34.80] [SEND] リトライしません: pre→last max|Δ| 13.18° >= 1.0° (部分移動/ストール疑い) [VIA ] step 2 Δ= +8.3 -3.8 -1.6 +1.2 +0.4 -1.1 未到達 [WARN] 未到達. j4 の発熱などを確認してください [SEND] pi05_chunk007_via05: send_angles (single) [ -35.83, +54.13, +18.49, +5.73, -73.87, -35.09] speed=20 wait=1.0s (pre max|Δ|=12.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.47° (tol 3.0°) [VIA ] step 5 Δ= +8.7 -2.8 -2.5 +1.0 -12.3 -0.3 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ -27.43, +52.96, +17.67, +6.93, -73.02, -35.44] speed=20 wait=1.0s (pre max|Δ|=8.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.41° (tol 3.0°) [VIA ] step 8 Δ= +8.8 -3.6 -2.3 +0.8 +1.0 -0.6 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ -24.66, +52.53, +17.27, +7.17, -72.51, -35.43] speed=20 wait=1.0s (pre max|Δ|=3.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.22° (tol 3.0°) [VIA ] step 9 Δ= +3.1 -2.8 -1.7 -0.1 +1.5 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.22°（関節 j1） [008] 推論 584ms 10ステップ先 Δ=+28.7 -6.4 -6.6 +0.8 +6.1 -0.6 [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_chunk008_via02: send_angles (single) [ -15.91, +51.28, +15.83, +7.16, -70.76, -35.50] speed=20 wait=1.0s (pre max|Δ|=9.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.33° (tol 3.0°) [VIA ] step 2 Δ= +9.1 -3.5 -3.2 -0.1 +2.1 -0.4 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ -7.86, +49.83, +14.46, +7.36, -69.39, -35.51] speed=20 wait=1.0s (pre max|Δ|=8.39°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.37° (tol 3.0°) [VIA ] step 5 Δ= +8.4 -3.8 -2.8 +0.2 +1.7 -0.4 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +1.23, +48.54, +12.87, +7.99, -67.67, -35.62] speed=20 wait=1.0s (pre max|Δ|=9.40°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.26° (tol 3.0°) [VIA ] step 8 Δ= +9.4 -3.7 -3.0 +0.5 +2.0 -0.4 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +3.67, +48.35, +12.40, +8.12, -67.08, -35.67] speed=20 wait=1.0s (pre max|Δ|=2.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.45° (tol 3.0°) [VIA ] step 9 Δ= +3.0 -2.4 -1.8 +0.1 +0.9 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.45°（関節 j1） [009] 推論 602ms 10ステップ先 Δ=+26.1 -3.1 -7.4 -0.1 +4.6 -0.6 [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|=67.32°, post-send timeout 12.1s) [SEND] arrival OK: max|Δ|=1.93° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_124104 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 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_193404 --scale 5 --alpha 0.7 [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_193404/frames/000000.jpg [REF ] お手本 run_0001_20261019_193404 (つかんだ瞬間の j0 = -61.6°) [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= -10.6 dx= +3.4 response=0.624 → 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 --state-from-target --execute --ignore-framing [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_20261029_124830 [CAMERA] 写り方 dy=-7.9 dx=+6.8 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) [STATE ] 実測を渡す (直前に送った目標がない) [000] 推論 1157ms 10ステップ先 Δ=-18.0 +15.4 +4.7 +0.2 -21.4 -0.6 [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) [ -2.89, +3.71, +2.73, +0.28, -3.51, -30.32] speed=20 wait=1.0s (pre max|Δ|=3.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.76° (tol 3.0°) [VIA ] step 2 Δ= -2.5 +2.2 +0.8 +0.0 -3.3 -0.1 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -9.44, +9.26, +4.29, +0.34, -11.49, -30.57] speed=20 wait=1.0s (pre max|Δ|=9.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 5 Δ= -6.3 +4.7 +0.6 +0.2 -9.7 -0.3 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -15.98, +15.00, +6.02, +0.42, -19.21, -30.81] speed=20 wait=1.0s (pre max|Δ|=8.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 8 Δ= -6.3 +4.7 +1.0 +0.4 -8.7 -0.6 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -18.36, +16.93, +6.58, +0.45, -21.66, -30.87] speed=20 wait=1.0s (pre max|Δ|=2.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 9 Δ= -2.7 +0.9 -0.3 +0.4 -2.9 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.99°（関節 j1） [001] 推論 560ms 10ステップ先 Δ=-21.4 +20.0 +6.7 +0.8 -29.1 -0.7 [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) [ -24.48, +22.84, +8.83, +0.75, -30.05, -31.04] speed=20 wait=1.0s (pre max|Δ|=7.