diff --git "a/logs/episode_000000.txt" "b/logs/episode_000000.txt"
new file mode 100644--- /dev/null
+++ "b/logs/episode_000000.txt"
@@ -0,0 +1,810 @@
+2025y-06m-25d-12h-13m-57s DEBUG: 🤖 sending arms to rest pose
+2025y-06m-25d-12h-13m-57s DEBUG: 🤖 Action: {'left.joint_0.pos': np.float32(-1.0), 'left.joint_1.pos': np.float32(0.1), 'left.joint_2.pos': np.float32(0.5), 'left.joint_3.pos': np.float32(-1.2), 'left.joint_4.pos': np.float32(0.0), 'left.joint_5.pos': np.float32(0.0), 'left.gripper.pos': np.float32(0.0), 'right.joint_0.pos': np.float32(1.0), 'right.joint_1.pos': np.float32(0.1), 'right.joint_2.pos': np.float32(0.5), 'right.joint_3.pos': np.float32(-1.2), 'right.joint_4.pos': np.float32(0.0), 'right.joint_5.pos': np.float32(0.0), 'right.gripper.pos': np.float32(0.0)}
+2025y-06m-25d-12h-13m-57s DEBUG: 🦾 Setting right arm positions: [np.float32(1.0), np.float32(0.1), np.float32(0.5), np.float32(-1.2), np.float32(0.0), np.float32(0.0), np.float32(0.0)], goal_time: 2.0
+2025y-06m-25d-12h-13m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 -0.00019073777366429567 1.0
+2025y-06m-25d-12h-13m-57s ERROR: 🦾❌ Right arm position mismatch: right.joint_0 -0.00019073777366429567 1.0
+2025y-06m-25d-12h-13m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 -0.00019073777366429567 0.10000000149011612
+2025y-06m-25d-12h-13m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 -0.00019073777366429567 0.5
+2025y-06m-25d-12h-13m-57s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 -0.00019073777366429567 0.5
+2025y-06m-25d-12h-13m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -0.00019073777366429567 -1.2000000476837158
+2025y-06m-25d-12h-13m-57s ERROR: 🦾❌ Right arm position mismatch: right.joint_3 -0.00019073777366429567 -1.2000000476837158
+2025y-06m-25d-12h-13m-57s WARNING: 🦾❌ Failed to set right arm positions: 
+<class 'ValueError'>:
+right arm joints mismatch
+No error
+2025y-06m-25d-12h-13m-57s DEBUG: 🦾 Setting left arm positions: [np.float32(-1.0), np.float32(0.1), np.float32(0.5), np.float32(-1.2), np.float32(0.0), np.float32(0.0), np.float32(0.0)], goal_time: 2.0
+2025y-06m-25d-12h-13m-59s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 0.0
+2025y-06m-25d-12h-13m-59s INFO: 🤖 recording path 0 of 15
+2025y-06m-25d-12h-13m-59s DEBUG: pose_idx: 0/64
+2025y-06m-25d-12h-13m-59s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-13m-59s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-13m-59s DEBUG: None Tatbot read realsense1: 0.4ms
+2025y-06m-25d-12h-13m-59s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-13m-59s DEBUG: None Tatbot read realsense2: 0.3ms
+2025y-06m-25d-12h-13m-59s DEBUG: RealSenseCamera(218622278376) read took: 15.2ms
+2025y-06m-25d-12h-13m-59s DEBUG: RealSenseCamera(230422273017) read took: 20.5ms
+2025y-06m-25d-12h-13m-59s DEBUG: RealSenseCamera(218622278376) read took: 36.0ms
+2025y-06m-25d-12h-13m-59s DEBUG: RealSenseCamera(230422273017) read took: 30.8ms
+2025y-06m-25d-12h-13m-59s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-13m-59s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-13m-59s DEBUG: RealSenseCamera(218622278376) read took: 30.6ms
+2025y-06m-25d-12h-13m-59s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.0000381469726562 0.9962689876556396
+2025y-06m-25d-12h-13m-59s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 0.09975585341453552 1.3455209732055664
+2025y-06m-25d-12h-13m-59s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 0.09975585341453552 1.3455209732055664
+2025y-06m-25d-12h-13m-59s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.4991607666015625 0.9747644662857056
+2025y-06m-25d-12h-13m-59s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.4991607666015625 0.9747644662857056
+2025y-06m-25d-12h-13m-59s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.201075792312622 -1.1790108680725098
+2025y-06m-25d-12h-13m-59s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 0.00019073777366429567 0.006734815891832113
+2025y-06m-25d-12h-13m-59s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.00019073777366429567 -0.5680708885192871
+2025y-06m-25d-12h-13m-59s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 -0.00019073777366429567 -0.5680708885192871
+2025y-06m-25d-12h-13m-59s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 8.511729538440704e-05 0.04457036033272743
+2025y-06m-25d-12h-13m-59s WARNING: 🦾❌ Failed to set right arm positions: 
+<class 'ValueError'>:
+right arm joints mismatch
+No error
+2025y-06m-25d-12h-13m-59s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-01s DEBUG: RealSenseCamera(218622278376) read took: 2003.7ms
+2025y-06m-25d-12h-14m-01s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-01s DEBUG: RealSenseCamera(230422273017) read took: 2034.8ms
+2025y-06m-25d-12h-14m-01s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-01s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.016212711110711098 0.012763461098074913
+2025y-06m-25d-12h-14m-01s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-01s DEBUG: pose_idx: 1/64
+2025y-06m-25d-12h-14m-01s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-14m-01s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-01s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-01s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-01s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-01s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 0.0078202486038208 0.006734815891832113
+2025y-06m-25d-12h-14m-01s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5693522691726685 -0.5680708885192871
+2025y-06m-25d-12h-14m-01s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.040033236145973206 0.04457036033272743
+2025y-06m-25d-12h-14m-01s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 2023.7ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 2024.9ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 2/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 5.1ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 9.6ms
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009727626107633114 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 3/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 35.7ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 32.7ms
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.008964675478637218 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 4/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.008964675478637218 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 5/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 30.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 7.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 32.5ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.7ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.008964675478637218 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 6/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.0ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 10.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 32.9ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.7ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.008964675478637218 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 7/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 10.7ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.9ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.008964675478637218 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 8/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 14.5ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.008964675478637218 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 9/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 11.0ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.7ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.008964675478637218 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 10/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 11.5ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.7ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009346150793135166 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 11/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 10.