[RANGE ] 安全範囲 (学習データ ±10°) は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes から (--model deep1) [FRAME ] 写り方の確かめの基準画像は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes の最初のエピソードから (位置合わせと同じ trim2. 依頼 137) [TILT ] 上カメラの傾きのお手本 (各エピソードの 1 枚目の中央値) は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes から (安全範囲と同じ. 表示だけ. 依頼 142) [LAB ] 2026-11-10 19:31:00 GPU=NVIDIA A40 episode=run_0001_20261019_194818 log=/Volumes/KIOXIA/r2r2r-data/lab/Log28 [MODEL ] --model deep1: π0.5 base から deep_even10_v1 で新しく学習した 2999 (依頼 133. decay_steps 5000) PixelstoMotors/pi05-mecharm-deep-even10-lora-v1 → /workspace/ckpt/deep_v1_2999 設定 pi05_mecharm_deep_even10_lora assets local/mecharm_redblock_box_deep_even10_v1 === 1. Pod を作る [POD ] Log28 の Pod (id 9qvy252fd9qgb4) につなぎ直します (状態 RUNNING GPU=NVIDIA A40 1時間 0.59 ドル 作った時刻 2026-11-10 19:09:20) [POD ] 記録の最後のモデル: deep1 今回: --model deep1 (1 秒) === 2. Pod が立ち上がるまで待つ [POD ] SSH の IP とポートを API から取り直した (:) [POD ] 入れた: 0064877cc448 NVIDIA A40, 46068 MiB (8 秒) === 3. Pod の中を確かめる (つなぎ直し) [POD ] serve_policy.py のプロセス: ある 8000 番の LISTEN: ある [POD ] モデル (/workspace/ckpt/deep_v1_2999): ある openpi (215abfb): ある .venv: ある [POD ] 動いているサーバーのモデル: --policy.dir=/workspace/ckpt/deep_v1_2999 (--model deep1 と同じ) [POD ] サーバーは 8000 番で待っています. 3b〜4 を飛ばします INFO:websockets.server:server listening on 0.0.0.0:8000 (12 秒) === 3a. スクリプトを送る (121 秒) === 3b〜4. 準備とサーバーの起動 → 飛ばす (サーバーが 8000 番で待っている) === 5. Mac の 8000 番へのトンネル [TUNNEL] localhost:8000 → Pod の 8000 番 (pid 24612. このスクリプトが終わると閉じる) (3 秒) === 6. デーモンの状態 --- process 9155 /usr/bin/python3 -u /home/ubuntu/mecharm_daemon.py --- 5555 LISTEN0 1 0.0.0.0:5555 0.0.0.0:* --- systemd enabled: enabled active: active (2 秒) === 7. HOME → 爪を開く → 位置合わせ (1 回目) [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [-37.17, 73.12, -14.06, 7.20, -54.05, -32.95] [SEND] HOME へ移動指令 [WAIT] t=0.6s max_err=56.95° [WAIT] t=1.2s max_err=41.22° [WAIT] t=1.7s max_err=25.57° [WAIT] t=2.2s max_err=9.66° [WAIT] t=2.7s max_err=1.31° [DONE] HOME 到達 max_err=1.31° [POST] 最終姿勢: [0.35, 1.31, 0.79, -0.70, 0.61, -30.84] [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_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 [TILT ] 傾きのお手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes 中央値 -0.61° (測れた 50/50 本. プラス=右下がり) [TILT ] 傾きの差が ±0.5° を超えたら画面の色を変える (表示だけ. 止めない) [ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない) [ALIGN ] dy= +3.9 dx= +0.1 response=0.818 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き -1.02° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.41° (±0.5° 以内) [ALIGN ] dy= +3.8 dx= +0.1 response=0.868 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き -6.23° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -5.61° → 傾きがお手本と違う (±0.5° を超える) [ALIGN ] dy= +3.8 dx= +0.1 response=0.842 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き +2.45° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.07° → 傾きがお手本と違う (±0.5° を超える) [ALIGN ] dy= +3.8 dx= +0.1 response=0.866 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き +3.47° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +4.09° → 傾きがお手本と違う (±0.5° を超える) [ALIGN ] dy= +3.8 dx= +0.1 response=0.852 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き +3.88° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +4.50° → 傾きがお手本と違う (±0.5° を超える) [ALIGN ] dy= +3.8 dx= +0.1 response=0.847 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き +3.07° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.68° → 傾きがお手本と違う (±0.5° を超える) [ALIGN ] dy= +3.8 dx= +0.1 response=0.851 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き +2.45° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.07° → 傾きがお手本と違う (±0.5° を超える) [ALIGN ] dy= +3.8 dx= +0.1 response=0.776 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き +2.66° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.27° → 傾きがお手本と違う (±0.5° を超える) [ALIGN ] dy= +3.9 dx= +0.2 response=0.782 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き +3.27° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.88° → 傾きがお手本と違う (±0.5° を超える) [ALIGN ] dy= +3.8 dx= +0.2 response=0.781 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き +3.07° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.68° → 傾きがお手本と違う (±0.5° を超える) [ALIGN ] dy= +3.8 dx= +0.2 response=0.778 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き +2.86° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.48° → 傾きがお手本と違う (±0.5° を超える) [ALIGN ] dy= +3.8 dx= +0.2 response=0.774 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き +3.07° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.68° → 傾きがお手本と違う (±0.5° を超える) [ALIGN ] dy= +3.9 dx= +0.0 response=0.847 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き +3.27° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +3.88° → 傾きがお手本と違う (±0.5° を超える) [ALIGN ] dy= +3.8 dx= +0.0 response=0.852 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き -4.07° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -3.46° → 傾きがお手本と違う (±0.5° を超える) [ALIGN ] dy= +3.8 dx= +0.0 response=0.883 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き -5.62° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -5.00° → 傾きがお手本と違う (±0.5° を超える) [ALIGN ] dy= +3.8 dx= +0.1 response=0.886 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き -1.02° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.41° (±0.5° 以内) [DONE ] 終了 (何も書いていません) (63 秒) === 8. 実機推論 (1 回目) [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 50 本 ±10°): j0[-72,+55] j1[-9,+88] j2[-45,+52] j3[-18,+27] j4[-87,+10] j5[-51,-15] [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_deep_even10_v1/raw_episodes [MODE ] EXECUTE steps/chunk=10 max_move=20.0° log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_193431 [MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1) [CAMERA] 写り方 dy=-2.5 dx=+6.9 response=0.602 → 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 [CAMERA] 傾き -0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.20° (±0.5° 以内) (お手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes) [POLICY] 接続 ws://localhost:8000 metadata={} [RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_193431/recording [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 1367ms 10ステップ先 Δ=-13.3 +21.7 -5.0 +3.1 -21.0 -1.7 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / 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= None [SEND] pi05_chunk000_via02: send_angles (single) [ -2.68, +5.93, -0.25, +0.40, -4.77, -30.57] speed=20 wait=0.0s (pre max|Δ|=4.62°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.31° (tol 3.0°) [VIA ] step 2 Δ= -2.6 +4.6 -1.0 +0.7 -4.5 -0.3 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -7.28, +13.41, -1.91, +1.49, -11.98, -31.17] speed=20 wait=0.0s (pre max|Δ|=9.52°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.79° (tol 3.0°) [VIA ] step 5 Δ= -4.5 +6.6 -2.7 +1.3 -9.5 -0.9 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -12.20, +21.20, -3.80, +2.57, -19.09, -31.78] speed=20 wait=0.0s (pre max|Δ|=8.90°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.78° (tol 3.0°) [VIA ] step 8 Δ= -5.3 +6.9 -3.6 +0.9 -8.9 -1.5 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -13.39, +23.05, -4.26, +2.82, -21.23, -31.91] speed=20 wait=0.0s (pre max|Δ|=3.57°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.24° (tol 3.0°) [VIA ] step 9 Δ= -1.5 +0.6 -2.2 -0.2 -3.6 -1.