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.89° (tol 3.0°) [VIA ] step 2 Δ= -5.8 +4.9 +1.6 +0.9 -8.0 -0.6 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -31.50, +28.98, +11.15, +0.88, -38.67, -31.08] speed=20 wait=1.0s (pre max|Δ|=9.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.07° (tol 3.0°) [VIA ] step 5 Δ= -6.6 +5.2 +1.6 -0.3 -9.1 -0.7 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -38.22, +35.61, +13.38, +0.69, -48.10, -31.09] speed=20 wait=1.0s (pre max|Δ|=9.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.12° (tol 3.0°) [VIA ] step 8 Δ= -7.2 +5.6 +1.5 -0.8 -9.8 -0.6 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -40.15, +37.96, +13.94, +0.60, -51.18, -31.08] speed=20 wait=1.0s (pre max|Δ|=3.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.06° (tol 3.0°) [VIA ] step 9 Δ= -2.2 +1.2 -0.1 -0.5 -3.5 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.06°（関節 j1） [002] 推論 557ms 10ステップ先 Δ=-19.9 +15.8 +6.1 +1.0 -23.6 -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_chunk002_via02: send_angles (single) [ -47.52, +43.62, +15.96, +1.03, -60.13, -31.13] speed=20 wait=1.0s (pre max|Δ|=8.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 2 Δ= -7.4 +4.6 +1.6 +0.4 -8.5 -0.5 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -54.30, +49.54, +18.00, +1.43, -68.58, -31.16] speed=20 wait=1.0s (pre max|Δ|=9.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 5 Δ= -6.8 +5.0 +1.5 +0.2 -9.3 -0.3 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -59.11, +54.22, +20.07, +1.59, -74.75, -31.20] speed=20 wait=1.0s (pre max|Δ|=6.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 8 Δ= -5.2 +3.7 +1.7 -0.2 -6.7 -0.4 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -59.96, +54.83, +20.49, +1.63, -75.26, -31.21] speed=20 wait=1.0s (pre max|Δ|=0.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 9 Δ= -0.6 -0.4 +0.1 -0.3 -0.4 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.98°（関節 j1） [003] 推論 606ms 10ステップ先 Δ= -0.5 +4.2 -4.1 -0.8 +7.0 -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_chunk003_via02: send_angles (single) [ -60.34, +55.55, +20.90, +1.72, -75.92, -31.27] speed=20 wait=1.0s (pre max|Δ|=0.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 2 Δ= -0.1 -0.3 +0.5 -0.2 -0.5 -0.3 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -60.51, +57.03, +19.51, +1.47, -74.18, -31.34] speed=20 wait=1.0s (pre max|Δ|=1.66°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 3.0°) [VIA ] step 5 Δ= -0.3 +0.5 -0.9 -0.5 +1.7 -0.4 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -60.72, +59.28, +17.01, +1.16, -69.63, -31.40] speed=20 wait=1.0s (pre max|Δ|=6.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.38° (tol 3.0°) [VIA ] step 8 Δ= -0.5 +1.3 -3.4 -0.6 +6.2 -0.4 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -60.75, +60.00, +16.26, +1.10, -68.42, -31.42] speed=20 wait=1.0s (pre max|Δ|=2.50°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 3.0°) [VIA ] step 9 Δ= -0.5 -0.3 -2.0 -0.4 +2.5 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.66°（関節 j2） [004] 推論 1462ms 9ステップ先 Δ= -1.3 +1.7 -5.4 -0.6 +9.3 -0.3 グリッパー→閉 [VIA ] 中継点 3 点: step 2, 5, 8 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) [ -61.06, +61.96, +13.74, +0.79, -63.93, -31.43] speed=20 wait=1.0s (pre max|Δ|=4.88°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.20° (tol 3.0°) [VIA ] step 2 Δ= -0.9 +1.0 -4.2 -0.6 +4.9 -0.2 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -61.23, +62.90, +12.58, +0.68, -60.63, -31.49] speed=20 wait=1.0s (pre max|Δ|=3.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 5 Δ= +0.1 +0.1 -2.4 -0.3 +3.4 -0.3 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ -61.46, +62.70, +12.55, +0.81, -59.95, -31.52] speed=20 wait=1.0s (pre max|Δ|=1.