[LAB   ] 2026-10-30 20:36:24  GPU=NVIDIA A40  episode=run_0001_20261019_194818  log=/Volumes/KIOXIA/r2r2r-data/lab/test_lab_20261030  ドライラン (アームなし)

=== 1. Pod を作る
[POD   ] 作った: id q38suh09bciokm  GPU=NVIDIA A40  1時間 0.59 ドル  (記録 /Volumes/KIOXIA/r2r2r-data/lab/test_lab_20261030/pod/lab_pod.json)
    (2 秒)

=== 2. Pod が立ち上がるまで待つ
[POD   ] SSH の IP とポートを API から受け取った (<POD_IP>:<SSH_PORT>)
[POD   ] 入れた: eec2ad0d6aef
NVIDIA A40, 46068 MiB
    (17 秒)

=== 3a. スクリプトを送る
    (33 秒)

=== 3b. huggingface_hub を入れ, 鍵を渡す
WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager, possibly rendering your system unusable. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv. Use the --root-user-action option if you know what you are doing and want to suppress this warning.
Hint: The `hf-cli` skill is not installed. Run `hf skills add -g` to teach your AI agents how to use the `hf` CLI.
✓ Logged in
  user: PixelstoMotors
    (10 秒)

=== 3c. モデルを取る (hf download)

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✓ Downloaded
  path: /workspace/ckpt/3999
6.0G	/workspace/ckpt/3999
    (12 秒)

=== 3d. openpi を取る (215abfb)
215abfb docs(droid): fix config search instruction (#1023)
    (14 秒)

