Last login: Thu Oct 29 11:53:13 on ttys008 (base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % 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_194818 --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 --ignore-framing Traceback (most recent call last): File "", line 1, in ModuleNotFoundError: No module named 'visual_servo_pick' python3: can't open file '/Users/shimazueiichi/pi05/camera_align.py': [Errno 2] No such file or directory python3: can't open file '/Users/shimazueiichi/pi05/run_policy_client.py': [Errno 2] No such file or directory (base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % cd ~/r2r2r-scripts RAW=/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes python3 -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_194818 --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_194818/frames/000000.jpg [REF ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°) [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= -3.2 response=0.483 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -0.7 dx= -4.5 response=0.650 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -2.7 dx= -2.2 response=0.548 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -3.8 dx= +4.6 response=0.661 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -2.0 dx= +7.8 response=0.717 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -0.9 dx= +9.6 response=0.559 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +0.2 dx= +15.6 response=0.542 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -1.8 dx= +11.8 response=0.586 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +1.0 dx= +1.8 response=0.649 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -2.0 dx= +4.8 response=0.524 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -3.8 dx= +1.4 response=0.534 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -5.9 dx= +0.3 response=0.593 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -8.1 dx= +2.4 response=0.613 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -9.9 dx= +3.3 response=0.699 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -7.8 dx= +3.4 response=0.656 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -3.9 dx= +4.4 response=0.632 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -0.2 dx= +5.5 response=0.590 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +3.8 dx= +5.5 response=0.731 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +8.6 dx= +6.4 response=0.639 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +5.9 dx= +5.3 response=0.705 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +3.8 dx= +1.9 response=0.576 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +7.1 dx= +1.9 response=0.735 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +11.9 dx= +0.6 response=0.643 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +13.9 dx= +1.7 response=0.640 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +11.0 dx= +4.6 response=0.675 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +8.2 dx= +8.4 response=0.617 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +7.1 dx= +11.7 response=0.637 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +8.1 dx= +13.5 response=0.537 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +6.2 dx= +22.4 response=0.523 → ずれ (|dx|=22.4 > 20) [ALIGN ] dy= +5.1 dx= +25.2 response=0.502 → ずれ (|dx|=25.2 > 20) [ALIGN ] dy= +2.1 dx= +22.1 response=0.564 → ずれ (|dx|=22.1 > 20) [ALIGN ] dy= +5.2 dx= +14.4 response=0.522 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +8.0 dx= +12.7 response=0.470 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +6.0 dx= +14.6 response=0.441 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +7.2 dx= +10.6 response=0.430 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +4.9 dx= +10.0 response=0.586 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +3.9 dx= +6.9 response=0.487 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +2.9 dx= -4.2 response=0.688 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +1.7 dx= -3.1 response=0.499 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +0.1 dx= +4.6 response=0.669 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -0.9 dx= +3.5 response=0.653 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +0.5 dx= +7.6 response=0.423 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +2.2 dx= +9.8 response=0.345 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +3.4 dx= +11.8 response=0.063 → 測れない (相関が弱く dx/dy が当てにならない (response=0.063 < 0.20)) [ALIGN ] dy= +1.9 dx= +11.7 response=0.074 → 測れない (相関が弱く dx/dy が当てにならない (response=0.074 < 0.20)) [ALIGN ] dy= +3.0 dx= +9.5 response=0.105 → 測れない (相関が弱く dx/dy が当てにならない (response=0.105 < 0.20)) [ALIGN ] dy= +2.0 dx= +10.1 response=0.060 → 測れない (相関が弱く dx/dy が当てにならない (response=0.060 < 0.20)) [ALIGN ] dy= +3.8 dx= +9.9 response=0.153 → 測れない (相関が弱く dx/dy が当てにならない (response=0.153 < 0.20)) [ALIGN ] dy= +0.4 dx= +11.0 response=0.038 → 測れない (相関が弱く dx/dy が当てにならない (response=0.038 < 0.20)) [ALIGN ] dy= +3.4 dx= +9.3 response=0.106 → 測れない (相関が弱く dx/dy が当てにならない (response=0.106 < 0.20)) [ALIGN ] dy= +1.0 dx= +9.2 response=0.075 → 測れない (相関が弱く dx/dy が当てにならない (response=0.075 < 0.20)) [ALIGN ] dy= +2.3 dx= +9.9 response=0.080 → 測れない (相関が弱く dx/dy が当てにならない (response=0.080 < 0.20)) [ALIGN ] dy= +0.9 dx= +9.3 response=0.342 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -0.4 dx= +6.2 response=0.753 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -1.5 dx= +1.2 response=0.876 → 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_145115 [CAMERA] 写り方 dy=-7.9 dx=+8.2 response=0.532 → 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] サーバー待ち ws://localhost:8000 ... (SSH トンネルは張れていますか) [POLICY] サーバー待ち ws://localhost:8000 ... (SSH トンネルは張れていますか) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_145115 Traceback (most recent call last): File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/http11.py", line 244, in parse status_line = yield from parse_line(read_line) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/http11.py", line 320, in parse_line line = yield from read_line(MAX_LINE_LENGTH) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/streams.py", line 46, in read_line raise EOFError(f"stream ends after {p} bytes, before end of line") EOFError: stream ends after 0 bytes, before end of line The above exception was the direct cause of the following exception: Traceback (most recent call last): File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/client.py", line 303, in parse response = yield from Response.parse( ^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/http11.py", line 246, in parse raise EOFError("connection closed while reading HTTP status line") from exc EOFError: connection closed while reading HTTP status line The above exception was the direct cause of the following exception: Traceback (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 498, in main policy = PolicyClient(args.host, args.port) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/shimazueiichi/r2r2r-scripts/pi05/policy_ws.py", line 46, in __init__ self.ws = websockets.sync.client.connect( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/sync/client.py", line 381, in connect connection.handshake( File "/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/websockets/sync/client.py", line 102, in handshake raise self.protocol.handshake_exc websockets.exceptions.InvalidMessage: did not receive a valid HTTP response (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_145207 [CAMERA] 写り方 dy=-7.7 dx=+8.3 response=0.547 → 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 941ms 10ステップ先 Δ= +4.6 +16.4 +11.4 -3.1 -23.1 +2.8 [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) [ +0.66, +5.52, +4.38, -0.61, -6.30, -29.55] speed=20 wait=1.0s (pre max|Δ|=6.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 2 Δ= +0.8 +4.2 +2.6 -0.9 -6.0 +0.7 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +2.00, +10.52, +7.89, -1.52, -13.17, -28.66] speed=20 wait=1.0s (pre max|Δ|=8.34°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 5 Δ= +1.6 +4.1 +2.5 -1.3 -8.3 +0.9 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +3.65, +15.84, +11.97, -2.57, -20.65, -27.69] speed=20 wait=1.0s (pre max|Δ|=8.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 8 Δ= +2.1 +4.5 +3.1 -1.3 -8.3 +1.1 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +4.39, +17.71, +13.13, -2.88, -23.39, -27.40] speed=20 wait=1.0s (pre max|Δ|=3.