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 8 Δ= -0.1 -0.9 -1.0 -0.1 +1.1 -0.3 着いた [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.48°（関節 j4） [005] 推論 617ms 10ステップ先 Δ= +0.2 -2.8 +2.6 +0.5 -5.2 -0.9 [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) [ -61.36, +62.79, +12.24, +0.05, -60.27, -31.51] speed=20 wait=1.0s (pre max|Δ|=1.16°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.16° (tol 3.0°) [VIA ] step 2 Δ= -0.5 -0.8 -0.9 -0.1 +1.2 -0.4 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -61.33, +62.70, +12.45, -0.13, -61.35, -31.54] speed=20 wait=1.0s (pre max|Δ|=0.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 5 Δ= -0.5 -0.9 -0.5 -0.2 +0.1 -0.4 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -60.83, +61.22, +14.99, +0.47, -65.34, -31.92] speed=20 wait=1.0s (pre max|Δ|=3.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.33° (tol 3.0°) [VIA ] step 8 Δ= -0.0 -2.4 +2.0 +0.4 -3.9 -0.8 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ -60.71, +60.87, +15.72, +0.56, -66.58, -32.02] speed=20 wait=1.0s (pre max|Δ|=3.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.14° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -2.1 +1.1 +0.3 -3.6 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.14°（関節 j1） [006] 推論 635ms 10ステップ先 Δ= +8.3 -7.7 +5.1 +2.6 -10.8 -1.7 [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) [ -60.43, +59.20, +18.10, +1.21, -70.08, -32.37] speed=20 wait=1.0s (pre max|Δ|=4.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.23° (tol 3.0°) [VIA ] step 2 Δ= +0.4 -3.8 +2.5 +0.9 -5.0 +0.1 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ -60.02, +57.69, +20.09, +1.73, -73.70, -32.61] speed=20 wait=1.0s (pre max|Δ|=4.80°, post-send timeout 8.0s) [WARN] _daemon_request timeout (timeout=4.0s, cmd=send_angles). socket closed. [SEND] [ERROR] daemon_send_angles 例外: daemon timeout after 4.0s (cmd=send_angles) [VIA ] step 5 Δ= +0.7 -3.7 +1.8 +0.1 -4.8 +0.3 未到達 [WARN] 未到達. j4 の発熱などを確認してください [SEND] pi05_chunk006_via08: send_angles (single) [ -55.39, +55.76, +20.86, +2.64, -75.55, -33.32] speed=20 wait=1.0s (pre max|Δ|=4.63°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.15° (tol 3.0°) [VIA ] step 8 Δ= +4.6 -4.2 +0.6 +0.9 -2.4 -0.4 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ -52.53, +55.31, +20.52, +2.98, -75.34, -33.61] speed=20 wait=1.0s (pre max|Δ|=3.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.60° (tol 3.0°) [VIA ] step 9 Δ= +3.0 -2.6 -0.7 -0.4 +0.6 -0.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.60°（関節 j1） [007] 推論 707ms 10ステップ先 Δ=+27.0 -5.6 -4.7 +3.6 +2.9 -2.3 [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_chunk007_via02: send_angles (single) [ -44.99, +54.67, +19.20, +4.05, -74.63, -34.33] speed=20 wait=1.0s (pre max|Δ|=7.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.45° (tol 3.0°) [VIA ] step 2 Δ= +7.7 -3.2 -2.1 +0.8 +1.3 -1.1 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ -36.71, +53.71, +18.01, +5.35, -74.09, -35.04] speed=20 wait=1.0s (pre max|Δ|=8.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.62° (tol 3.0°) [VIA ] step 5 Δ= +8.5 -3.4 -2.9 +1.1 +1.8 -1.0 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ -28.37, +52.74, +16.99, +6.54, -73.49, -35.43] speed=20 wait=1.0s (pre max|Δ|=8.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.63° (tol 3.0°) [VIA ] step 8 Δ= +8.7 -3.6 -2.4 +0.9 +1.6 -0.7 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ -25.63, +52.36, +16.55, +6.80, -72.99, -35.47] speed=20 wait=1.0s (pre max|Δ|=3.02°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.30° (tol 3.0°) [VIA ] step 9 Δ= +3.0 -3.0 -1.8 +0.0 +1.2 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.30°（関節 j1） [008] 推論 1537ms 10ステップ先 Δ=+30.2 -6.4 -7.1 +1.2 +6.3 -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_chunk008_via02: send_angles (single) [ -16.54, +50.99, +15.10, +7.11, -71.19, -35.55] speed=20 wait=1.0s (pre max|Δ|=9.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.44° (tol 3.0°) [VIA ] step 2 Δ= +9.3 -3.7 -3.3 +0.4 +2.2 -0.3 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ -8.09, +49.85, +13.56, +7.34, -69.72, -35.52] speed=20 wait=1.0s (pre max|Δ|=8.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.79° (tol 3.0°) [VIA ] step 5 Δ= +8.8 -3.6 -2.9 +0.4 +1.8 -0.3 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +1.67, +48.55, +11.81, +7.86, -67.73, -35.59] speed=20 wait=1.0s (pre max|Δ|=10.