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.4ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009346150793135166 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 12/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 11.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009346150793135166 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 13/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 10.7ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009346150793135166 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 14/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 10.1ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.9ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009727626107633114 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 15/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 9.4ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009727626107633114 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 16/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 11.0ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.7ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009727626107633114 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 17/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 13.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009727626107633114 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 18/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 12.9ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.010109102353453636 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 19/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 12.5ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.010490577667951584 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 20/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 10.6ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.9ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.010872052982449532 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 21/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.4ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 10.7ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.010872052982449532 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 22/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 11.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.01125352829694748 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 23/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 12.1ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.01125352829694748 0.012763461098074913
+2025y-06m-25d-12h-14m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-03s DEBUG: pose_idx: 24/64
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-14m-03s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-03s DEBUG: None Tatbot read realsense1: 14.9ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.011635004542768002 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 25/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 14.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 3.0ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.011635004542768002 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 26/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 13.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 27/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 13.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 28/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 13.7ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.7ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 29/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 14.7ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 30/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 14.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.013923857361078262 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 31/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 14.0ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.016594186425209045 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 32/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 14.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.016594186425209045 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 33/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 14.6ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.016212711110711098 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 34/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 15.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.016594186425209045 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 35/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 14.0ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.016212711110711098 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 36/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 14.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.016212711110711098 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 37/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 14.6ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.016212711110711098 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 38/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 14.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.7ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: ���� Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.016212711110711098 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 39/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 14.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.01583123579621315 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 40/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 14.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.01583123579621315 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 41/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 14.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.01583123579621315 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 42/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.4ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 13.6ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.4ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.01583123579621315 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 43/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 14.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 3.0ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.015449759550392628 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 44/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.4ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 13.4ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.015449759550392628 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 45/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 13.9ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.7ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.015449759550392628 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 46/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 10.6ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.7ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.01506828423589468 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 47/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 10.6ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.01506828423589468 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 48/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 1.7ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 9.9ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.014686808921396732 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 49/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 11.