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.83° (tol 3.0°) [VIA ] step 9 Δ= +1.3 +1.0 +0.2 -0.2 -3.4 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.83°（関節 j1） [001] 推論 555ms 10ステップ先 Δ= +5.2 +18.2 +11.5 -0.3 -28.3 +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_chunk001_via02: send_angles (single) [ +5.89, +23.59, +16.92, -3.36, -32.06, -26.90] speed=20 wait=1.0s (pre max|Δ|=8.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 2 Δ= +1.9 +5.1 +3.0 -0.0 -8.9 +0.7 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +7.65, +29.62, +20.86, -3.48, -41.24, -26.76] speed=20 wait=1.0s (pre max|Δ|=9.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 5 Δ= +2.0 +5.0 +3.2 +0.0 -9.8 +0.3 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +9.02, +35.34, +24.75, -3.69, -49.64, -26.66] speed=20 wait=1.0s (pre max|Δ|=8.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 8 Δ= +1.9 +4.8 +3.2 -0.2 -8.7 +0.3 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +9.28, +36.75, +25.33, -3.63, -51.49, -26.66] speed=20 wait=1.0s (pre max|Δ|=2.28°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 9 Δ= +0.2 +0.5 +0.1 -0.2 -2.3 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.95°（関節 j1） [002] 推論 572ms 10ステップ先 Δ= +1.9 +8.9 +5.3 -0.4 -11.9 +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) [ +10.40, +42.82, +29.18, -4.00, -59.98, -26.65] speed=20 wait=1.0s (pre max|Δ|=8.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.27° (tol 3.0°) [VIA ] step 2 Δ= +1.3 +5.1 +4.0 -0.6 -8.0 +0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +11.01, +46.37, +31.11, -4.01, -63.76, -26.65] speed=20 wait=1.0s (pre max|Δ|=5.05°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.09° (tol 3.0°) [VIA ] step 5 Δ= +0.9 +2.6 +2.0 -0.2 -5.1 +0.1 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +10.90, +46.64, +30.88, -3.85, -63.99, -26.62] speed=20 wait=1.0s (pre max|Δ|=0.84°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.84° (tol 3.0°) [VIA ] step 8 Δ= -0.3 -0.8 -0.8 -0.2 -0.1 +0.2 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +10.98, +46.57, +30.52, -3.84, -63.88, -26.63] speed=20 wait=1.0s (pre max|Δ|=1.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.20° (tol 3.0°) [VIA ] step 9 Δ= -0.3 -0.9 -1.2 -0.2 +0.0 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.20°（関節 j2） [003] 推論 1708ms 10ステップ先 Δ= +0.3 +8.7 -8.5 -0.1 +1.6 +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_chunk003_via02: send_angles (single) [ +11.05, +48.58, +30.00, -3.73, -64.25, -26.63] speed=20 wait=1.0s (pre max|Δ|=1.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 2 Δ= -0.2 +1.1 -1.7 -0.1 -0.4 +0.2 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ +11.28, +51.92, +27.26, -3.78, -63.63, -26.66] speed=20 wait=1.0s (pre max|Δ|=4.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 5 Δ= +0.1 +2.4 -4.2 -0.2 +0.4 +0.1 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ +11.40, +55.38, +23.90, -3.77, -62.43, -26.72] speed=20 wait=1.0s (pre max|Δ|=4.40°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.37° (tol 3.0°) [VIA ] step 8 Δ= +0.2 +2.6 -4.4 -0.3 +1.5 +0.1 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ +11.55, +56.18, +23.21, -3.74, -62.25, -26.74] speed=20 wait=1.0s (pre max|Δ|=1.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.48° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -0.1 -1.5 -0.2 +1.5 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.48°（関節 j2） [004] 推論 765ms 6ステップ先 Δ= +0.7 +2.6 -4.4 -0.2 +1.7 -0.1 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) [ +11.77, +59.67, +20.40, -3.68, -61.58, -26.80] speed=20 wait=1.0s (pre max|Δ|=4.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 2 Δ= +0.6 +2.6 -4.3 -0.2 +1.3 -0.1 着いた [SEND] pi05_chunk004_via05: send_angles (single) [ +11.90, +59.76, +20.33, -3.69, -61.42, -26.78] 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 5 Δ= +0.7 -0.4 -0.7 -0.2 +1.1 +0.1 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 1.15°（関節 j4） [005] 推論 571ms 10ステップ先 Δ= +0.6 -8.0 +6.5 +0.1 -0.5 +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_chunk005_via02: send_angles (single) [ +11.90, +59.93, +20.31, -2.93, -62.01, -27.26] speed=20 wait=1.0s (pre max|Δ|=0.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.56° (tol 3.0°) [VIA ] step 2 Δ= +0.5 -0.3 +0.0 +0.3 +0.6 -0.1 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ +11.68, +57.53, +22.46, -2.90, -62.50, -27.14] speed=20 wait=1.0s (pre max|Δ|=2.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.26° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -2.7 +2.2 +0.3 +0.1 +0.0 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ +11.94, +53.33, +25.87, -3.04, -62.93, -27.00] speed=20 wait=1.0s (pre max|Δ|=5.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.11° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -5.5 +4.5 +0.2 -1.4 -0.0 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ +12.02, +52.15, +26.79, -3.03, -63.09, -27.02] speed=20 wait=1.0s (pre max|Δ|=2.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.92° (tol 3.0°) [VIA ] step 9 Δ= +0.5 -2.7 +1.5 +0.5 -2.3 -0.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.92°（関節 j4） [006] 推論 638ms 10ステップ先 Δ=+11.0 -6.3 -5.9 +2.9 +2.0 -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_chunk006_via02: send_angles (single) [ +11.80, +49.47, +29.43, -3.12, -63.82, -26.86] speed=20 wait=1.0s (pre max|Δ|=4.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.03° (tol 3.0°) [VIA ] step 2 Δ= +0.3 -4.6 +3.2 +0.2 -2.0 -0.4 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +13.93, +47.90, +28.97, -2.76, -63.07, -27.23] speed=20 wait=1.0s (pre max|Δ|=3.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.84° (tol 3.0°) [VIA ] step 5 Δ= +2.4 -3.6 -0.5 +0.5 +0.2 -0.8 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +20.56, +47.86, +22.40, -1.07, -60.11, -28.81] speed=20 wait=1.0s (pre max|Δ|=7.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.88° (tol 3.0°) [VIA ] step 8 Δ= +6.8 -1.9 -7.0 +1.6 +3.2 -2.2 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +22.46, +47.74, +20.36, -0.56, -59.19, -29.31] speed=20 wait=1.0s (pre max|Δ|=3.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.00° (tol 3.0°) [VIA ] step 9 Δ= +2.1 -2.0 -3.1 +0.6 +2.3 -1.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.00°（関節 j1） [007] 推論 1467ms 10ステップ先 Δ=+20.7 +4.1 -24.6 +5.1 +10.7 -4.8 [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_chunk007_via02: send_angles (single) [ +28.79, +49.20, +12.59, +0.96, -56.32, -30.77] speed=20 wait=1.0s (pre max|Δ|=9.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.29° (tol 3.0°) [VIA ] step 2 Δ= +6.5 -0.5 -9.0 +1.7 +3.3 -1.8 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +35.37, +50.89, +4.81, +2.42, -53.07, -32.19] speed=20 wait=1.0s (pre max|Δ|=9.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.16° (tol 3.0°) [VIA ] step 5 Δ= +6.6 +0.8 -9.1 +1.9 +3.6 -1.8 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +41.65, +53.00, -1.80, +3.95, -49.82, -33.56] speed=20 wait=1.0s (pre max|Δ|=7.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.28° (tol 3.0°) [VIA ] step 8 Δ= +6.1 +1.2 -7.8 +1.6 +3.4 -1.8 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +43.06, +53.87, -3.01, +4.31, -49.35, -33.80] speed=20 wait=1.0s (pre max|Δ|=2.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.70° (tol 3.0°) [VIA ] step 9 Δ= +1.4 -0.3 -2.5 +0.3 +0.7 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.70°（関節 j2） [008] 推論 560ms 10ステップ先 Δ= -0.0 +11.8 -2.4 +1.7 -10.1 -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_chunk008_via02: send_angles (single) [ +43.03, +58.36, -3.19, +4.83, -52.85, -33.86] speed=20 wait=1.0s (pre max|Δ|=3.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.79° (tol 3.0°) [VIA ] step 2 Δ= +0.2 +3.3 -1.9 +0.8 -3.3 -0.4 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +43.04, +62.83, -3.34, +5.29, -56.17, -33.91] speed=20 wait=1.0s (pre max|Δ|=4.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.22° (tol 3.0°) [VIA ] step 5 Δ= +0.2 +3.5 -1.9 +1.1 -4.1 +0.6 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +42.82, +66.34, -3.59, +5.70, -59.09, -33.98] speed=20 wait=1.0s (pre max|Δ|=2.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.99° (tol 3.0°) [VIA ] step 8 Δ= -0.3 +2.8 -1.1 +0.9 -1.7 +0.6 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +42.79, +66.78, -3.68, +5.77, -59.66, -34.02] 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= -0.5 -0.0 -0.5 +0.5 +1.4 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.42°（関節 j4） [009] 推論 1641ms 4ステップ先 Δ= -0.8 +0.6 -0.4 +0.7 +0.5 +0.0 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_chunk009_via02: send_angles (single) [ +42.52, +67.52, -3.60, +6.15, -60.56, -34.24] speed=20 wait=1.0s (pre max|Δ|=0.81°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.56° (tol 3.0°) [VIA ] step 2 Δ= -0.8 +0.6 -0.4 +0.6 +0.5 +0.0 着いた [SEND] pi05_chunk009_via03: send_angles (single) [ +42.52, +67.52, -3.60, +6.15, -60.56, -34.24] speed=20 wait=1.0s (pre max|Δ|=0.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.52° (tol 3.0°) [VIA ] step 3 Δ= -0.4 -0.2 +0.3 +0.4 +0.5 +0.6 着いた [Pi] GRIPPER: OPEN result= -1 [STATE ] 目標を渡す 目標と実測の最大差 1.11°（関節 j5） [010] 推論 738ms 10ステップ先 Δ= +0.4 -11.4 +0.6 -1.0 +8.8 -1.8 [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_chunk010_via02: send_angles (single) [ +42.67, +65.76, -3.64, +6.35, -59.49, -34.70] speed=20 wait=1.0s (pre max|Δ|=2.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.74° (tol 3.0°) [VIA ] step 2 Δ= +0.6 -2.2 +0.3 -0.3 +0.5 -1.2 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +42.85, +61.82, -3.67, +6.18, -55.90, -34.85] speed=20 wait=1.0s (pre max|Δ|=5.68°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.98° (tol 3.0°) [VIA ] step 5 Δ= +0.8 -5.7 +0.3 -0.5 +3.7 -0.6 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +42.73, +58.01, -3.58, +6.15, -52.33, -34.93] speed=20 wait=1.0s (pre max|Δ|=5.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.45° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -5.8 -0.3 +0.3 +1.6 +0.5 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +42.51, +56.57, -3.40, +6.18, -51.21, -34.94] speed=20 wait=1.0s (pre max|Δ|=3.89°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.49° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -3.9 -0.3 +0.8 -0.2 +0.7 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.49°（関節 j1） [011] 推論 559ms 10ステップ先 Δ=-12.9 -24.7 +2.5 -2.5 +19.4 +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_chunk011_via02: send_angles (single) [ +42.16, +52.47, -2.69, +5.97, -48.59, -34.90] speed=20 wait=1.0s (pre max|Δ|=6.59°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.11° (tol 3.0°) [VIA ] step 2 Δ= -0.3 -6.6 +0.3 +0.3 +2.0 +0.7 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +38.32, +45.91, -1.73, +5.04, -42.49, -34.39] speed=20 wait=1.0s (pre max|Δ|=8.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.16° (tol 3.0°) [VIA ] step 5 Δ= -4.1 -8.7 +0.5 -0.8 +6.6 +0.9 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +31.62, +37.12, -0.72, +3.48, -33.94, -33.52] speed=20 wait=1.0s (pre max|Δ|=10.95°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.07° (tol 3.0°) [VIA ] step 8 Δ= -7.0 -10.9 +0.3 -2.2 +8.9 +1.2 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +29.54, +34.36, -0.45, +2.95, -31.19, -33.27] speed=20 wait=1.0s (pre max|Δ|=4.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.20° (tol 3.0°) [VIA ] step 9 Δ= -2.2 -4.8 -0.3 -1.0 +3.1 +0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.20°（関節 j1） [012] 推論 565ms 10ステップ先 Δ=-23.5 -29.3 +1.4 -2.7 +26.4 +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_chunk012_via02: send_angles (single) [ +22.75, +26.46, +0.40, +1.58, -23.23, -32.49] speed=20 wait=1.0s (pre max|Δ|=10.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.01° (tol 3.0°) [VIA ] step 2 Δ= -6.9 -10.1 +0.2 -1.2 +8.2 +0.9 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +15.76, +18.23, +1.30, +0.51, -15.30, -31.67] speed=20 wait=1.0s (pre max|Δ|=10.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.72° (tol 3.0°) [VIA ] step 5 Δ= -7.0 -10.2 +0.3 -1.3 +8.2 +1.0 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +8.16, +9.23, +1.70, +0.08, -7.03, -31.19] speed=20 wait=1.0s (pre max|Δ|=10.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.49° (tol 3.0°) [VIA ] step 8 Δ= -8.1 -10.7 -0.2 -0.7 +8.6 +0.5 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +6.11, +7.24, +1.61, +0.09, -5.05, -31.12] speed=20 wait=1.0s (pre max|Δ|=3.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.54° (tol 3.0°) [VIA ] step 9 Δ= -2.0 -3.5 -0.9 -0.2 +2.1 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.54°（関節 j1） [013] 推論 557ms 10ステップ先 Δ= -5.1 -6.1 -0.8 -0.4 +3.7 +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_chunk013_via02: send_angles (single) [ +1.26, +2.56, +1.71, +0.00, -1.48, -31.09] speed=20 wait=1.0s (pre max|Δ|=6.22°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.21° (tol 3.0°) [VIA ] step 2 Δ= -4.6 -6.2 -0.7 -0.3 +3.7 +0.2 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +0.67, +2.49, +1.69, +0.01, -1.43, -31.09] speed=20 wait=1.0s (pre max|Δ|=1.28°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.28° (tol 3.0°) [VIA ] step 5 Δ= -0.4 -1.3 -0.8 -0.3 +0.3 +0.1 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +0.73, +2.68, +1.72, +0.01, -1.43, -31.06] speed=20 wait=1.0s (pre max|Δ|=1.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.09° (tol 3.0°) [VIA ] step 8 Δ= -0.3 -1.1 -0.8 -0.3 +0.3 +0.1 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +0.74, +2.70, +1.70, -0.00, -1.47, -31.07] speed=20 wait=1.0s (pre max|Δ|=1.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.07° (tol 3.0°) [VIA ] step 9 Δ= -0.3 -1.1 -0.8 -0.3 +0.3 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.07°（関節 j1） [014] 推論 556ms 10ステップ先 Δ= -1.1 -1.5 -0.8 -0.3 +0.3 +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 > 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|=3.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.19° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_145207 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/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_194818 --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_194818/frames/000000.jpg [REF ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°) [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= -1.5 dx= +0.9 response=0.852 → 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_145641 [CAMERA] 写り方 dy=-8.5 dx=+8.0 response=0.558 → 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 1542ms 10ステップ先 Δ= +3.7 +16.7 +10.9 -2.0 -22.9 +2.7 [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 > [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) [ +0.47, +5.91, +4.84, -0.27, -6.90, -29.44] speed=20 wait=1.0s (pre max|Δ|=6.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.37° (tol 3.0°) [VIA ] step 2 Δ= +0.8 +4.6 +2.6 -0.5 -6.6 +0.7 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.61, +11.22, +8.29, -0.94, -14.34, -28.58] speed=20 wait=1.0s (pre max|Δ|=8.81°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 5 Δ= +1.4 +4.3 +2.4 -1.0 -8.8 +1.0 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +2.91, +16.54, +12.20, -1.54, -21.51, -27.63] speed=20 wait=1.0s (pre max|Δ|=8.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 8 Δ= +1.6 +4.3 +2.9 -0.7 -8.1 +1.2 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +3.33, +17.97, +13.09, -1.70, -23.19, -27.44] speed=20 wait=1.0s (pre max|Δ|=2.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 9 Δ= +0.8 +0.4 +0.0 +0.1 -2.0 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.92°（関節 j1） [001] 推論 559ms 10ステップ先 Δ= +5.7 +18.9 +11.4 -0.2 -29.6 +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) [ +4.77, +23.86, +16.65, -2.20, -31.64, -26.94] speed=20 wait=1.0s (pre max|Δ|=8.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 2 Δ= +1.7 +5.0 +2.9 -0.2 -8.6 +0.7 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +6.60, +29.96, +20.54, -2.14, -41.08, -26.82] speed=20 wait=1.0s (pre max|Δ|=9.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.88° (tol 3.0°) [VIA ] step 5 Δ= +2.3 +5.2 +3.1 +0.2 -10.0 +0.3 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +8.25, +35.93, +24.25, -2.24, -50.17, -26.76] speed=20 wait=1.0s (pre max|Δ|=9.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 8 Δ= +1.6 +5.1 +3.2 +0.1 -9.5 +0.3 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +8.75, +37.82, +25.24, -2.26, -52.66, -26.75] speed=20 wait=1.0s (pre max|Δ|=2.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 9 Δ= +0.8 +0.9 +0.6 -0.1 -2.8 +0.2 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 1720ms 10ステップ先 Δ= +1.3 +8.8 +5.4 -0.1 -11.7 +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_chunk002_via02: send_angles (single) [ +9.66, +43.53, +29.01, -2.70, -60.67, -26.72] speed=20 wait=1.0s (pre max|Δ|=8.