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.51° (tol 3.0°) [VIA ] step 8 Δ=+10.1 -4.1 -3.2 +0.4 +2.3 -0.3 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +4.40, +48.29, +11.28, +8.01, -67.04, -35.62] speed=20 wait=1.0s (pre max|Δ|=2.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.77° (tol 3.0°) [VIA ] step 9 Δ= +2.9 -2.8 -2.1 +0.3 +0.9 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.77°（関節 j1） [009] 推論 553ms 10ステップ先 Δ=+29.3 -4.1 -7.3 -0.6 +5.2 -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_chunk009_via02: send_angles (single) [ +13.45, +47.47, +9.58, +7.99, -65.25, -35.65] speed=20 wait=1.0s (pre max|Δ|=9.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.62° (tol 3.0°) [VIA ] step 2 Δ= +9.2 -3.6 -3.5 -0.3 +1.8 -0.3 着いた [SEND] pi05_chunk009_via05: send_angles (single) [ +22.85, +46.87, +7.95, +7.80, -63.63, -35.66] speed=20 wait=1.0s (pre max|Δ|=9.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.87° (tol 3.0°) [VIA ] step 5 Δ= +9.6 -3.2 -3.2 -0.4 +1.4 -0.3 着いた [SEND] pi05_chunk009_via08: send_angles (single) [ +31.71, +46.85, +6.20, +7.78, -62.11, -35.72] speed=20 wait=1.0s (pre max|Δ|=9.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.80° (tol 3.0°) [VIA ] step 8 Δ= +9.0 -2.9 -3.5 -0.2 +1.6 -0.4 着いた [SEND] pi05_chunk009_via09: send_angles (single) [ +33.56, +47.00, +5.74, +7.79, -61.81, -35.74] speed=20 wait=1.0s (pre max|Δ|=2.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.65° (tol 3.0°) [VIA ] step 9 Δ= +2.0 -2.7 -2.0 -0.3 +0.5 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.65°（関節 j1） [010] 推論 552ms 10ステップ先 Δ= +7.8 +6.7 -9.8 -0.7 +1.8 -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_chunk010_via02: send_angles (single) [ +39.97, +46.80, +4.77, +7.27, -60.18, -35.86] speed=20 wait=1.0s (pre max|Δ|=6.31°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.85° (tol 3.0°) [VIA ] step 2 Δ= +6.3 -2.8 -3.0 -0.9 +2.0 -0.5 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +41.86, +49.65, +2.42, +7.12, -59.56, -35.84] speed=20 wait=1.0s (pre max|Δ|=3.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.35° (tol 3.0°) [VIA ] step 5 Δ= +1.9 +0.0 -4.0 -0.1 +0.5 -0.2 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +41.69, +55.01, -1.21, +7.43, -60.14, -35.85] speed=20 wait=1.0s (pre max|Δ|=4.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.56° (tol 3.0°) [VIA ] step 8 Δ= -0.1 +4.3 -5.0 +0.1 -0.3 -0.3 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +41.51, +56.37, -2.03, +7.50, -60.34, -35.87] speed=20 wait=1.0s (pre max|Δ|=2.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.68° (tol 3.0°) [VIA ] step 9 Δ= -0.3 +0.1 -2.4 +0.1 -0.6 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.68°（関節 j2） [011] 推論 680ms 9ステップ先 Δ= +0.3 +4.8 -4.4 +0.3 -3.0 -0.3 グリッパー→開 [VIA ] 中継点 3 点: step 2, 5, 8 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk011_via02: send_angles (single) [ +41.83, +60.37, -4.02, +7.63, -61.40, -35.86] speed=20 wait=1.0s (pre max|Δ|=3.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.64° (tol 3.0°) [VIA ] step 2 Δ= -0.0 +2.8 -3.7 +0.2 -1.6 -0.3 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +42.00, +62.33, -4.81, +7.67, -62.25, -35.91] speed=20 wait=1.0s (pre max|Δ|=2.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.65° (tol 3.0°) [VIA ] step 5 Δ= +0.2 +0.8 -2.4 +0.2 -2.5 -0.2 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +42.18, +62.31, -4.72, +7.74, -62.72, -35.93] speed=20 wait=1.0s (pre max|Δ|=1.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.56° (tol 3.0°) [VIA ] step 8 Δ= +0.3 -1.2 -1.6 +0.2 -0.7 -0.2 着いた [Pi] GRIPPER: OPEN result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.56°（関節 j2） [012] 推論 1472ms 10ステップ先 Δ= -0.5 -17.1 +5.7 +0.3 +6.5 -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_chunk012_via02: send_angles (single) [ +42.06, +58.07, -2.99, +7.70, -61.46, -35.97] speed=20 wait=1.0s (pre max|Δ|=5.47°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.31° (tol 3.0°) [VIA ] step 2 Δ= +0.2 -5.5 +0.2 +0.2 +1.6 -0.3 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +42.11, +53.34, -0.62, +7.77, -59.79, -36.03] speed=20 wait=1.0s (pre max|Δ|=7.