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.7ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.01430533267557621 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 50/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 11.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.9ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.010490577667951584 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 51/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 11.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.00858320016413927 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 52/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 11.0ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.008964675478637218 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 53/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.1ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 11.7ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-04s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.008964675478637218 0.012763461098074913
+2025y-06m-25d-12h-14m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-04s DEBUG: pose_idx: 54/64
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-14m-04s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-04s DEBUG: None Tatbot read realsense1: 11.7ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-05s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.008964675478637218 0.012763461098074913
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-05s DEBUG: pose_idx: 55/64
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense1: 10.6ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense2: 2.7ms
+2025y-06m-25d-12h-14m-05s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04457036033272743
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009346150793135166 0.012763461098074913
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-05s DEBUG: pose_idx: 56/64
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense1: 11.2ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense2: 2.7ms
+2025y-06m-25d-12h-14m-05s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04457036033272743
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.008964675478637218 0.012763461098074913
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-05s DEBUG: pose_idx: 57/64
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense1: 10.9ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(230422273017) read took: 33.2ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-05s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04457036033272743
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009346150793135166 0.012763461098074913
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-05s DEBUG: pose_idx: 58/64
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense1: 11.3ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-05s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009346150793135166 0.012763461098074913
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-05s DEBUG: pose_idx: 59/64
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense1: 10.7ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-05s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009346150793135166 0.012763461098074913
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-05s DEBUG: pose_idx: 60/64
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense1: 10.7ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense2: 2.8ms
+2025y-06m-25d-12h-14m-05s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009346150793135166 0.012763461098074913
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-05s DEBUG: pose_idx: 61/64
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense1: 11.4ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense2: 2.9ms
+2025y-06m-25d-12h-14m-05s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.009999999776482582
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.009727626107633114 0.012763461098074913
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-05s DEBUG: pose_idx: 62/64
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(218622278376) read took: 33.4ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense1: 10.2ms
+2025y-06m-25d-12h-14m-05s DEBUG: RealSenseCamera(230422273017) read took: 33.3ms
+2025y-06m-25d-12h-14m-05s DEBUG: None Tatbot read realsense2: 2.7ms
+2025y-06m-25d-12h-14m-05s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-05s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-05s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-07s DEBUG: RealSenseCamera(230422273017) read took: 2007.5ms
+2025y-06m-25d-12h-14m-07s DEBUG: RealSenseCamera(218622278376) read took: 2011.4ms
+2025y-06m-25d-12h-14m-07s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-07s DEBUG: RealSenseCamera(230422273017) read took: 0.5ms
+2025y-06m-25d-12h-14m-07s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-07s DEBUG: pose_idx: 63/64
+2025y-06m-25d-12h-14m-07s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-14m-07s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-07s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-07s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.7683386, dtype=float32), 'left.joint_1.pos': Array(1.2129977, dtype=float32), 'left.joint_2.pos': Array(0.917334, dtype=float32), 'left.joint_3.pos': Array(-1.255916, dtype=float32), 'left.joint_4.pos': Array(0.01276346, dtype=float32), 'left.joint_5.pos': Array(-0.19174068, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.996269, dtype=float32), 'right.joint_1.pos': Array(1.345521, dtype=float32), 'right.joint_2.pos': Array(0.97476447, dtype=float32), 'right.joint_3.pos': Array(-1.1790109, dtype=float32), 'right.joint_4.pos': Array(0.00673482, dtype=float32), 'right.joint_5.pos': Array(-0.5680709, dtype=float32), 'right.gripper.pos': Array(0.04457036, dtype=float32)}
+2025y-06m-25d-12h-14m-07s DEBUG: 🦾 Setting right arm positions: [Array(0.996269, dtype=float32), Array(1.345521, dtype=float32), Array(0.97476447, dtype=float32), Array(-1.1790109, dtype=float32), Array(0.00673482, dtype=float32), Array(-0.5680709, dtype=float32), Array(0.04457036, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457036033272743
+2025y-06m-25d-12h-14m-07s DEBUG: 🦾 Setting left arm positions: [Array(-1.7683386, dtype=float32), Array(1.2129977, dtype=float32), Array(0.917334, dtype=float32), Array(-1.255916, dtype=float32), Array(0.01276346, dtype=float32), Array(-0.19174068, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-09s DEBUG: RealSenseCamera(218622278376) read took: 2006.6ms
+2025y-06m-25d-12h-14m-09s DEBUG: RealSenseCamera(230422273017) read took: 2006.6ms
+2025y-06m-25d-12h-14m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-14m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.01583123579621315 0.012763461098074913
+2025y-06m-25d-12h-14m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-09s INFO: 🤖🗃️ Writing episode log to /home/trossen-ai/tatbot/output/record/plan-bench-2025y-06m-25d-12h-13m-57s/logs/episode_000000.txt