=== 3e. uv sync
downloading uv 0.13.6 x86_64-unknown-linux-gnu
WARN: The following commands are shadowed by other commands in your PATH: uv uvx
Using CPython 3.11.13 interpreter at: /usr/bin/python3.11
Creating virtual environment at: .venv
Resolved 279 packages in 2ms
   Building openpi-client @ file:///workspace/openpi/packages/openpi-client
   Building openpi @ file:///workspace/openpi
   Updating https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
Downloading imageio-ffmpeg (28.1MiB)
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Downloading numpy (17.4MiB)
Downloading virtualenv (5.8MiB)
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Downloading ruff (11.0MiB)
Downloading nvidia-curand-cu12 (53.7MiB)
Downloading labmaze (4.7MiB)
Downloading triton (148.5MiB)
Downloading nvidia-cusolver-cu12 (150.9MiB)
Downloading jaxlib (100.2MiB)
Downloading rerun-sdk (68.1MiB)
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Downloading llvmlite (40.4MiB)
Downloading nvidia-cuda-nvrtc-cu12 (22.6MiB)
Downloading nvidia-cusparselt-cu12 (149.5MiB)
Downloading nvidia-cublas-cu12 (374.9MiB)
Downloading pyarrow (40.3MiB)
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Downloading hf-xet (4.9MiB)
Downloading nvidia-cusparse-cu12 (206.5MiB)
Downloading tensorstore (17.5MiB)
Downloading nvidia-nccl-cu12 (192.0MiB)
Downloading torch (783.1MiB)
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   Building evdev==1.9.2
 Downloaded transformers
   Building antlr4-python3-runtime==4.9.3
 Downloaded ruff
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      Built openpi-client @ file:///workspace/openpi/packages/openpi-client
      Built openpi @ file:///workspace/openpi
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      Built evdev==1.9.2
 Downloaded rerun-sdk
    Updated https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
   Building lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
 Downloaded jaxlib
 Downloaded jax-cuda12-pjrt
      Built lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
 Downloaded triton
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 Downloaded nvidia-nccl-cu12
 Downloaded nvidia-cufft-cu12
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 Downloaded nvidia-cublas-cu12
 Downloaded nvidia-cudnn-cu12
 Downloaded torch
Prepared 240 packages in 16.20s
Installed 240 packages in 1.32s
 + absl-py==2.3.0
 + aiohappyeyeballs==2.6.1
 + aiohttp==3.12.4
 + aiosignal==1.3.2
 + annotated-types==0.7.0
 + antlr4-python3-runtime==4.9.3
 + asttokens==3.0.0
 + attrs==25.3.0
 + augmax==0.4.1
 + av==17.0.0
 + beartype==0.19.0
 + beautifulsoup4==4.13.4
 + blinker==1.9.0
 + cachetools==5.5.2
 + certifi==2025.4.26
 + cffi==1.17.1
 + cfgv==3.4.0
 + charset-normalizer==3.4.2
 + chex==0.1.90
 + click==8.2.1
 + cloudpickle==3.1.1
 + cmake==4.0.2
 + comm==0.2.2
 + contourpy==1.3.2
 + crc32c==2.7.1
 + cycler==0.12.1
 + datasets==3.6.0
 + debugpy==1.8.14
 + decorator==5.2.1
 + deepdiff==8.5.0
 + diffusers==0.33.1
 + dill==0.3.8
 + distlib==0.3.9
 + dm-control==1.0.14
 + dm-env==1.6
 + dm-tree==0.1.9
 + docker-pycreds==0.4.0
 + docstring-parser==0.16
 + donfig==0.8.1.post1
 + draccus==0.10.0
 + einops==0.8.1
 + equinox==0.12.2
 + etils==1.12.2
 + evdev==1.9.2
 + executing==2.2.0
 + farama-notifications==0.0.4
 + filelock==3.18.0
 + flask==3.1.1
 + flatbuffers==25.2.10
 + flax==0.10.2
 + fonttools==4.58.1
 + frozenlist==1.6.0
 + fsspec==2025.3.0
 + gcsfs==2025.3.0
 + gdown==5.2.0
 + gitdb==4.0.12
 + gitpython==3.1.44
 + glfw==2.9.0
 + google-api-core==2.24.2
 + google-auth==2.40.2
 + google-auth-oauthlib==1.2.2
 + google-cloud-core==2.4.3
 + google-cloud-storage==3.1.0
 + google-crc32c==1.7.1
 + google-resumable-media==2.7.2
 + googleapis-common-protos==1.70.0
 + gym-aloha==0.1.1
 + gymnasium==0.29.1
 + h5py==3.13.0
 + hf-transfer==0.1.9
 + hf-xet==1.1.2
 + huggingface-hub==0.32.3
 + humanize==4.12.3
 + identify==2.6.12
 + idna==3.10
 + imageio==2.37.0
 + imageio-ffmpeg==0.6.0
 + importlib-metadata==8.7.0
 + importlib-resources==6.5.2
 + iniconfig==2.1.0
 + inquirerpy==0.3.4
 + ipykernel==6.29.5
 + ipython==9.2.0
 + ipython-pygments-lexers==1.1.1
 + ipywidgets==8.1.7
 + itsdangerous==2.2.0
 + jax==0.5.3
 + jax-cuda12-pjrt==0.5.3
 + jax-cuda12-plugin==0.5.3
 + jaxlib==0.5.3
 + jaxtyping==0.2.36
 + jedi==0.19.2
 + jinja2==3.1.6
 + jsonlines==4.0.0
 + jupyter-client==8.6.3
 + jupyter-core==5.8.1
 + jupyterlab-widgets==3.0.15
 + kiwisolver==1.4.8
 + labmaze==1.0.6
 + lerobot==0.1.0 (from git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
 + llvmlite==0.44.0
 + lxml==5.4.0
 + markdown-it-py==3.0.0
 + markupsafe==3.0.2
 + matplotlib==3.10.3
 + matplotlib-inline==0.1.7
 + mdurl==0.1.2
 + mergedeep==1.3.4
 + ml-collections==1.0.0
 + ml-dtypes==0.4.1
 + mpmath==1.3.0
 + msgpack==1.1.0
 + mujoco==2.3.7
 + multidict==6.4.4
 + multiprocess==0.70.16
 + mypy-extensions==1.1.0
 + nest-asyncio==1.6.0
 + networkx==3.5
 + nodeenv==1.9.1
 + numba==0.61.2
 + numcodecs==0.16.1
 + numpy==1.26.4
 + numpydantic==1.6.9
 + nvidia-cublas-cu12==12.6.4.1
 + nvidia-cuda-cupti-cu12==12.6.80
 + nvidia-cuda-nvcc-cu12==12.9.41
 + nvidia-cuda-nvrtc-cu12==12.6.77
 + nvidia-cuda-runtime-cu12==12.6.77
 + nvidia-cudnn-cu12==9.5.1.17
 + nvidia-cufft-cu12==11.3.0.4
 + nvidia-cufile-cu12==1.11.1.6
 + nvidia-curand-cu12==10.3.7.77
 + nvidia-cusolver-cu12==11.7.1.2
 + nvidia-cusparse-cu12==12.5.4.2
 + nvidia-cusparselt-cu12==0.6.3
 + nvidia-ml-py==12.575.51
 + nvidia-nccl-cu12==2.26.2
 + nvidia-nvjitlink-cu12==12.6.85
 + nvidia-nvtx-cu12==12.6.77
 + oauthlib==3.2.2
 + omegaconf==2.3.0
 + opencv-python==4.11.0.86
 + opencv-python-headless==4.11.0.86
 + openpi==0.1.0 (from file:///workspace/openpi)
 + openpi-client==0.1.0 (from file:///workspace/openpi/packages/openpi-client)
 + opt-einsum==3.4.0
 + optax==0.2.4
 + orbax-checkpoint==0.11.13
 + orderly-set==5.4.1
 + packaging==25.0
 + pandas==2.2.3
 + parso==0.8.4
 + pexpect==4.9.0
 + pfzy==0.3.4
 + pillow==11.2.1
 + platformdirs==4.3.8
 + pluggy==1.6.0
 + polars==1.30.0
 + pre-commit==4.2.0
 + prompt-toolkit==3.0.51
 + propcache==0.3.1
 + proto-plus==1.26.1
 + protobuf==4.25.8
 + psutil==7.0.0
 + ptyprocess==0.7.0
 + pure-eval==0.2.3
 + pyarrow==20.0.0
 + pyasn1==0.6.1
 + pyasn1-modules==0.4.2
 + pycparser==2.22
 + pydantic==2.11.5
 + pydantic-core==2.33.2
 + pygments==2.19.1
 + pymunk==7.0.0
 + pynput==1.8.1
 + pynvml==12.0.0
 + pyopengl==3.1.9
 + pyparsing==3.2.3
 + pysocks==1.7.1
 + pytest==8.3.5
 + python-dateutil==2.9.0.post0
 + python-xlib==0.33
 + pytz==2025.2
 + pyyaml==6.0.2
 + pyyaml-include==1.4.1
 + pyzmq==26.4.0
 + regex==2024.11.6
 + requests==2.32.3
 + requests-oauthlib==2.0.0
 + rerun-sdk==0.23.1
 + rich==14.0.0
 + rsa==4.9.1
 + ruff==0.11.12
 + safetensors==0.5.3
 + scipy==1.15.3
 + sentencepiece==0.2.0
 + sentry-sdk==2.29.1
 + setproctitle==1.3.6
 + setuptools==80.9.0
 + shtab==1.7.2
 + simplejson==3.20.1
 + six==1.17.0
 + smmap==5.0.2
 + soupsieve==2.7
 + stack-data==0.6.3
 + sympy==1.14.0
 + tensorstore==0.1.74
 + termcolor==3.1.0
 + tokenizers==0.21.1
 + toml==0.10.2
 + toolz==1.0.0
 + torch==2.7.1
 + torchcodec==0.4.0
 + torchvision==0.22.1
 + tornado==6.5.1
 + tqdm==4.67.1
 + tqdm-loggable==0.2
 + traitlets==5.14.3
 + transformers==4.53.2
 + treescope==0.1.9
 + triton==3.3.1
 + typeguard==4.4.2
 + typing-extensions==4.13.2
 + typing-inspect==0.9.0
 + typing-inspection==0.4.1
 + tyro==0.9.22
 + tzdata==2025.2
 + urllib3==2.4.0
 + virtualenv==20.31.2
 + wadler-lindig==0.1.6
 + wandb==0.19.11
 + wcwidth==0.2.13
 + websockets==15.0.1
 + werkzeug==3.1.3
 + widgetsnbextension==4.0.14
 + wrapt==1.14.1
 + xxhash==3.5.0
 + yarl==1.20.0
 + zarr==3.0.8
 + zipp==3.22.0
    (21 秒)

=== 3f. addon・設定・assets
installed: policies/mecharm_policy.py + config.py (pi05_mecharm_lora)
installed: pi05_mecharm_trim_lora (repo_id=local/mecharm_redblock_box_teach_v1_trim2, 4,000 steps)
    (2 秒)

=== 4. サーバーの起動
INFO:websockets.server:server listening on 0.0.0.0:8000
    (40 秒)

=== 5. Mac の 8000 番へのトンネル
[TUNNEL] localhost:8000 → Pod の 8000 番 (pid 26424. このスクリプトが終わると閉じる)
    (3 秒)

=== 8. 推論のクライアント (ドライラン・--dry-keys. アームには触らない)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[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  ] DRY-RUN (アームには送らない)  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_203859
[CAMERA] 写り方 dy=-86.5 dx=-14.3 response=0.022 → 測れない (相関が弱く dx/dy が当てにならない (response=0.022 < 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={}
[DRY   ] --dry-keys: アームには送らず, HOME から始まる仮の姿勢で流れを試します
[STATE ] 実測を渡す (直前に送った目標がない)
[000] 推論 58100ms  10ステップ先  Δ= -8.6 +21.2  +2.2  -0.7 -22.2  +1.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       [VIA   ] step  2  Δ= -2.0  +4.8  -0.5  +0.1  -4.1  -0.1
       [VIA   ] step  5  Δ= -3.0  +7.1  +0.5  -0.1  -7.9  +0.2
       [VIA   ] step  8  Δ= -2.7  +7.0  +1.6  -0.6  -7.8  +0.7
       [VIA   ] step  9  Δ= -0.9  +2.3  +0.5  -0.1  -2.3  +0.2
       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / h=HOMEに戻して終了 / q=終了 > [DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261030_203859
Traceback (most recent call last):
  File "/Users/shimazueiichi/r2r2r-scripts/pi05/run_policy_client.py", line 1509, in <module>
    sys.exit(main())
             ^^^^^^
  File "/Users/shimazueiichi/r2r2r-scripts/pi05/run_policy_client.py", line 1187, in main
    ans = input("       Enter=実行 / s=送らず次へ / b=巻き戻し / c=補正 / "
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
EOFError: EOF when reading a line
[CLIENT] run_policy_client.py が終わった (終了コード 1)
    (62 秒)

=== かかった時間
  1. Pod を作る                      2 秒
  2. Pod が立ち上がるまで待つ     17 秒
  3a. スクリプトを送る         33 秒
  3b. huggingface_hub を入れ, 鍵を渡す     10 秒
  3c. モデルを取る (hf download)     12 秒
  3d. openpi を取る (215abfb)       14 秒
  3e. uv sync                          21 秒
  3f. addon・設定・assets           2 秒
  4. サーバーの起動             40 秒
  5. Mac の 8000 番へのトンネル      3 秒
  8. 推論のクライアント (ドライラン・--dry-keys. アームには触らない)     62 秒

[LAB   ] Pod は残しています (id q38suh09bciokm). 片付けは ./lab_stop.sh --log test_lab_20261030
[TUNNEL] 8000 番のトンネルを閉じました