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.20° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -7.0 +1.7 +0.2 +3.3 -0.3 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +41.85, +47.98, +1.96, +7.83, -57.59, -36.02] speed=20 wait=1.0s (pre max|Δ|=7.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.29° (tol 3.0°) [VIA ] step 8 Δ= +0.0 -7.6 +1.9 +0.3 +3.1 -0.3 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +41.36, +46.39, +2.51, +7.80, -56.61, -35.97] speed=20 wait=1.0s (pre max|Δ|=3.88°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.38° (tol 3.0°) [VIA ] step 9 Δ= -0.5 -3.9 -0.2 +0.3 +1.6 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.38°（関節 j1） [013] 推論 819ms 10ステップ先 Δ=-18.3 -24.4 -1.3 -3.6 +26.8 +2.9 [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_chunk013_via02: send_angles (single) [ +37.13, +40.34, +3.28, +6.94, -50.71, -35.30] speed=20 wait=1.0s (pre max|Δ|=8.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.19° (tol 3.0°) [VIA ] step 2 Δ= -4.7 -8.4 +0.2 -0.7 +6.1 +0.4 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +31.41, +33.46, +2.77, +5.63, -41.86, -34.16] speed=20 wait=1.0s (pre max|Δ|=9.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 5 Δ= -6.1 -9.1 -1.1 -1.8 +9.3 +1.6 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +25.55, +26.35, +1.96, +4.37, -32.54, -33.07] speed=20 wait=1.0s (pre max|Δ|=9.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.03° (tol 3.0°) [VIA ] step 8 Δ= -5.7 -9.2 -2.0 -1.7 +9.6 +1.7 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +23.52, +24.35, +1.76, +3.98, -29.98, -32.76] speed=20 wait=1.0s (pre max|Δ|=4.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.19° (tol 3.0°) [VIA ] step 9 Δ= -2.5 -4.0 -2.2 -0.7 +3.0 +0.8 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.19°（関節 j1） [014] 推論 1792ms 10ステップ先 Δ=-21.9 -24.6 -2.2 -3.2 +27.7 +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 > [SEND] pi05_chunk014_via02: send_angles (single) [ +16.34, +17.14, +1.61, +2.75, -21.02, -31.70] speed=20 wait=1.0s (pre max|Δ|=9.40°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.25° (tol 3.0°) [VIA ] step 2 Δ= -6.9 -9.4 -2.3 -1.2 +9.1 +1.2 着いた [SEND] pi05_chunk014_via05: send_angles (single) [ +9.25, +9.50, +1.70, +1.60, -11.50, -31.10] speed=20 wait=1.0s (pre max|Δ|=9.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.16° (tol 3.0°) [VIA ] step 5 Δ= -7.6 -9.4 -2.2 -1.4 +9.9 +0.8 着いた [SEND] pi05_chunk014_via08: send_angles (single) [ +2.67, +2.92, +1.73, +0.85, -3.56, -30.95] speed=20 wait=1.0s (pre max|Δ|=8.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 8 Δ= -7.2 -8.2 -2.1 -1.1 +8.0 +0.3 着いた [SEND] pi05_chunk014_via09: send_angles (single) [ +1.43, +1.98, +1.65, +0.76, -2.57, -30.97] speed=20 wait=1.0s (pre max|Δ|=2.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.21° (tol 3.0°) [VIA ] step 9 Δ= -1.0 -2.4 -2.2 -0.4 +1.2 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.21°（関節 j2） [015] 推論 735ms 10ステップ先 Δ= +0.0 -1.6 -2.2 -0.3 -0.4 +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_chunk015_via02: send_angles (single) [ +1.06, +2.09, +1.58, +0.77, -2.83, -30.94] speed=20 wait=1.0s (pre max|Δ|=2.28°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.28° (tol 3.0°) [VIA ] step 2 Δ= +0.0 -1.4 -2.3 -0.3 -0.2 +0.3 着いた [SEND] pi05_chunk015_via05: send_angles (single) [ +1.07, +2.07, +1.65, +0.77, -2.92, -30.95] speed=20 wait=1.0s (pre max|Δ|=2.21°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.21° (tol 3.0°) [VIA ] step 5 Δ= +0.0 -1.4 -2.2 -0.3 -0.3 +0.3 着いた [SEND] pi05_chunk015_via08: send_angles (single) [ +1.03, +1.90, +1.67, +0.75, -2.94, -30.95] speed=20 wait=1.0s (pre max|Δ|=2.19°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.19° (tol 3.0°) [VIA ] step 8 Δ= -0.0 -1.6 -2.2 -0.3 -0.3 +0.3 着いた [SEND] pi05_chunk015_via09: send_angles (single) [ +1.09, +1.88, +1.69, +0.73, -2.99, -30.95] speed=20 wait=1.0s (pre max|Δ|=2.