(base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % cd ~/r2r2r-scripts && python3 dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py && python3 -c "from visual_servo_pick import get_daemon_socket, daemon_set_gripper, close_daemon_socket; get_daemon_socket(); daemon_set_gripper(0); close_daemon_socket()" && python3 pi05/camera_align.py --raw-dir /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes --episode 183454 --scale 5 --alpha 0.7 [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [-0.70, 93.60, 8.08, 0.61, -104.32, -29.09] [SEND] HOME へ移動指令 [WAIT] t=0.6s max_err=89.29° [WAIT] t=1.1s max_err=73.56° [WAIT] t=1.6s max_err=57.91° [WAIT] t=2.1s max_err=42.18° [WAIT] t=2.7s max_err=26.45° [WAIT] t=3.2s max_err=10.89° [WAIT] t=3.7s max_err=1.58° [DONE] HOME 到達 max_err=1.58° [POST] 最終姿勢: [-0.35, 1.23, 1.58, 0.43, 1.23, -29.53] [Pi] fresh_mode=0 [EXIT] fresh_mode=0, socket close [Pi] GRIPPER: OPEN result= None [REF ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg [REF ] お手本 run_0001_20261019_183454 (つかんだ瞬間の j0 = -36.4°) [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= -9.1 dx= +9.9 response=0.565 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -8.0 dx= +0.3 response=0.439 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -11.2 dx= +5.2 response=0.486 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -15.6 dx= +10.2 response=0.568 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -14.6 dx= +22.8 response=0.598 → ずれ (|dx|=22.8 > 20) [ALIGN ] dy= -17.4 dx= +31.2 response=0.555 → ずれ (|dx|=31.2 > 20) [ALIGN ] dy= -14.6 dx= +30.1 response=0.559 → ずれ (|dx|=30.1 > 20) [ALIGN ] dy= -11.7 dx= +28.6 response=0.522 → ずれ (|dx|=28.6 > 20) [ALIGN ] dy= -10.0 dx= +29.6 response=0.482 → ずれ (|dx|=29.6 > 20) [ALIGN ] dy= -7.9 dx= +34.7 response=0.364 → ずれ (|dx|=34.7 > 20) [ALIGN ] dy= -14.3 dx= +54.6 response=0.010 → 測れない (相関が弱く dx/dy が当てにならない (response=0.010 < 0.20)) [ALIGN ] dy= -2.7 dx= +34.1 response=0.337 → ずれ (|dx|=34.1 > 20) [ALIGN ] dy= -13.9 dx= +44.4 response=0.017 → 測れない (相関が弱く dx/dy が当てにならない (response=0.017 < 0.20)) [ALIGN ] dy= -5.7 dx= +27.7 response=0.351 → ずれ (|dx|=27.7 > 20) [ALIGN ] dy= -7.2 dx= +24.5 response=0.494 → ずれ (|dx|=24.5 > 20) [ALIGN ] dy= -8.7 dx= +27.0 response=0.498 → ずれ (|dx|=27.0 > 20) [ALIGN ] dy= -10.0 dx= +30.3 response=0.348 → ずれ (|dx|=30.3 > 20) [ALIGN ] dy= -11.2 dx= +37.0 response=0.313 → ずれ (|dx|=37.0 > 20) [ALIGN ] dy= -16.5 dx= +65.0 response=0.013 → 測れない (相関が弱く dx/dy が当てにならない (response=0.013 < 0.20)) [ALIGN ] dy= -21.2 dx= +57.4 response=0.052 → 測れない (相関が弱く dx/dy が当てにならない (response=0.052 < 0.20)) [ALIGN ] dy= -18.8 dx= +58.1 response=0.057 → 測れない (相関が弱く dx/dy が当てにならない (response=0.057 < 0.20)) [ALIGN ] dy= -10.4 dx= +38.1 response=0.290 → ずれ (|dx|=38.1 > 20) [ALIGN ] dy= -9.1 dx= +3.8 response=0.573 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -10.4 dx= -5.1 response=0.445 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -13.5 dx= -1.0 response=0.508 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -16.6 dx= +6.3 response=0.554 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -18.6 dx= +16.9 response=0.580 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -17.4 dx= +21.6 response=0.542 → ずれ (|dx|=21.6 > 20) [ALIGN ] dy= -15.3 dx= +20.6 response=0.528 → ずれ (|dx|=20.6 > 20) [ALIGN ] dy= -13.8 dx= +10.6 response=0.524 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -14.9 dx= +9.5 response=0.506 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -13.3 dx= +10.1 response=0.526 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -14.4 dx= +14.0 response=0.524 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -20.6 dx= +12.1 response=0.538 → ずれ (|dy|=20.6 > 20) [ALIGN ] dy= -22.8 dx= +12.0 response=0.540 → ずれ (|dy|=22.8 > 20) [ALIGN ] dy= -24.8 dx= +13.5 response=0.490 → ずれ (|dy|=24.8 > 20) [ALIGN ] dy= -26.9 dx= +11.8 response=0.496 → ずれ (|dy|=26.9 > 20) [ALIGN ] dy= -25.0 dx= +12.6 response=0.491 → ずれ (|dy|=25.0 > 20) [ALIGN ] dy= -19.5 dx= +15.0 response=0.527 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -14.1 dx= +21.1 response=0.513 → ずれ (|dx|=21.1 > 20) [ALIGN ] dy= -9.0 dx= +28.0 response=0.390 → ずれ (|dx|=28.0 > 20) [ALIGN ] dy= -17.1 dx= +42.9 response=0.011 → 測れない (相関が弱く dx/dy が当てにならない (response=0.011 < 0.20)) [ALIGN ] dy= -1.4 dx= +23.4 response=0.359 → ずれ (|dx|=23.4 > 20) [ALIGN ] dy= +2.1 dx= +20.6 response=0.439 → ずれ (|dx|=20.6 > 20) [ALIGN ] dy= +5.2 dx= +20.2 response=0.494 → ずれ (|dx|=20.2 > 20) [ALIGN ] dy= +2.8 dx= +18.7 response=0.454 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -1.4 dx= +14.3 response=0.507 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -3.5 dx= +12.5 response=0.533 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -2.5 dx= +14.0 response=0.543 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -1.4 dx= +13.2 response=0.523 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -3.7 dx= +12.6 response=0.526 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -2.4 dx= +9.2 response=0.602 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -4.7 dx= +8.4 response=0.558 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -3.0 dx= +4.4 response=0.608 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -1.2 dx= +3.0 response=0.603 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -0.0 dx= +2.2 response=0.574 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= +1.3 dx= +1.7 response=0.548 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [ALIGN ] dy= -0.1 dx= +4.3 response=0.571 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) [DONE ] 終了 (何も書いていません)