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.24°（関節 j2） [001] 推論 811ms 10ステップ先 Δ=-17.5 +30.3 -9.6 +3.3 -28.6 -1.5 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk001_via02: send_angles (single) [ -18.75, +32.11, -6.28, +4.50, -29.33, -32.31] speed=20 wait=0.0s (pre max|Δ|=8.94°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.89° (tol 3.0°) [VIA ] step 2 Δ= -5.0 +8.0 -4.3 +1.2 -8.9 -1.2 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -24.35, +41.76, -8.57, +5.88, -38.24, -32.41] speed=20 wait=0.0s (pre max|Δ|=9.68°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.81° (tol 3.0°) [VIA ] step 5 Δ= -6.2 +8.5 -4.1 +0.5 -9.7 -0.7 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -28.99, +50.85, -10.74, +6.65, -46.27, -32.48] speed=20 wait=0.0s (pre max|Δ|=8.48°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.69° (tol 3.0°) [VIA ] step 8 Δ= -4.7 +7.8 -4.0 +0.2 -8.6 -0.7 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -30.61, +54.38, -11.67, +6.93, -49.01, -32.51] speed=20 wait=0.0s (pre max|Δ|=3.22°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.66° (tol 3.0°) [VIA ] step 9 Δ= -2.0 +2.4 -2.6 -0.3 -3.2 -0.5 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.57°（関節 j2） [002] 推論 923ms 10ステップ先 Δ= -7.1 +11.8 -2.6 -0.1 -10.0 -0.8 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk002_via02: send_angles (single) [ -35.00, +62.46, -12.42, +7.23, -54.82, -32.57] speed=20 wait=0.0s (pre max|Δ|=6.92°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.32° (tol 3.0°) [VIA ] step 2 Δ= -4.2 +6.9 -2.3 -0.5 -6.7 -0.6 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -37.24, +67.04, -12.65, +7.32, -58.24, -32.65] speed=20 wait=0.0s (pre max|Δ|=3.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.58° (tol 3.0°) [VIA ] step 5 Δ= -2.5 +3.3 -1.7 -0.8 -3.8 -0.5 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -37.48, +67.60, -12.67, +7.27, -58.24, -32.77] speed=20 wait=0.0s (pre max|Δ|=1.60°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.60° (tol 3.0°) [VIA ] step 8 Δ= -0.7 -0.5 -1.6 -0.5 -0.6 -0.4 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -37.39, +67.38, -12.71, +7.25, -58.19, -32.78] speed=20 wait=0.0s (pre max|Δ|=1.64°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.64° (tol 3.0°) [VIA ] step 9 Δ= -0.3 -1.4 -1.6 -0.7 -0.4 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.64°（関節 j2） [003] 推論 2258ms 10ステップ先 Δ= +1.0 +7.5 -11.3 -1.2 +4.1 -1.4 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk003_via02: send_angles (single) [ -37.51, +67.70, -12.76, +7.12, -59.01, -32.81] speed=20 wait=0.0s (pre max|Δ|=10.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.16° (tol 3.0°) [VIA ] step 2 Δ= +0.0 -1.0 -1.2 -0.4 -10.3 -0.4 着いた [SEND] pi05_chunk003_via05: send_angles (single) [ -37.32, +69.79, -15.01, +6.95, -58.18, -33.01] speed=20 wait=0.0s (pre max|Δ|=3.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.40° (tol 3.0°) [VIA ] step 5 Δ= +0.2 +1.1 -3.4 -0.3 +0.4 -0.4 着いた [SEND] pi05_chunk003_via08: send_angles (single) [ -36.30, +74.93, -20.96, +6.85, -54.46, -33.56] speed=20 wait=0.0s (pre max|Δ|=7.17°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.45° (tol 3.0°) [VIA ] step 8 Δ= +1.2 +3.7 -7.2 -0.3 +4.2 -0.9 着いた [SEND] pi05_chunk003_via09: send_angles (single) [ -36.05, +76.21, -22.35, +6.82, -53.72, -33.70] speed=20 wait=0.0s (pre max|Δ|=2.49°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.30° (tol 