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.17° (tol 3.0°) [VIA ] step 9 Δ= +0.0 -1.6 -2.2 -0.3 -0.4 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.17°（関節 j2） [016] 推論 553ms 10ステップ先 Δ= -0.1 -1.7 -2.2 -0.4 -0.1 +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 > 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|=3.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_124830 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % 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_193404 --scale 5 --alpha 0.7 [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_193404/frames/000000.jpg [REF ] お手本 run_0001_20261019_193404 (つかんだ瞬間の j0 = -61.6°) [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= -10.6 dx= +3.3 response=0.648 → 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 --state-from-target --execute --ignore-framing [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_20261029_125314 [CAMERA] 写り方 dy=-8.1 dx=+7.2 response=0.420 → 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 606ms 10ステップ先 Δ=-18.6 +17.2 +5.5 -0.0 -22.8 -0.8 [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) [ -3.87, +4.93, +2.79, +0.25, -5.13, -30.41] speed=20 wait=1.0s (pre max|Δ|=4.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.27° (tol 3.0°) [VIA ] step 2 Δ= -3.5 +3.4 +1.1 -0.0 -5.0 -0.2 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -10.20, +10.71, +4.56, +0.25, -12.61, -30.67] speed=20 wait=1.0s (pre max|Δ|=8.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.10° (tol 3.0°) [VIA ] step 5 Δ= -6.0 +4.9 +0.9 +0.1 -8.8 -0.4 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -16.76, +16.66, +6.45, +0.18, -20.39, -30.94] speed=20 wait=1.0s (pre max|Δ|=8.88°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 8 Δ= -7.0 +5.0 +1.1 +0.2 -8.9 -0.7 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -18.97, +18.72, +7.11, +0.22, -22.96, -31.04] speed=20 wait=1.0s (pre max|Δ|=2.93°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 9 Δ= -2.7 +1.1 -0.2 +0.3 -2.9 -0.8 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.96°（関節 j1） [001] 推論 1467ms 10ステップ先 Δ=-21.0 +20.1 +6.3 +0.8 -29.6 -0.6 [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) [ -24.76, +24.64, +9.17, +0.66, -31.30, -31.15] speed=20 wait=1.0s (pre max|Δ|=8.37°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 2 Δ= -5.4 +5.0 +1.3 +0.9 -8.4 -0.6 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -31.54, +30.83, +11.34, +0.69, -39.96, -31.16] speed=20 wait=1.0s (pre max|Δ|=9.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 5 Δ= -7.2 +5.2 +1.3 -0.5 -9.3 -0.3 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -37.90, +37.35, +13.53, +0.37, -49.30, -31.13] speed=20 wait=1.0s (pre max|Δ|=9.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 8 Δ= -6.5 +5.5 +1.5 -0.9 -9.7 -0.3 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -40.36, +39.82, +14.22, +0.33, -52.43, -31.10] speed=20 wait=1.0s (pre max|Δ|=3.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 9 Δ= -2.7 +1.5 +0.1 -0.5 -3.5 -0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.04°（関節 j1） [002] 推論 804ms 10ステップ先 Δ=-18.8 +15.6 +6.0 +0.9 -22.8 -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) [ -47.42, +45.46, +16.16, +0.80, -61.52, -31.18] speed=20 wait=1.0s (pre max|Δ|=8.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 2 Δ= -6.7 +4.6 +1.4 +0.5 -8.8 -0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -54.17, +51.49, +18.22, +1.15, -69.63, -31.19] speed=20 wait=1.0s (pre max|Δ|=8.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 5 Δ= -7.1 +5.0 +1.5 -0.1 -8.4 +0.0 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -58.95, +56.04, +20.35, +1.27, -75.04, -31.22] speed=20 wait=1.0s (pre max|Δ|=5.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 8 Δ= -5.1 +3.6 +1.7 -0.1 -6.0 -0.0 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -59.44, +56.49, +20.72, +1.28, -75.50, -31.22] speed=20 wait=1.0s (pre max|Δ|=0.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.90° (tol 3.0°) [VIA ] step 9 Δ= -0.4 -0.5 +0.2 -0.3 -0.4 -0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.90°（関節 j1） [003] 推論 629ms 10ステップ先 Δ= -1.1 +4.5 -4.7 -1.1 +6.9 -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) [ -59.79, +57.84, +20.31, +1.31, -76.41, -31.28] speed=20 wait=1.0s (pre max|Δ|=9.18°, post-send timeout 8.0s) [SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=7.42° actual=[ -59.67, +58.79, +20.56, +1.31, -68.99, -30.84] [SEND] リトライしません: pre→last max|Δ| 1.76° >= 1.0° (部分移動/ストール疑い) [VIA ] step 2 Δ= -0.7 +0.5 -0.3 -0.2 -9.2 +0.6 未到達 [WARN] 未到達. j4 の発熱などを確認してください [SEND] pi05_chunk003_via05: send_angles (single) [ -59.65, +59.77, +18.34, +0.87, -73.89, -31.41] speed=20 wait=1.0s (pre max|Δ|=4.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.34° (tol 3.0°) [VIA ] step 5 Δ= +0.0 +1.0 -2.2 -0.4 -4.9 -0.6 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -59.99, +61.44, +16.28, +0.55, -69.37, -31.49] speed=20 wait=1.0s (pre max|Δ|=3.40°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.12° (tol 3.0°) [VIA ] step 8 Δ= -0.3 +0.6 -3.4 -0.8 +3.2 -0.6 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -60.12, +61.87, +15.89, +0.52, -68.23, -31.50] speed=20 wait=1.0s (pre max|Δ|=2.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.51° (tol 3.0°) [VIA ] step 9 Δ= -0.4 -0.4 -1.5 -0.6 +2.2 -0.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.51°（関節 j2） [004] 推論 651ms 10ステップ先 Δ= -0.9 +0.7 -4.8 +0.2 +11.7 -1.0 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_chunk004_via02: send_angles (single) [ -60.25, +63.30, +13.83, +0.27, -63.40, -31.52] speed=20 wait=1.0s (pre max|Δ|=5.33°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 2 Δ= -0.5 +0.5 -3.6 -0.5 +5.3 -0.5 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ -60.45, +63.77, +12.86, +0.52, -59.70, -31.69] speed=20 wait=1.0s (pre max|Δ|=4.19°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.73° (tol 3.0°) [VIA ] step 5 Δ= -0.7 -0.4 -2.0 -0.0 +4.2 -0.6 着いた [SEND] pi05_chunk004_via08: send_angles (single) [ -60.64, +63.54, +12.55, +1.11, -57.24, -31.97] speed=20 wait=1.0s (pre max|Δ|=4.19°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 8 Δ= -0.9 -0.9 -1.0 +0.6 +4.2 -0.8 着いた [SEND] pi05_chunk004_via09: send_angles (single) [ -60.64, +63.54, +12.55, +1.11, -57.24, -31.97] speed=20 wait=1.0s (pre max|Δ|=2.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.26° (tol 3.0°) [VIA ] step 9 Δ= -0.4 -0.9 -0.4 +1.0 +2.3 -0.7 着いた [Pi] GRIPPER: VALUE=20 speed=100 result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.29°（関節 j4） [005] 推論 1558ms 10ステップ先 Δ= +0.0 -4.4 +6.3 +0.4 -9.5 -0.7 [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) [ -60.45, +62.97, +12.98, +0.59, -58.06, -31.91] speed=20 wait=1.0s (pre max|Δ|=2.76°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.76° (tol 3.0°) [VIA ] step 2 Δ= -0.3 -1.1 +0.8 -0.4 +2.8 +0.7 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ -60.32, +61.48, +15.18, +0.90, -61.46, -32.02] speed=20 wait=1.0s (pre max|Δ|=2.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.62° (tol 3.0°) [VIA ] step 5 Δ= -0.2 -2.6 +3.0 -0.1 -0.6 +0.4 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ -60.08, +59.91, +17.90, +1.19, -66.57, -32.19] speed=20 wait=1.0s (pre max|Δ|=4.70°, post-send timeout 8.0s) [SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=5.67° actual=[ -60.20, +60.73, +17.22, +1.58, -60.90, -32.25] [SEND] リトライしません: pre→last max|Δ| 2.64° >= 1.0° (部分移動/ストール疑い) [VIA ] step 8 Δ= +0.1 -3.2 +3.3 -0.1 -4.7 +0.2 未到達 [WARN] 未到達. j4 の発熱などを確認してください [SEND] pi05_chunk005_via09: send_angles (single) [ -60.11, +59.47, +18.52, +1.27, -68.03, -32.22] speed=20 wait=1.0s (pre max|Δ|=7.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.73° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -1.3 +1.3 -0.3 -7.1 +0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.73°（関節 j4） [006] 推論 556ms 10ステップ先 Δ= +9.5 -5.0 +2.8 +1.7 -10.5 -0.9 [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|=66.62°, post-send timeout 12.0s) [SEND] arrival OK: max|Δ|=1.84° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_125314 (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 --ignore-framing [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_20261029_125528 [CAMERA] 写り方 dy=-22.2 dx=+14.4 response=0.032 → 測れない (相関が弱く dx/dy が当てにならない (response=0.032 < 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 [WARN ] 写り方が『測れない』だが --ignore-framing が指定されたので続けます [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 553ms 10ステップ先 Δ=-17.2 +17.5 +5.7 +0.0 -22.8 -0.6 [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) [ -3.72, +5.03, +3.02, +0.18, -5.12, -30.30] speed=20 wait=1.0s (pre max|Δ|=4.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.17° (tol 3.0°) [VIA ] step 2 Δ= -3.4 +3.5 +1.2 -0.1 -4.9 -0.1 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -9.57, +10.80, +4.85, +0.21, -12.80, -30.50] speed=20 wait=1.0s (pre max|Δ|=8.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 5 Δ= -5.5 +4.8 +0.9 +0.0 -8.8 -0.3 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -15.84, +16.98, +6.89, +0.25, -20.66, -30.74] speed=20 wait=1.0s (pre max|Δ|=8.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 8 Δ= -6.3 +5.2 +1.1 +0.2 -8.7 -0.5 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -17.53, +19.02, +7.50, +0.30, -23.10, -30.82] speed=20 wait=1.0s (pre max|Δ|=2.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 9 Δ= -1.9 +1.0 -0.1 +0.4 -3.0 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.01°（関節 j1） [001] 推論 608ms 10ステップ先 Δ=-21.1 +19.6 +6.2 +0.9 -29.7 -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_chunk001_via02: send_angles (single) [ -23.69, +25.05, +9.65, +0.60, -31.54, -30.85] speed=20 wait=1.0s (pre max|Δ|=8.52°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.89° (tol 3.0°) [VIA ] step 2 Δ= -5.9 +5.0 +1.3 +0.6 -8.5 -0.4 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -30.66, +31.16, +11.85, +0.73, -40.44, -30.84] speed=20 wait=1.0s (pre max|Δ|=9.68°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 5 Δ= -6.7 +5.2 +1.5 -0.8 -9.7 -0.4 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -37.28, +37.57, +14.02, +0.55, -49.77, -30.85] speed=20 wait=1.0s (pre max|Δ|=9.70°, post-send timeout 8.0s) [SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=36.50° actual=[ -37.08, +38.67, +14.58, +0.26, -13.27, -31.02] [SEND] リトライしません: pre→last max|Δ| 26.80° >= 1.0° (部分移動/ストール疑い) [VIA ] step 8 Δ= -7.1 +5.5 +1.5 -0.9 -9.7 -0.4 未到達 [WARN] 未到達. j4 の発熱などを確認してください [LIMIT] step 9 (実測から): j4 移動量 -39.7° を ±20° に制限 [SEND] pi05_chunk001_via09: send_angles (single) [ -38.98, +39.63, +14.59, +0.52, -33.09, -30.82] speed=20 wait=1.0s (pre max|Δ|=20.00°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 9 Δ= -1.9 +1.0 +0.0 +0.2 -20.0 +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） [002] 推論 558ms 10ステップ先 Δ=-19.3 +17.5 +5.8 +0.1 -26.9 +0.1 [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_chunk002_via02: send_angles (single) [ -45.71, +45.28, +16.40, +1.06, -42.65, -30.89] speed=20 wait=1.0s (pre max|Δ|=9.08°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 2 Δ= -7.0 +4.7 +1.5 +0.0 -9.1 +0.1 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -52.19, +51.42, +18.47, +1.20, -51.75, -30.93] speed=20 wait=1.0s (pre max|Δ|=9.66°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.31° (tol 3.0°) [VIA ] step 5 Δ= -6.7 +5.1 +1.7 -0.2 -9.7 +0.1 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -57.29, +57.09, +20.44, +1.22, -59.29, -30.95] speed=20 wait=1.0s (pre max|Δ|=8.85°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.82° (tol 3.0°) [VIA ] step 8 Δ= -5.4 +4.8 +1.8 -0.5 -8.9 -0.0 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -58.03, +58.14, +20.77, +1.19, -60.48, -30.93] speed=20 wait=1.0s (pre max|Δ|=1.33°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.83° (tol 3.0°) [VIA ] step 9 Δ= -0.8 +0.2 +0.5 -0.4 -1.3 +0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.83°（関節 j1） [003] 推論 417ms 8ステップ先 Δ= +0.1 +2.0 -2.0 -0.5 +2.8 -0.0 グリッパー→閉 [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|=60.90°, post-send timeout 11.1s) [SEND] arrival OK: max|Δ|=1.75° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_125528 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts %