(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)