3.0°) [VIA ] step 9 Δ= -0.2 +0.2 -2.5 +0.3 +1.7 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.30°（関節 j1） [004] 推論 867ms 10ステップ先 Δ= +0.9 +10.5 -12.5 +0.3 +7.1 -1.1 グリッパー→閉 [LIMIT] j1 安全範囲でクランプ +88.4→+88.0 [VIA ] 中継点 4 点: step 2, 5, 8, 9 [LIMIT] step 8: j1 安全範囲でクランプ +88.4→+88.0 [LIMIT] step 9: j1 安全範囲でクランプ +88.4→+88.0 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / 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=0.0s (pre max|Δ|=77.51°, post-send timeout 13.6s) [SEND] arrival OK: max|Δ|=1.49° (tol 2.5°) [RECORD] 記録終了 コマ 830 (8.795 fps) 実測角 884 回 (9.37 Hz) 電流 890 行 (read_servo) → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_193431/recording 結果: y=成功 / n=失敗 / Enter=記録しない > n [DONE ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_193431 [CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)) (328 秒) もう1回やりますか? y=やる / 他=終わる > y === 7. HOME → 爪を開く → 位置合わせ (2 回目) [INIT] daemon 接続中... [Pi] fresh_mode=1 [INIT] fresh_mode=1 [PRE] 現在姿勢: [-0.26, 1.49, 0.70, 0.26, -0.26, -30.23] [SEND] HOME へ移動指令 [WAIT] t=0.7s max_err=1.49° [DONE] HOME 到達 max_err=1.49° [POST] 最終姿勢: [-0.26, 1.49, 0.70, 0.26, -0.26, -30.23] [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_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 [TILT ] 傾きのお手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes 中央値 -0.61° (測れた 50/50 本. プラス=右下がり) [TILT ] 傾きの差が ±0.5° を超えたら画面の色を変える (表示だけ. 止めない) [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= +4.2 dx= -0.4 response=0.810 → OK (|dy|<=20 / |dx|<=20 / response>=0.20) 傾き -0.82° (プラス=右下がり) / お手本の中央値 -0.61° / 差 -0.20° (±0.5° 以内) [DONE ] 終了 (何も書いていません) (14 秒) === 8. 実機推論 (2 回目) [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 50 本 ±10°): j0[-72,+55] j1[-9,+88] j2[-45,+52] j3[-18,+27] j4[-87,+10] j5[-51,-15] [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_deep_even10_v1/raw_episodes [MODE ] EXECUTE steps/chunk=10 max_move=20.0° log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_194015 [MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1) [CAMERA] 写り方 dy=-2.0 dx=+6.2 response=0.499 → 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 [CAMERA] 傾き +4.59° (プラス=右下がり) / お手本の中央値 -0.61° / 差 +5.20° → 傾きがお手本と違う (±0.5° を超える) (お手本: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes) [POLICY] 接続 ws://localhost:8000 metadata={} [RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_194015/recording [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 870ms 10ステップ先 Δ=-10.8 +20.7 -4.1 +1.5 -18.7 -1.3 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / 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= None [SEND] pi05_chunk000_via02: send_angles (single) [ -0.65, +1.97, +0.54, +0.35, -0.84, -30.22] speed=20 wait=0.0s (pre max|Δ|=0.58°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.10° (tol 3.0°) [VIA ] step 2 Δ= -0.4 +0.5 -0.2 +0.1 -0.6 +0.0 着いた [SEND] pi05_chunk000_via05: send_angles (single) [ -5.28, +11.62, -1.18, +0.83, -9.32, -30.77] speed=20 wait=0.0s (pre max|Δ|=9.06°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.94° (tol 3.0°) [VIA ] step 5 Δ= -5.0 +8.6 -2.6 +0.7 -9.1 -0.5 着いた [SEND] pi05_chunk000_via08: send_angles (single) [ -9.50, +19.67, -2.82, +1.57, -16.70, -31.33] speed=20 wait=0.0s (pre max|Δ|=9.32°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.86° (tol 3.0°) [VIA ] step 8 Δ= -4.3 +6.9 -3.5 +1.4 -9.3 -1.0 着いた [SEND] pi05_chunk000_via09: send_angles (single) [ -11.08, +22.14, -3.44, +1.78, -19.00, -31.50] speed=20 wait=0.0s (pre max|Δ|=3.80°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.30° (tol 3.0°) [VIA ] step 9 Δ= -1.9 +1.3 -2.3 +1.3 -3.8 -1.2 着いた [STATE ] 目標を渡す 目標と実測の最大差 2.30°（関節 j2） [001] 推論 855ms 10ステップ先 Δ=-17.0 +28.5 -9.0 +4.9 -28.9 -1.5 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk001_via02: send_angles (single) [ -16.38, +30.30, -5.18, +2.84, -26.08, -31.91] speed=20 wait=0.0s (pre max|Δ|=8.42°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.93° (tol 3.0°) [VIA ] step 2 Δ= -5.1 +7.2 -4.0 +1.8 -8.4 -1.2 着いた [SEND] pi05_chunk001_via05: send_angles (single) [ -21.80, +39.03, -7.32, +4.27, -34.75, -32.04] speed=20 wait=0.0s (pre max|Δ|=9.44°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.79° (tol 3.0°) [VIA ] step 5 Δ= -5.7 +7.6 -4.1 +1.3 -9.4 -0.8 着いた [SEND] pi05_chunk001_via08: send_angles (single) [ -27.17, +48.61, -9.51, +5.51, -43.93, -32.12] speed=20 wait=0.0s (pre max|Δ|=9.75°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.69° (tol 3.0°) [VIA ] step 8 Δ= -5.9 +8.4 -4.0 +1.0 -9.7 -0.7 着いた [SEND] pi05_chunk001_via09: send_angles (single) [ -28.24, +51.64, -10.13, +5.86, -46.56, -32.11] speed=20 wait=0.0s (pre max|Δ|=3.41°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.61° (tol 3.0°) [VIA ] step 9 Δ= -1.1 +1.9 -2.3 +0.1 -3.5 -0.6 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.61°（関節 j2） [002] 推論 2367ms 10ステップ先 Δ= -8.7 +16.3 -2.7 +0.4 -14.6 -1.0 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > [SEND] pi05_chunk002_via02: send_angles (single) [ -33.31, +61.16, -11.28, +6.21, -54.42, -32.22] speed=20 wait=0.0s (pre max|Δ|=8.55°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.35° (tol 3.0°) [VIA ] step 2 Δ= -5.1 +8.3 -2.8 -0.0 -8.6 -0.5 着いた [SEND] pi05_chunk002_via05: send_angles (single) [ -36.45, +67.45, -11.51, +6.49, -59.71, -32.33] speed=20 wait=0.0s (pre max|Δ|=5.13°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=2.35° (tol 3.0°) [VIA ] step 5 Δ= -3.1 +5.0 -1.6 -0.3 -5.1 -0.4 着いた [SEND] pi05_chunk002_via08: send_angles (single) [ -37.10, +69.18, -11.34, +6.58, -60.62, -32.46] speed=20 wait=0.0s (pre max|Δ|=1.56°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.33° (tol 3.0°) [VIA ] step 8 Δ= -0.6 +0.6 -1.4 -0.7 -1.6 -0.4 着いた [SEND] pi05_chunk002_via09: send_angles (single) [ -36.92, +69.12, -11.26, +6.62, -60.43, -32.52] speed=20 wait=0.0s (pre max|Δ|=1.36°, post-send timeout 8.0s) [SEND] arrival OK: max|Δ|=1.36° (tol 3.0°) [VIA ] step 9 Δ= +0.6 -1.4 -1.2 -0.7 +0.3 -0.4 着いた [STATE ] 目標を渡す 目標と実測の最大差 1.36°（関節 j1） [003] 推論 871ms 10ステップ先 Δ= +0.2 +5.8 -7.4 -1.1 +1.2 -0.7 [VIA ] 中継点 4 点: step 2, 5, 8, 9 Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > p objc[24773]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffc890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1328592c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffc8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffc958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffc980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1328593b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffc9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1328594d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1328595c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1328595e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x132859778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[24773]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x120ffcd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1328597c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. from pkg_resources import resource_stream, resource_exists [PAD ] 補正 1 (推論 3 のあと). ゲームパッドで直して, □ で推論に戻ります ^C ^C ^C ^C