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 2 Δ= +0.7 +4.8 +3.3 -0.3 -8.0 +0.3 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +10.23, +46.78, +31.06, -2.68, -63.77, -26.72] speed=20 wait=1.0s (pre max|Δ|=3.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.35° (tol 3.0°) [VIA ] step 5 Δ= +0.5 +2.3 +2.1 -0.4 -3.8 +0.1 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +10.25, +47.50, +31.33, -2.49, -64.22, -26.70] 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 8 Δ= +0.5 -0.3 -0.3 -0.2 +0.9 +0.1 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +10.22, +47.52, +31.06, -2.46, -64.29, -26.71] speed=20 wait=1.0s (pre max|Δ|=0.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.83° (tol 3.0°) [VIA ] step 9 Δ= +0.5 -0.8 -0.7 -0.2 +0.8 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.83°（関節 j4） [003] 推論 765ms 10ステップ先 Δ= +1.1 +10.9 -10.1 -0.2 +2.4 +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_chunk003_via02: send_angles (single) [ +10.53, +51.40, +28.52, -2.43, -64.25, -26.69] speed=20 wait=1.0s (pre max|Δ|=3.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.27° (tol 3.0°) [VIA ] step 2 Δ= +0.9 +3.1 -3.2 -0.1 +0.9 +0.1 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ +10.94, +55.36, +25.26, -2.47, -63.49, -26.73] speed=20 wait=1.0s (pre max|Δ|=4.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 5 Δ= +0.4 +3.1 -4.5 -0.3 +1.3 +0.1 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ +10.85, +58.56, +22.36, -2.49, -62.82, -26.76] speed=20 wait=1.0s (pre max|Δ|=3.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.90° (tol 3.0°) [VIA ] step 8 Δ= +0.2 +2.3 -3.9 -0.3 +1.1 +0.0 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ +10.85, +59.20, +21.65, -2.48, -62.68, -26.79] speed=20 wait=1.0s (pre max|Δ|=1.37°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 9 Δ= +0.1 -0.0 -1.4 -0.2 +1.0 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.04°（関節 j4） [004] 推論 588ms 4ステップ先 Δ= +0.1 +0.8 -2.1 -0.3 +1.3 +0.3 グリッパー→閉 [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_chunk004_via02: send_angles (single) [ +10.79, +60.57, +20.51, -2.53, -62.44, -26.80] speed=20 wait=1.0s (pre max|Δ|=2.07°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 2 Δ= +0.1 +0.8 -2.1 -0.3 +1.1 +0.3 着いた [SEND] pi05_chunk004_via03: send_angles (single) [ +10.79, +60.57, +20.51, -2.53, -62.44, -26.80] speed=20 wait=1.0s (pre max|Δ|=1.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 3 Δ= +0.1 -0.5 -0.5 -0.3 +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 1.10°（関節 j4） [005] 推論 550ms 10ステップ先 Δ= +1.0 -8.6 +6.9 -0.9 -0.4 -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_chunk005_via02: send_angles (single) [ +10.78, +59.65, +21.23, -2.52, -62.71, -27.15] speed=20 wait=1.0s (pre max|Δ|=1.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.08° (tol 3.0°) [VIA ] step 2 Δ= +0.6 -1.4 +0.8 -0.6 +0.8 -0.2 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ +10.70, +56.64, +24.31, -2.67, -63.55, -26.96] speed=20 wait=1.0s (pre max|Δ|=4.09°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.94° (tol 3.0°) [VIA ] step 5 Δ= +0.5 -4.1 +3.8 -0.6 -0.3 +0.0 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ +11.14, +53.23, +27.10, -2.75, -64.07, -26.91] speed=20 wait=1.0s (pre max|Δ|=4.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.29° (tol 3.0°) [VIA ] step 8 Δ= +1.0 -4.6 +3.9 +0.4 -2.4 -0.5 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ +11.21, +52.52, +27.38, -2.74, -63.93, -27.01] speed=20 wait=1.0s (pre max|Δ|=2.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.97° (tol 3.0°) [VIA ] step 9 Δ= +0.4 -2.3 +0.8 +0.6 -2.1 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.97°（関節 j1） [006] 推論 542ms 10ステップ先 Δ=+13.5 -4.4 -8.9 +3.0 +3.0 -3.2 [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|=62.40°, post-send timeout 11.4s) [SEND] arrival OK: max|Δ|=1.75° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_145641 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/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_194818 --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_194818/frames/000000.jpg [REF ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°) [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= -1.1 dx= +1.0 response=0.923 → 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_145851 [CAMERA] 写り方 dy=-7.7 dx=+7.8 response=0.566 → 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 1436ms 10ステップ先 Δ= +4.2 +17.1 +12.2 -2.2 -26.3 +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) [ +0.64, +5.23, +4.25, -0.46, -6.15, -29.34] speed=20 wait=1.0s (pre max|Δ|=5.89°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.41° (tol 3.0°) [VIA ] step 2 Δ= +1.0 +3.8 +2.5 -0.2 -5.9 +0.4 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.95, +11.04, +8.48, -1.36, -15.22, -28.51] speed=20 wait=1.0s (pre max|Δ|=10.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.16° (tol 3.0°) [VIA ] step 5 Δ= +1.5 +4.9 +3.1 -1.2 -10.5 +1.2 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +3.30, +16.63, +12.63, -2.25, -23.66, -27.54] speed=20 wait=1.0s (pre max|Δ|=9.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 8 Δ= +1.6 +4.7 +3.1 -1.8 -9.6 +1.7 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +3.86, +18.55, +13.97, -2.49, -26.53, -27.23] speed=20 wait=1.0s (pre max|Δ|=3.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 9 Δ= +1.1 +1.0 +0.5 -0.6 -3.5 +0.9 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 618ms 10ステップ先 Δ= +5.7 +18.2 +12.0 -1.2 -29.8 +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_chunk001_via02: send_angles (single) [ +5.34, +23.85, +17.60, -2.89, -34.80, -26.90] speed=20 wait=1.0s (pre max|Δ|=7.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 2 Δ= +1.8 +4.3 +2.9 -0.9 -7.7 +0.6 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +7.15, +29.72, +21.60, -2.99, -44.14, -26.79] speed=20 wait=1.0s (pre max|Δ|=9.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.86° (tol 3.0°) [VIA ] step 5 Δ= +2.1 +4.9 +3.2 -0.4 -10.0 +0.4 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +8.86, +35.84, +25.64, -3.18, -54.09, -26.71] speed=20 wait=1.0s (pre max|Δ|=10.59°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 8 Δ= +1.7 +5.3 +3.5 -0.1 -10.6 +0.3 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +9.29, +37.67, +26.66, -3.21, -56.93, -26.62] speed=20 wait=1.0s (pre max|Δ|=3.15°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 9 Δ= +0.9 +0.9 +0.7 -0.2 -3.1 +0.3 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 1500ms 10ステップ先 Δ= +1.3 +6.5 +3.1 -0.1 -7.9 +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) [ +10.34, +42.87, +29.85, -3.44, -63.82, -26.61] speed=20 wait=1.0s (pre max|Δ|=6.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 2 Δ= +0.8 +4.2 +3.0 -0.3 -6.6 +0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +10.81, +45.11, +30.88, -3.30, -65.46, -26.62] speed=20 wait=1.0s (pre max|Δ|=2.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.94° (tol 3.0°) [VIA ] step 5 Δ= +0.3 +1.3 +0.9 -0.2 -2.0 +0.2 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +10.74, +45.07, +30.26, -3.22, -65.07, -26.61] speed=20 wait=1.0s (pre max|Δ|=1.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.11° (tol 3.0°) [VIA ] step 8 Δ= +0.2 -1.0 -1.0 -0.1 +1.1 +0.1 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +10.77, +45.21, +29.95, -3.23, -65.07, -26.61] speed=20 wait=1.0s (pre max|Δ|=1.33°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.25° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -0.8 -1.3 -0.2 +1.1 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.25°（関節 j2） [003] 推論 620ms 10ステップ先 Δ= +0.5 +10.9 -10.3 -0.2 +4.0 +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_chunk003_via02: send_angles (single) [ +11.01, +48.63, +27.53, -3.19, -64.35, -26.60] speed=20 wait=1.0s (pre max|Δ|=3.67°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.21° (tol 3.0°) [VIA ] step 2 Δ= +0.5 +2.6 -3.7 -0.1 +1.7 +0.1 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ +11.20, +52.41, +24.63, -3.22, -63.25, -26.66] speed=20 wait=1.0s (pre max|Δ|=4.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.12° (tol 3.0°) [VIA ] step 5 Δ= +0.7 +2.9 -4.1 -0.2 +1.8 +0.1 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ +11.02, +55.95, +21.80, -3.32, -62.43, -26.68] speed=20 wait=1.0s (pre max|Δ|=3.95°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.05° (tol 3.0°) [VIA ] step 8 Δ= -0.4 +2.6 -3.9 -0.4 +1.2 +0.0 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ +11.04, +56.95, +20.94, -3.32, -62.17, -26.68] speed=20 wait=1.0s (pre max|Δ|=1.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 9 Δ= -0.3 +0.1 -1.9 -0.4 +0.6 +0.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.47°（関節 j2） [004] 推論 590ms 5ステップ先 Δ= -0.2 +2.0 -3.8 -0.3 +0.9 +0.0 グリッパー→閉 [VIA ] 中継点 2 点: step 2, 4 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) [ +11.09, +59.84, +18.61, -3.30, -61.71, -26.71] speed=20 wait=1.0s (pre max|Δ|=3.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.72° (tol 3.0°) [VIA ] step 2 Δ= -0.2 +1.9 -3.8 -0.3 +0.8 +0.0 着いた [SEND] pi05_chunk004_via04: send_angles (single) [ +11.13, +59.92, +18.59, -3.31, -61.58, -26.71] speed=20 wait=1.0s (pre max|Δ|=0.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.74° (tol 3.0°) [VIA ] step 4 Δ= -0.2 -0.6 -0.7 -0.3 +0.7 +0.1 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 1.52°（関節 j4） [005] 推論 1455ms 10ステップ先 Δ= +0.4 -9.6 +7.6 +0.0 -0.5 +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_chunk005_via02: send_angles (single) [ +11.28, +58.60, +19.55, -2.71, -62.01, -27.03] speed=20 wait=1.0s (pre max|Δ|=2.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.51° (tol 3.0°) [VIA ] step 2 Δ= +0.4 -2.0 +0.3 +0.2 +1.1 -0.0 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ +11.17, +55.63, +22.45, -2.93, -62.88, -26.87] speed=20 wait=1.0s (pre max|Δ|=4.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.89° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -4.5 +3.2 -0.0 -0.4 +0.1 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ +11.29, +52.17, +25.92, -2.93, -63.57, -26.82] speed=20 wait=1.0s (pre max|Δ|=5.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.05° (tol 3.0°) [VIA ] step 8 Δ= +0.4 -5.0 +4.0 +0.3 -2.6 +0.1 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ +11.31, +51.06, +26.80, -2.87, -63.63, -26.87] speed=20 wait=1.0s (pre max|Δ|=3.16°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.11° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -3.2 +1.0 +0.4 -2.1 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.11°（関節 j1） [006] 推論 541ms 10ステップ先 Δ=+11.8 -5.4 -7.0 +2.6 +2.8 -2.8 [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_chunk006_via02: send_angles (single) [ +11.03, +48.45, +29.67, -2.98, -64.45, -26.71] speed=20 wait=1.0s (pre max|Δ|=4.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.08° (tol 3.0°) [VIA ] step 2 Δ= +0.0 -4.7 +2.9 +0.2 -1.9 -0.3 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +13.14, +47.49, +29.04, -2.55, -63.74, -27.11] speed=20 wait=1.0s (pre max|Δ|=3.04°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.16° (tol 3.0°) [VIA ] step 5 Δ= +2.2 -3.0 -0.9 +0.5 +1.7 -0.7 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +20.38, +47.98, +21.83, -0.98, -61.02, -28.77] speed=20 wait=1.0s (pre max|Δ|=8.14°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.67° (tol 3.0°) [VIA ] step 8 Δ= +7.3 -1.7 -8.1 +1.7 +4.1 -2.3 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +22.79, +47.79, +19.80, -0.56, -59.73, -29.26] speed=20 wait=1.0s (pre max|Δ|=3.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.86° (tol 3.0°) [VIA ] step 9 Δ= +2.6 -1.9 -3.1 +0.7 +2.1 -1.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.86°（関節 j1） [007] 推論 613ms 10ステップ先 Δ=+21.3 +3.2 -23.1 +5.1 +9.0 -5.3 [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) [ +29.82, +48.99, +12.11, +1.10, -57.10, -30.79] speed=20 wait=1.0s (pre max|Δ|=8.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.24° (tol 3.0°) [VIA ] step 2 Δ= +7.0 -0.7 -9.0 +2.0 +3.0 -2.0 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +36.63, +50.38, +4.64, +2.54, -53.72, -32.31] speed=20 wait=1.0s (pre max|Δ|=8.71°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.24° (tol 3.0°) [VIA ] step 5 Δ= +6.9 +0.6 -8.7 +1.6 +3.8 -1.5 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +43.00, +52.21, -1.23, +3.95, -50.87, -33.76] speed=20 wait=1.0s (pre max|Δ|=7.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.31° (tol 3.0°) [VIA ] step 8 Δ= +6.3 +0.9 -7.1 +1.4 +3.1 -1.8 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +44.12, +52.88, -2.04, +4.20, -51.14, -34.01] speed=20 wait=1.0s (pre max|Δ|=2.12°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.78° (tol 3.0°) [VIA ] step 9 Δ= +1.2 -0.4 -2.1 +0.2 -0.1 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.78°（関節 j2） [008] 推論 779ms 10ステップ先 Δ= -0.1 +12.2 -2.9 +1.9 -10.4 -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_chunk008_via02: send_angles (single) [ +44.25, +57.78, -2.66, +4.77, -54.66, -34.10] speed=20 wait=1.0s (pre max|Δ|=3.73°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.11° (tol 3.0°) [VIA ] step 2 Δ= -0.1 +3.7 -2.4 +0.9 -3.7 -0.4 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +44.39, +62.13, -2.89, +5.22, -57.87, -34.18] speed=20 wait=1.0s (pre max|Δ|=5.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.49° (tol 3.0°) [VIA ] step 5 Δ= +0.4 +3.3 -2.1 +0.3 -5.3 -0.4 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +44.30, +65.96, -3.08, +5.71, -61.06, -34.27] speed=20 wait=1.0s (pre max|Δ|=2.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.78° (tol 3.0°) [VIA ] step 8 Δ= +0.4 +2.9 -1.7 +0.9 -2.5 -0.5 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +44.28, +66.27, -3.16, +5.76, -61.38, -34.29] speed=20 wait=1.0s (pre max|Δ|=1.46°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.37° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -0.4 -1.1 +0.4 +1.5 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.37°（関節 j4） [009] 推論 1550ms 2ステップ先 Δ= -0.2 -0.6 -1.0 +0.3 +1.4 -0.5 グリッパー→開 [VIA ] 中継点 1 点: step 1 Enter=実行 / s=送らず次へ / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk009_via01: send_angles (single) [ +44.20, +66.25, -3.24, +5.85, -61.39, -34.37] speed=20 wait=1.0s (pre max|Δ|=1.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 1 Δ= -0.2 -0.6 -1.0 +0.3 +1.2 -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 0.65°（関節 j3） [010] 推論 789ms 10ステップ先 Δ= +0.3 -14.3 +0.1 -0.5 +10.6 +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_chunk010_via02: send_angles (single) [ +44.22, +62.43, -3.16, +5.91, -58.61, -34.57] speed=20 wait=1.0s (pre max|Δ|=4.45°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.81° (tol 3.0°) [VIA ] step 2 Δ= +0.4 -4.4 -0.5 -0.5 +2.9 +0.3 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +44.43, +58.71, -3.17, +5.88, -55.59, -34.70] speed=20 wait=1.0s (pre max|Δ|=5.53°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.46° (tol 3.0°) [VIA ] step 5 Δ= +0.6 -5.5 -0.5 +0.4 +1.3 +0.5 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +44.49, +54.38, -2.83, +6.04, -52.32, -34.84] speed=20 wait=1.0s (pre max|Δ|=6.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.13° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -6.8 -0.3 +0.7 +1.7 +0.2 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +44.16, +52.61, -2.52, +6.04, -50.94, -34.82] speed=20 wait=1.0s (pre max|Δ|=3.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.32° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -3.9 -0.1 +0.6 +0.8 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.32°（関節 j1） [011] 推論 1754ms 10ステップ先 Δ=-19.0 -28.6 +3.1 -3.4 +24.6 +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 > [SEND] pi05_chunk011_via02: send_angles (single) [ +40.14, +45.94, -1.42, +5.18, -45.12, -34.35] speed=20 wait=1.0s (pre max|Δ|=8.99°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.22° (tol 3.0°) [VIA ] step 2 Δ= -3.8 -9.0 +0.5 -0.3 +5.8 +0.7 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +33.59, +37.80, -0.24, +3.91, -37.51, -33.56] speed=20 wait=1.0s (pre max|Δ|=10.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.19° (tol 3.0°) [VIA ] step 5 Δ= -6.8 -10.4 +0.6 -1.9 +8.0 +1.1 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +26.95, +28.96, +0.93, +2.50, -29.21, -32.77] speed=20 wait=1.0s (pre max|Δ|=11.03°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.06° (tol 3.0°) [VIA ] step 8 Δ= -7.0 -11.0 +0.6 -2.0 +8.6 +1.1 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +24.90, +26.30, +1.19, +2.08, -26.39, -32.54] speed=20 wait=1.0s (pre max|Δ|=4.72°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.08° (tol 3.0°) [VIA ] step 9 Δ= -2.3 -4.7 -0.3 -0.8 +2.9 +0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.08°（関節 j1） [012] 推論 736ms 10ステップ先 Δ=-21.4 -25.7 +0.7 -1.8 +24.8 +1.5 [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) [ +17.83, +18.42, +1.65, +0.98, -17.92, -31.62] speed=20 wait=1.0s (pre max|Δ|=9.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.79° (tol 3.0°) [VIA ] step 2 Δ= -7.0 -10.0 +0.2 -0.9 +8.5 +0.9 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +10.38, +9.86, +1.98, +0.31, -8.69, -31.16] speed=20 wait=1.0s (pre max|Δ|=10.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.47° (tol 3.0°) [VIA ] step 5 Δ= -8.0 -10.3 -0.3 -1.0 +9.2 +0.6 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +4.37, +3.27, +2.20, +0.07, -2.23, -31.05] speed=20 wait=1.0s (pre max|Δ|=8.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.30° (tol 3.0°) [VIA ] step 8 Δ= -6.2 -8.1 -0.6 -0.5 +6.5 +0.2 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +3.41, +2.69, +2.22, +0.06, -1.65, -31.04] speed=20 wait=1.0s (pre max|Δ|=1.88°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.70° (tol 3.0°) [VIA ] step 9 Δ= -1.2 -1.9 -0.6 -0.3 +0.7 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.70°（関節 j1） [013] 推論 729ms 10ステップ先 Δ= -2.3 -2.4 -0.6 -0.3 -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 > [SEND] pi05_chunk013_via02: send_angles (single) [ +1.31, +2.13, +2.23, +0.05, -1.38, -31.03] speed=20 wait=1.0s (pre max|Δ|=2.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.56° (tol 3.0°) [VIA ] step 2 Δ= -1.8 -2.3 -0.6 -0.3 +0.5 +0.2 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ +1.06, +2.00, +2.24, +0.05, -1.48, -31.06] speed=20 wait=1.0s (pre max|Δ|=1.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.60° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -1.7 -0.6 -0.2 +0.1 +0.1 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ +0.92, +2.03, +2.19, +0.08, -1.85, -31.05] 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 8 Δ= +0.1 -1.6 -0.6 -0.2 -0.3 +0.1 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ +0.81, +1.99, +2.17, +0.08, -1.96, -31.05] speed=20 wait=1.0s (pre max|Δ|=1.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.61° (tol 3.0°) [VIA ] step 9 Δ= -0.1 -1.6 -0.6 -0.2 -0.5 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.61°（関節 j1） [014] 推論 560ms 10ステップ先 Δ= -1.1 -1.6 -0.1 -0.3 -1.5 +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 > 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|=3.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.84° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_145851 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/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_194818 --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_194818/frames/000000.jpg [REF ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°) [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= -1.3 dx= +1.0 response=0.865 → 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_150534 [CAMERA] 写り方 dy=-7.8 dx=+7.9 response=0.550 → 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 555ms 10ステップ先 Δ= +3.7 +18.1 +11.6 -1.7 -25.8 +2.8 [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) [ +0.43, +6.58, +4.81, -0.25, -8.23, -29.42] speed=20 wait=1.0s (pre max|Δ|=7.97°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 2 Δ= +0.8 +5.1 +3.0 -0.5 -8.0 +0.7 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.38, +12.51, +8.57, -0.81, -16.73, -28.55] speed=20 wait=1.0s (pre max|Δ|=9.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 5 Δ= +0.9 +5.0 +2.8 -0.9 -9.3 +1.0 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +2.65, +17.91, +12.29, -1.32, -24.02, -27.61] speed=20 wait=1.0s (pre max|Δ|=8.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 8 Δ= +1.6 +4.4 +2.8 -0.7 -8.2 +1.1 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +3.30, +19.58, +13.47, -1.44, -26.08, -27.34] speed=20 wait=1.0s (pre max|Δ|=2.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.89° (tol 3.0°) [VIA ] step 9 Δ= +1.0 +0.7 +0.4 +0.2 -2.6 +0.5 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 555ms 10ステップ先 Δ= +6.1 +19.2 +11.8 -0.3 -28.7 +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) [ +4.70, +25.64, +17.11, -2.12, -34.31, -26.94] speed=20 wait=1.0s (pre max|Δ|=7.68°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.99° (tol 3.0°) [VIA ] step 2 Δ= +1.6 +5.2 +2.9 -0.3 -7.7 +0.6 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +6.68, +31.96, +21.21, -2.15, -44.13, -26.90] speed=20 wait=1.0s (pre max|Δ|=10.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.91° (tol 3.0°) [VIA ] step 5 Δ= +2.4 +5.3 +3.4 -0.2 -10.4 +0.2 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +8.52, +38.14, +25.13, -2.07, -52.91, -26.86] speed=20 wait=1.0s (pre max|Δ|=9.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.97° (tol 3.0°) [VIA ] step 8 Δ= +1.9 +5.3 +3.3 +0.1 -9.4 +0.3 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +9.04, +39.65, +26.00, -2.14, -55.34, -26.84] speed=20 wait=1.0s (pre max|Δ|=2.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.95° (tol 3.0°) [VIA ] step 9 Δ= +0.9 +0.5 +0.5 -0.1 -2.8 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 0.95°（関節 j1） [002] 推論 548ms 10ステップ先 Δ= +0.8 +6.4 +3.5 -0.4 -7.3 +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) [ +9.47, +44.85, +29.23, -2.51, -62.08, -26.82] speed=20 wait=1.0s (pre max|Δ|=6.27°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.26° (tol 3.0°) [VIA ] step 2 Δ= +0.6 +4.2 +3.4 -0.4 -6.3 +0.3 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +9.78, +46.30, +30.24, -2.54, -63.24, -26.82] speed=20 wait=1.0s (pre max|Δ|=1.81°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 5 Δ= +0.9 +0.4 +1.1 -0.5 -2.0 +0.3 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +9.79, +46.70, +29.77, -2.48, -63.15, -26.81] 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 8 Δ= -0.1 -0.6 -0.9 -0.2 -0.2 +0.3 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +9.88, +46.95, +29.37, -2.48, -63.14, -26.81] speed=20 wait=1.0s (pre max|Δ|=1.30°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.12° (tol 3.0°) [VIA ] step 9 Δ= +0.0 -0.5 -1.3 -0.2 -0.2 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.12°（関節 j2） [003] 推論 637ms 10ステップ先 Δ= +0.8 +10.2 -10.2 -0.3 +1.0 +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_chunk003_via02: send_angles (single) [ +10.12, +51.25, +26.12, -2.50, -62.99, -26.80] speed=20 wait=1.0s (pre max|Δ|=4.37°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.03° (tol 3.0°) [VIA ] step 2 Δ= +0.3 +3.4 -4.4 -0.2 -0.1 +0.3 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ +10.64, +54.70, +23.25, -2.52, -62.37, -26.83] speed=20 wait=1.0s (pre max|Δ|=3.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 5 Δ= +0.8 +2.5 -3.9 -0.2 +0.6 +0.1 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ +10.66, +57.39, +20.83, -2.58, -61.90, -26.85] speed=20 wait=1.0s (pre max|Δ|=3.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.02° (tol 3.0°) [VIA ] step 8 Δ= -0.2 +1.8 -3.4 -0.4 +1.0 +0.0 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ +10.67, +57.97, +20.27, -2.55, -61.88, -26.84] 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= -0.1 -0.2 -1.5 -0.4 +1.0 -0.0 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 550ms 5ステップ先 Δ= -0.1 +0.8 -2.6 -0.3 +1.2 +0.0 グリッパー→閉 [VIA ] 中継点 2 点: step 2, 4 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) [ +10.72, +59.75, +19.09, -2.61, -61.56, -26.85] speed=20 wait=1.0s (pre max|Δ|=2.70°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.86° (tol 3.0°) [VIA ] step 2 Δ= -0.1 +0.9 -2.7 -0.3 +1.1 +0.0 着いた [SEND] pi05_chunk004_via04: send_angles (single) [ +10.70, +59.64, +19.20, -2.61, -61.66, -26.88] speed=20 wait=1.0s (pre max|Δ|=0.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.75° (tol 3.0°) [VIA ] step 4 Δ= -0.1 -0.7 -0.8 -0.3 +0.7 +0.1 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 1.44°（関節 j4） [005] 推論 1557ms 10ステップ先 Δ= +0.3 -9.2 +7.2 -0.4 -0.8 +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_chunk005_via02: send_angles (single) [ +10.72, +58.05, +20.34, -2.58, -62.05, -27.08] speed=20 wait=1.0s (pre max|Δ|=2.33°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.36° (tol 3.0°) [VIA ] step 2 Δ= +0.3 -2.3 +0.6 -0.4 +1.0 +0.2 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ +10.68, +55.03, +23.45, -2.67, -63.00, -26.92] speed=20 wait=1.0s (pre max|Δ|=4.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.83° (tol 3.0°) [VIA ] step 5 Δ= +0.3 -4.4 +3.6 -0.5 -1.1 +0.2 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ +10.61, +51.77, +26.70, -2.67, -63.88, -26.84] speed=20 wait=1.0s (pre max|Δ|=4.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.27° (tol 3.0°) [VIA ] step 8 Δ= +0.2 -4.8 +3.8 +0.2 -2.7 -0.4 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ +10.68, +51.19, +26.98, -2.64, -63.90, -26.91] speed=20 wait=1.0s (pre max|Δ|=2.51°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.42° (tol 3.0°) [VIA ] step 9 Δ= +0.2 -2.5 +0.5 +0.4 -2.3 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.42°（関節 j1） [006] 推論 550ms 10ステップ先 Δ=+11.1 -4.7 -7.0 +2.6 +3.0 -2.7 [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) [ +10.30, +48.78, +29.68, -2.74, -64.68, -26.74] speed=20 wait=1.0s (pre max|Δ|=4.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.02° (tol 3.0°) [VIA ] step 2 Δ= -0.1 -4.8 +3.2 +0.3 -2.1 -0.4 着いた [SEND] pi05_chunk006_via05: send_angles (single) [ +13.77, +48.27, +27.63, -2.14, -63.57, -27.35] speed=20 wait=1.0s (pre max|Δ|=3.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.44° (tol 3.0°) [VIA ] step 5 Δ= +3.3 -2.5 -2.1 +0.8 +0.9 -1.0 着いた [SEND] pi05_chunk006_via08: send_angles (single) [ +19.94, +48.66, +21.04, -0.78, -60.77, -28.75] speed=20 wait=1.0s (pre max|Δ|=8.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.05° (tol 3.0°) [VIA ] step 8 Δ= +6.2 -2.0 -8.1 +1.4 +3.7 -2.1 着いた [SEND] pi05_chunk006_via09: send_angles (single) [ +21.53, +48.86, +19.45, -0.47, -59.56, -29.10] speed=20 wait=1.0s (pre max|Δ|=2.69°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.85° (tol 3.0°) [VIA ] step 9 Δ= +1.7 -1.8 -2.7 +0.4 +2.4 -1.0 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.85°（関節 j1） [007] 推論 624ms 10ステップ先 Δ=+20.5 +1.1 -22.4 +5.3 +9.4 -5.0 [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_chunk007_via02: send_angles (single) [ +27.79, +49.51, +12.56, +1.01, -57.05, -30.48] speed=20 wait=1.0s (pre max|Δ|=8.18°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.23° (tol 3.0°) [VIA ] step 2 Δ= +6.3 -1.2 -8.2 +2.0 +3.1 -1.7 着いた [SEND] pi05_chunk007_via05: send_angles (single) [ +34.44, +50.34, +5.54, +2.50, -53.69, -31.92] speed=20 wait=1.0s (pre max|Δ|=8.25°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.22° (tol 3.0°) [VIA ] step 5 Δ= +6.8 -0.4 -8.2 +1.5 +3.8 -1.8 着いた [SEND] pi05_chunk007_via08: send_angles (single) [ +40.64, +51.18, -0.59, +3.94, -50.88, -33.41] speed=20 wait=1.0s (pre max|Δ|=7.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.20° (tol 3.0°) [VIA ] step 8 Δ= +6.1 -0.1 -7.3 +1.3 +3.2 -1.9 着いた [SEND] pi05_chunk007_via09: send_angles (single) [ +42.06, +51.84, -1.63, +4.27, -50.70, -33.72] speed=20 wait=1.0s (pre max|Δ|=2.24°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.63° (tol 3.0°) [VIA ] step 9 Δ= +1.1 -0.4 -2.2 -0.3 +0.4 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.63°（関節 j2） [008] 推論 1501ms 10ステップ先 Δ= +0.0 +11.9 -3.8 +1.6 -8.9 -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_chunk008_via02: send_angles (single) [ +42.39, +56.65, -3.03, +4.99, -53.44, -33.99] speed=20 wait=1.0s (pre max|Δ|=3.66°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.72° (tol 3.0°) [VIA ] step 2 Δ= -0.1 +3.7 -3.0 +0.5 -2.6 -0.5 着いた [SEND] pi05_chunk008_via05: send_angles (single) [ +42.61, +61.03, -3.35, +5.54, -56.65, -34.05] speed=20 wait=1.0s (pre max|Δ|=4.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.42° (tol 3.0°) [VIA ] step 5 Δ= +0.2 +3.2 -2.0 +1.0 -4.6 -0.4 着いた [SEND] pi05_chunk008_via08: send_angles (single) [ +42.46, +64.53, -3.76, +6.02, -59.26, -34.12] speed=20 wait=1.0s (pre max|Δ|=2.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.38° (tol 3.0°) [VIA ] step 8 Δ= +0.0 +2.5 -1.8 +0.8 -2.5 -0.4 着いた [SEND] pi05_chunk008_via09: send_angles (single) [ +42.49, +64.93, -3.80, +6.09, -59.74, -34.14] speed=20 wait=1.0s (pre max|Δ|=1.08°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.08° (tol 3.0°) [VIA ] step 9 Δ= -0.0 -0.5 -1.1 +0.6 +0.9 +0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.08°（関節 j2） [009] 推論 569ms 4ステップ先 Δ= -0.2 +0.3 -1.0 +0.8 -0.2 +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_chunk009_via02: send_angles (single) [ +42.34, +65.91, -3.73, +6.56, -60.83, -34.36] speed=20 wait=1.0s (pre max|Δ|=1.01°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.83° (tol 3.0°) [VIA ] step 2 Δ= -0.2 +0.3 -1.0 +0.8 -0.3 +0.2 着いた [SEND] pi05_chunk009_via03: send_angles (single) [ +42.34, +65.91, -3.73, +6.56, -60.83, -34.36] speed=20 wait=1.0s (pre max|Δ|=0.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.83° (tol 3.0°) [VIA ] step 3 Δ= -0.2 -0.6 -0.8 +0.4 +0.5 +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 0.83°（関節 j2） [010] 推論 741ms 10ステップ先 Δ= +0.2 -12.9 -0.4 -1.4 +10.7 -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_chunk010_via02: send_angles (single) [ +42.44, +63.38, -3.63, +6.63, -58.91, -34.72] speed=20 wait=1.0s (pre max|Δ|=3.15°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.18° (tol 3.0°) [VIA ] step 2 Δ= +0.6 -3.1 -0.7 -0.6 +1.7 -0.5 着いた [SEND] pi05_chunk010_via05: send_angles (single) [ +42.35, +59.21, -3.79, +6.25, -54.92, -34.75] speed=20 wait=1.0s (pre max|Δ|=6.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.31° (tol 3.0°) [VIA ] step 5 Δ= +0.5 -6.3 -0.9 -0.5 +3.9 -0.6 着いた [SEND] pi05_chunk010_via08: send_angles (single) [ +42.36, +55.09, -3.53, +6.05, -51.12, -34.78] speed=20 wait=1.0s (pre max|Δ|=6.43°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.21° (tol 3.0°) [VIA ] step 8 Δ= +0.3 -6.4 -0.6 +0.4 +2.7 -0.4 着いた [SEND] pi05_chunk010_via09: send_angles (single) [ +42.01, +53.66, -3.34, +5.98, -49.97, -34.75] speed=20 wait=1.0s (pre max|Δ|=3.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.59° (tol 3.0°) [VIA ] step 9 Δ= -0.0 -3.6 -0.5 +0.3 +0.7 -0.3 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.59°（関節 j1） [011] 推論 1542ms 10ステップ先 Δ=-19.1 -29.4 +3.5 -4.1 +25.9 +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 > [SEND] pi05_chunk011_via02: send_angles (single) [ +37.72, +46.84, -2.33, +4.91, -43.79, -34.23] speed=20 wait=1.0s (pre max|Δ|=9.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.20° (tol 3.0°) [VIA ] step 2 Δ= -4.3 -9.4 +0.5 -0.8 +6.3 +0.2 着いた [SEND] pi05_chunk011_via05: send_angles (single) [ +31.34, +38.44, -0.99, +3.51, -35.68, -33.43] speed=20 wait=1.0s (pre max|Δ|=10.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.34° (tol 3.0°) [VIA ] step 5 Δ= -6.7 -10.6 +0.6 -1.7 +8.4 +1.0 着いた [SEND] pi05_chunk011_via08: send_angles (single) [ +25.12, +29.67, +0.36, +2.07, -27.06, -32.67] speed=20 wait=1.0s (pre max|Δ|=11.11°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.05° (tol 3.0°) [VIA ] step 8 Δ= -6.3 -11.1 +0.7 -1.8 +8.8 +1.6 着いた [SEND] pi05_chunk011_via09: send_angles (single) [ +22.95, +26.80, +0.73, +1.62, -24.18, -32.44] speed=20 wait=1.0s (pre max|Δ|=4.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.85° (tol 3.0°) [VIA ] step 9 Δ= -2.8 -4.9 -0.2 -0.7 +3.1 +0.8 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.85°（関節 j1） [012] 推論 620ms 10ステップ先 Δ=-21.5 -26.7 +0.6 -1.4 +22.7 +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_chunk012_via02: send_angles (single) [ +15.73, +18.42, +1.36, +0.41, -15.89, -31.62] speed=20 wait=1.0s (pre max|Δ|=10.23°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.70° (tol 3.0°) [VIA ] step 2 Δ= -7.0 -10.2 -0.0 -0.9 +8.4 +1.0 着いた [SEND] pi05_chunk012_via05: send_angles (single) [ +8.17, +9.30, +1.84, -0.10, -7.20, -31.21] speed=20 wait=1.0s (pre max|Δ|=10.82°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.59° (tol 3.0°) [VIA ] step 5 Δ= -7.6 -10.8 -0.3 -0.9 +8.9 +0.6 着いた [SEND] pi05_chunk012_via08: send_angles (single) [ +2.21, +2.69, +2.00, -0.06, -1.91, -31.11] speed=20 wait=1.0s (pre max|Δ|=8.20°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.26° (tol 3.0°) [VIA ] step 8 Δ= -6.0 -8.2 -0.1 -0.2 +5.5 +0.3 着いた [SEND] pi05_chunk012_via09: send_angles (single) [ +1.22, +1.97, +2.04, -0.04, -1.55, -31.10] speed=20 wait=1.0s (pre max|Δ|=1.98°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.63° (tol 3.0°) [VIA ] step 9 Δ= -1.2 -2.0 -0.8 -0.2 +0.6 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.63°（関節 j1） [013] 推論 629ms 10ステップ先 Δ= -1.1 -1.8 -0.7 -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_chunk013_via02: send_angles (single) [ +0.14, +1.86, +2.14, -0.03, -1.89, -31.06] speed=20 wait=1.0s (pre max|Δ|=1.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.74° (tol 3.0°) [VIA ] step 2 Δ= -0.7 -1.7 -0.7 -0.2 -0.1 +0.2 着いた [SEND] pi05_chunk013_via05: send_angles (single) [ -0.22, +1.86, +2.11, -0.05, -1.96, -31.05] speed=20 wait=1.0s (pre max|Δ|=1.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.74° (tol 3.0°) [VIA ] step 5 Δ= -0.4 -1.7 -0.7 -0.2 -0.2 +0.2 着いた [SEND] pi05_chunk013_via08: send_angles (single) [ -0.30, +1.79, +2.07, -0.07, -2.06, -31.05] speed=20 wait=1.0s (pre max|Δ|=1.81°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.81° (tol 3.0°) [VIA ] step 8 Δ= -0.5 -1.8 -0.7 -0.2 -0.3 +0.2 着いた [SEND] pi05_chunk013_via09: send_angles (single) [ -0.21, +1.81, +2.08, -0.07, -2.25, -31.06] speed=20 wait=1.0s (pre max|Δ|=1.79°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.79° (tol 3.0°) [VIA ] step 9 Δ= -0.4 -1.8 -0.7 -0.2 -0.5 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.79°（関節 j1） [014] 推論 1548ms 10ステップ先 Δ= -0.7 -1.8 -0.5 -0.3 -0.8 +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 > 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|=3.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.84° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_150534 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/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_194818 --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_194818/frames/000000.jpg [REF ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°) [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= -1.3 dx= +1.5 response=0.872 → 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_150950 [CAMERA] 写り方 dy=-7.7 dx=+8.3 response=0.543 → 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 560ms 10ステップ先 Δ= +3.9 +17.1 +11.2 -2.0 -23.2 +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 > [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) [ +0.78, +5.94, +4.60, -0.32, -6.87, -29.46] speed=20 wait=1.0s (pre max|Δ|=6.61°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.34° (tol 3.0°) [VIA ] step 2 Δ= +0.9 +4.5 +2.8 -0.5 -6.6 +0.7 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ +1.82, +11.87, +8.30, -1.15, -14.79, -28.42] speed=20 wait=1.0s (pre max|Δ|=9.26°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 5 Δ= +1.2 +4.9 +2.7 -1.2 -9.3 +1.3 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ +3.19, +17.11, +12.12, -1.78, -21.41, -27.41] speed=20 wait=1.0s (pre max|Δ|=7.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.90° (tol 3.0°) [VIA ] step 8 Δ= +1.8 +4.3 +2.8 -0.7 -7.6 +1.2 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ +3.75, +18.55, +13.03, -1.87, -23.47, -27.19] speed=20 wait=1.0s (pre max|Δ|=2.29°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.96° (tol 3.0°) [VIA ] step 9 Δ= +1.0 +0.5 +0.0 +0.1 -2.3 +0.4 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 688ms 10ステップ先 Δ= +4.4 +17.2 +11.6 -0.2 -28.5 +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) [ +5.13, +23.86, +16.59, -2.64, -31.32, -26.64] speed=20 wait=1.0s (pre max|Δ|=7.86°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.92° (tol 3.0°) [VIA ] step 2 Δ= +1.5 +4.4 +2.8 -0.2 -7.9 +0.8 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ +6.68, +29.81, +20.58, -2.75, -41.02, -26.52] speed=20 wait=1.0s (pre max|Δ|=10.35°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.86° (tol 3.0°) [VIA ] step 5 Δ= +1.9 +5.0 +3.2 -0.2 -10.3 +0.3 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ +7.78, +35.59, +24.61, -2.75, -50.34, -26.46] speed=20 wait=1.0s (pre max|Δ|=9.65°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.88° (tol 3.0°) [VIA ] step 8 Δ= +1.7 +4.9 +3.4 -0.2 -9.6 +0.2 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ +8.04, +36.70, +25.40, -2.69, -51.96, -26.45] speed=20 wait=1.0s (pre max|Δ|=1.96°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.00° (tol 3.0°) [VIA ] step 9 Δ= +0.2 +0.2 +0.4 -0.2 -2.0 +0.3 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 1535ms 10ステップ先 Δ= +1.6 +8.0 +5.3 -0.2 -10.8 +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) [ +8.90, +42.57, +29.06, -2.91, -60.19, -26.46] speed=20 wait=1.0s (pre max|Δ|=8.08°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.93° (tol 3.0°) [VIA ] step 2 Δ= +1.1 +4.9 +4.1 -0.5 -8.1 +0.2 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ +9.46, +45.65, +30.86, -2.77, -63.59, -26.46] speed=20 wait=1.0s (pre max|Δ|=3.74°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.01° (tol 3.0°) [VIA ] step 5 Δ= +0.6 +2.1 +1.9 -0.4 -3.7 +0.2 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ +9.35, +45.82, +30.62, -2.58, -63.23, -26.42] speed=20 wait=1.0s (pre max|Δ|=1.10°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.10° (tol 3.0°) [VIA ] step 8 Δ= +0.5 -0.8 -0.8 -0.3 +1.1 +0.2 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ +9.41, +45.70, +30.28, -2.62, -62.92, -26.42] speed=20 wait=1.0s (pre max|Δ|=1.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.05° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -1.0 -1.1 -0.3 +1.4 +0.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.05°（関節 j1） [003] 推論 613ms 10ステップ先 Δ= +0.6 +9.3 -9.8 -0.2 +2.0 +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_chunk003_via02: send_angles (single) [ +9.48, +47.84, +28.95, -2.51, -63.48, -26.42] speed=20 wait=1.0s (pre max|Δ|=2.33°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.46° (tol 3.0°) [VIA ] step 2 Δ= +0.3 +1.1 -2.3 -0.2 +0.1 +0.2 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ +9.81, +51.61, +25.50, -2.47, -62.88, -26.49] speed=20 wait=1.0s (pre max|Δ|=4.91°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.04° (tol 3.0°) [VIA ] step 5 Δ= +0.6 +2.8 -4.9 -0.2 +0.7 +0.1 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ +9.85, +55.30, +22.31, -2.52, -62.07, -26.55] speed=20 wait=1.0s (pre max|Δ|=4.23°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.98° (tol 3.0°) [VIA ] step 8 Δ= +0.6 +2.8 -4.2 -0.2 +1.4 +0.1 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ +9.79, +56.04, +21.52, -2.52, -61.91, -26.58] speed=20 wait=1.0s (pre max|Δ|=1.77°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.24° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -0.2 -1.8 -0.3 +0.4 +0.1 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.24°（関節 j2） [004] 推論 606ms 5ステップ先 Δ= +0.6 +2.0 -3.4 -0.4 +0.7 +0.0 グリッパー→閉 [VIA ] 中継点 2 点: step 2, 4 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) [ +9.89, +58.99, +19.38, -2.58, -61.58, -26.63] speed=20 wait=1.0s (pre max|Δ|=3.38°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.77° (tol 3.0°) [VIA ] step 2 Δ= +0.7 +2.0 -3.4 -0.4 +0.7 +0.0 着いた [SEND] pi05_chunk004_via04: send_angles (single) [ +9.80, +58.98, +19.37, -2.56, -61.62, -26.62] speed=20 wait=1.0s (pre max|Δ|=0.78°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=0.78° (tol 3.0°) [VIA ] step 4 Δ= +0.2 -0.8 -0.7 -0.5 +0.4 +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 1.13°（関節 j4） [005] 推論 554ms 10ステップ先 Δ= +0.3 -8.3 +6.8 -0.4 -1.5 +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_chunk005_via02: send_angles (single) [ +9.80, +57.53, +20.57, -2.55, -62.08, -26.80] speed=20 wait=1.0s (pre max|Δ|=2.23°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.79° (tol 3.0°) [VIA ] step 2 Δ= +0.2 -2.2 +0.5 -0.4 +0.7 +0.1 着いた [SEND] pi05_chunk005_via05: send_angles (single) [ +9.79, +54.72, +23.46, -2.58, -63.08, -26.66] speed=20 wait=1.0s (pre max|Δ|=4.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.83° (tol 3.0°) [VIA ] step 5 Δ= +0.2 -4.6 +3.2 -0.4 -1.0 +0.1 着いた [SEND] pi05_chunk005_via08: send_angles (single) [ +9.62, +51.68, +26.76, -2.61, -64.10, -26.66] speed=20 wait=1.0s (pre max|Δ|=4.83°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.10° (tol 3.0°) [VIA ] step 8 Δ= +0.0 -4.8 +3.7 +0.3 -2.8 -0.2 着いた [SEND] pi05_chunk005_via09: send_angles (single) [ +9.85, +51.42, +26.97, -2.55, -64.26, -26.78] speed=20 wait=1.0s (pre max|Δ|=2.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.19° (tol 3.0°) [VIA ] step 9 Δ= +0.3 -2.4 +0.2 +0.4 -2.0 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.19°（関節 j1） [006] 推論 1542ms 10ステップ先 Δ=+13.5 -4.2 -8.7 +3.3 +2.9 -3.0 [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 > 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|=63.54°, post-send timeout 11.5s) [SEND] arrival OK: max|Δ|=2.28° (tol 2.5°) [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261029_150950 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts %