diff --git "a/logs/episode_000002.txt" "b/logs/episode_000002.txt"
new file mode 100644--- /dev/null
+++ "b/logs/episode_000002.txt"
@@ -0,0 +1,785 @@
+2025y-06m-25d-12h-14m-25s DEBUG: 🤖 sending arms to rest pose
+2025y-06m-25d-12h-14m-25s 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-14m-25s 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-14m-25s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.7683298587799072 1.0
+2025y-06m-25d-12h-14m-25s ERROR: 🦾❌ Right arm position mismatch: right.joint_0 1.7683298587799072 1.0
+2025y-06m-25d-12h-14m-25s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2129014730453491 0.10000000149011612
+2025y-06m-25d-12h-14m-25s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 1.2129014730453491 0.10000000149011612
+2025y-06m-25d-12h-14m-25s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9172579646110535 0.5
+2025y-06m-25d-12h-14m-25s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.9172579646110535 0.5
+2025y-06m-25d-12h-14m-25s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.256008267402649 -1.2000000476837158
+2025y-06m-25d-12h-14m-25s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.013160906732082367 0.0
+2025y-06m-25d-12h-14m-25s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 0.19130998849868774 0.0
+2025y-06m-25d-12h-14m-25s WARNING: 🦾❌ Failed to set right arm positions: 
+<class 'ValueError'>:
+right arm joints mismatch
+No error
+2025y-06m-25d-12h-14m-25s DEBUG: RealSenseCamera(218622278376) read took: 33.0ms
+2025y-06m-25d-12h-14m-25s 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-14m-27s DEBUG: RealSenseCamera(230422273017) read took: 2031.0ms
+2025y-06m-25d-12h-14m-27s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-27s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 0.0
+2025y-06m-25d-12h-14m-27s INFO: 🤖 recording path 2 of 15
+2025y-06m-25d-12h-14m-27s DEBUG: pose_idx: 0/64
+2025y-06m-25d-12h-14m-27s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-14m-27s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-27s DEBUG: RealSenseCamera(218622278376) read took: 2002.4ms
+2025y-06m-25d-12h-14m-27s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-27s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-27s DEBUG: RealSenseCamera(230422273017) read took: 2.4ms
+2025y-06m-25d-12h-14m-27s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107896, dtype=float32), 'left.joint_1.pos': Array(1.2518598, dtype=float32), 'left.joint_2.pos': Array(0.9047215, dtype=float32), 'left.joint_3.pos': Array(-1.2044624, dtype=float32), 'left.joint_4.pos': Array(0.015921, dtype=float32), 'left.joint_5.pos': Array(-0.33194628, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-27s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-27s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107896, dtype=float32), Array(1.2518598, dtype=float32), Array(0.9047215, dtype=float32), Array(-1.2044624, dtype=float32), Array(0.015921, dtype=float32), Array(-0.33194628, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-29s DEBUG: RealSenseCamera(230422273017) read took: 2005.4ms
+2025y-06m-25d-12h-14m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-29s DEBUG: RealSenseCamera(218622278376) read took: 2006.8ms
+2025y-06m-25d-12h-14m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.016975661739706993 0.01592099666595459
+2025y-06m-25d-12h-14m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-29s DEBUG: pose_idx: 1/64
+2025y-06m-25d-12h-14m-29s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-14m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107783, dtype=float32), 'left.joint_1.pos': Array(1.2521921, dtype=float32), 'left.joint_2.pos': Array(0.90235186, dtype=float32), 'left.joint_3.pos': Array(-1.2017956, dtype=float32), 'left.joint_4.pos': Array(0.01592982, dtype=float32), 'left.joint_5.pos': Array(-0.3319346, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-29s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-29s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107783, dtype=float32), Array(1.2521921, dtype=float32), Array(0.90235186, dtype=float32), Array(-1.2017956, dtype=float32), Array(0.01592982, dtype=float32), Array(-0.3319346, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-31s DEBUG: RealSenseCamera(218622278376) read took: 2005.3ms
+2025y-06m-25d-12h-14m-31s DEBUG: RealSenseCamera(230422273017) read took: 2006.5ms
+2025y-06m-25d-12h-14m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-14m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-31s DEBUG: pose_idx: 2/64
+2025y-06m-25d-12h-14m-31s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-14m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107674, dtype=float32), 'left.joint_1.pos': Array(1.2525325, dtype=float32), 'left.joint_2.pos': Array(0.8999865, dtype=float32), 'left.joint_3.pos': Array(-1.1991253, dtype=float32), 'left.joint_4.pos': Array(0.01593836, dtype=float32), 'left.joint_5.pos': Array(-0.33192316, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-31s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107674, dtype=float32), Array(1.2525325, dtype=float32), Array(0.8999865, dtype=float32), Array(-1.1991253, dtype=float32), Array(0.01593836, dtype=float32), Array(-0.33192316, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 105.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 105.6ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-14m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-32s DEBUG: pose_idx: 3/64
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107565, dtype=float32), 'left.joint_1.pos': Array(1.2528802, dtype=float32), 'left.joint_2.pos': Array(0.8976257, dtype=float32), 'left.joint_3.pos': Array(-1.1964517, dtype=float32), 'left.joint_4.pos': Array(0.01594732, dtype=float32), 'left.joint_5.pos': Array(-0.33191153, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107565, dtype=float32), Array(1.2528802, dtype=float32), Array(0.8976257, dtype=float32), Array(-1.1964517, dtype=float32), Array(0.01594732, dtype=float32), Array(-0.33191153, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 105.9ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 106.7ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.7ms
+2025y-06m-25d-12h-14m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-32s DEBUG: pose_idx: 4/64
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107453, dtype=float32), 'left.joint_1.pos': Array(1.2532352, dtype=float32), 'left.joint_2.pos': Array(0.8952689, dtype=float32), 'left.joint_3.pos': Array(-1.1937749, dtype=float32), 'left.joint_4.pos': Array(0.01595616, dtype=float32), 'left.joint_5.pos': Array(-0.33189994, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 5.6ms
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107453, dtype=float32), Array(1.2532352, dtype=float32), Array(0.8952689, dtype=float32), Array(-1.1937749, dtype=float32), Array(0.01595616, dtype=float32), Array(-0.33189994, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 107.8ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 101.4ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-14m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-32s DEBUG: pose_idx: 5/64
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108468, dtype=float32), 'left.joint_1.pos': Array(1.253509, dtype=float32), 'left.joint_2.pos': Array(0.89286435, dtype=float32), 'left.joint_3.pos': Array(-1.1910893, dtype=float32), 'left.joint_4.pos': Array(0.01590712, dtype=float32), 'left.joint_5.pos': Array(-0.33201605, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108468, dtype=float32), Array(1.253509, dtype=float32), Array(0.89286435, dtype=float32), Array(-1.1910893, dtype=float32), Array(0.01590712, dtype=float32), Array(-0.33201605, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 105.1ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 105.5ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms
+2025y-06m-25d-12h-14m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-32s DEBUG: pose_idx: 6/64
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read state: 0.1ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107232, dtype=float32), 'left.joint_1.pos': Array(1.2539686, dtype=float32), 'left.joint_2.pos': Array(0.89056945, dtype=float32), 'left.joint_3.pos': Array(-1.1884121, dtype=float32), 'left.joint_4.pos': Array(0.0159736, dtype=float32), 'left.joint_5.pos': Array(-0.33187667, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107232, dtype=float32), Array(1.2539686, dtype=float32), Array(0.89056945, dtype=float32), Array(-1.1884121, dtype=float32), Array(0.0159736, dtype=float32), Array(-0.33187667, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 106.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 105.3ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-14m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2529563903808594 1.253968596458435
+2025y-06m-25d-12h-14m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-32s DEBUG: pose_idx: 7/64
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107119, dtype=float32), 'left.joint_1.pos': Array(1.2543468, dtype=float32), 'left.joint_2.pos': Array(0.8882263, dtype=float32), 'left.joint_3.pos': Array(-1.1857257, dtype=float32), 'left.joint_4.pos': Array(0.01598262, dtype=float32), 'left.joint_5.pos': Array(-0.3318648, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107119, dtype=float32), Array(1.2543468, dtype=float32), Array(0.8882263, dtype=float32), Array(-1.1857257, dtype=float32), Array(0.01598262, dtype=float32), Array(-0.3318648, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 105.8ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 106.9ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-32s DEBUG: pose_idx: 8/64
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107008, dtype=float32), 'left.joint_1.pos': Array(1.2547327, dtype=float32), 'left.joint_2.pos': Array(0.88588727, dtype=float32), 'left.joint_3.pos': Array(-1.1830357, dtype=float32), 'left.joint_4.pos': Array(0.01599139, dtype=float32), 'left.joint_5.pos': Array(-0.33185327, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107008, dtype=float32), Array(1.2547327, dtype=float32), Array(0.88588727, dtype=float32), Array(-1.1830357, dtype=float32), Array(0.01599139, dtype=float32), Array(-0.33185327, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 111.2ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms
+2025y-06m-25d-12h-14m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-32s DEBUG: pose_idx: 9/64
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 2.2ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106898, dtype=float32), 'left.joint_1.pos': Array(1.2551256, dtype=float32), 'left.joint_2.pos': Array(0.88355273, dtype=float32), 'left.joint_3.pos': Array(-1.1803429, dtype=float32), 'left.joint_4.pos': Array(0.01600028, dtype=float32), 'left.joint_5.pos': Array(-0.33184147, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106898, dtype=float32), Array(1.2551256, dtype=float32), Array(0.88355273, dtype=float32), Array(-1.1803429, dtype=float32), Array(0.01600028, dtype=float32), Array(-0.33184147, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 107.3ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 111.3ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-32s DEBUG: pose_idx: 10/64
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106781, dtype=float32), 'left.joint_1.pos': Array(1.2555269, dtype=float32), 'left.joint_2.pos': Array(0.8812226, dtype=float32), 'left.joint_3.pos': Array(-1.1776465, dtype=float32), 'left.joint_4.pos': Array(0.01600932, dtype=float32), 'left.joint_5.pos': Array(-0.33182946, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106781, dtype=float32), Array(1.2555269, dtype=float32), Array(0.8812226, dtype=float32), Array(-1.1776465, dtype=float32), Array(0.01600932, dtype=float32), Array(-0.33182946, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 104.6ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 105.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-32s DEBUG: pose_idx: 11/64
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106671, dtype=float32), 'left.joint_1.pos': Array(1.2559355, dtype=float32), 'left.joint_2.pos': Array(0.8788974, dtype=float32), 'left.joint_3.pos': Array(-1.1749476, dtype=float32), 'left.joint_4.pos': Array(0.01601808, dtype=float32), 'left.joint_5.pos': Array(-0.3318178, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106671, dtype=float32), Array(1.2559355, dtype=float32), Array(0.8788974, dtype=float32), Array(-1.1749476, dtype=float32), Array(0.01601808, dtype=float32), Array(-0.3318178, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 108.7ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 108.4ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-14m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-33s DEBUG: pose_idx: 12/64
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106559, dtype=float32), 'left.joint_1.pos': Array(1.2563523, dtype=float32), 'left.joint_2.pos': Array(0.8765761, dtype=float32), 'left.joint_3.pos': Array(-1.1722442, dtype=float32), 'left.joint_4.pos': Array(0.01602688, dtype=float32), 'left.joint_5.pos': Array(-0.33180583, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 5.7ms
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106559, dtype=float32), Array(1.2563523, dtype=float32), Array(0.8765761, dtype=float32), Array(-1.1722442, dtype=float32), Array(0.01602688, dtype=float32), Array(-0.33180583, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 101.8ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 108.7ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.7ms
+2025y-06m-25d-12h-14m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-33s DEBUG: pose_idx: 13/64
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106444, dtype=float32), 'left.joint_1.pos': Array(1.256777, dtype=float32), 'left.joint_2.pos': Array(0.87425953, dtype=float32), 'left.joint_3.pos': Array(-1.169538, dtype=float32), 'left.joint_4.pos': Array(0.01603587, dtype=float32), 'left.joint_5.pos': Array(-0.3317938, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106444, dtype=float32), Array(1.256777, dtype=float32), Array(0.87425953, dtype=float32), Array(-1.169538, dtype=float32), Array(0.01603587, dtype=float32), Array(-0.3317938, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 109.5ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms
+2025y-06m-25d-12h-14m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-33s DEBUG: pose_idx: 14/64
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106332, dtype=float32), 'left.joint_1.pos': Array(1.257209, dtype=float32), 'left.joint_2.pos': Array(0.87194777, dtype=float32), 'left.joint_3.pos': Array(-1.1668288, dtype=float32), 'left.joint_4.pos': Array(0.01604481, dtype=float32), 'left.joint_5.pos': Array(-0.331782, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106332, dtype=float32), Array(1.257209, dtype=float32), Array(0.87194777, dtype=float32), Array(-1.1668288, dtype=float32), Array(0.01604481, dtype=float32), Array(-0.331782, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 109.6ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 109.4ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms
+2025y-06m-25d-12h-14m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-33s DEBUG: pose_idx: 15/64
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910622, dtype=float32), 'left.joint_1.pos': Array(1.2576491, dtype=float32), 'left.joint_2.pos': Array(0.8696396, dtype=float32), 'left.joint_3.pos': Array(-1.1641151, dtype=float32), 'left.joint_4.pos': Array(0.01605381, dtype=float32), 'left.joint_5.pos': Array(-0.33177006, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.910622, dtype=float32), Array(1.2576491, dtype=float32), Array(0.8696396, dtype=float32), Array(-1.1641151, dtype=float32), Array(0.01605381, dtype=float32), Array(-0.33177006, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 104.8ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 105.2ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-33s DEBUG: pose_idx: 16/64
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 4.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106104, dtype=float32), 'left.joint_1.pos': Array(1.258097, dtype=float32), 'left.joint_2.pos': Array(0.8673368, dtype=float32), 'left.joint_3.pos': Array(-1.1613992, dtype=float32), 'left.joint_4.pos': Array(0.01606267, dtype=float32), 'left.joint_5.pos': Array(-0.33175805, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 5.8ms
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106104, dtype=float32), Array(1.258097, dtype=float32), Array(0.8673368, dtype=float32), Array(-1.1613992, dtype=float32), Array(0.01606267, dtype=float32), Array(-0.33175805, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 101.8ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 106.5ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-33s DEBUG: pose_idx: 17/64
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910599, dtype=float32), 'left.joint_1.pos': Array(1.2585531, dtype=float32), 'left.joint_2.pos': Array(0.86503786, dtype=float32), 'left.joint_3.pos': Array(-1.1586788, dtype=float32), 'left.joint_4.pos': Array(0.01607183, dtype=float32), 'left.joint_5.pos': Array(-0.3317459, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.910599, dtype=float32), Array(1.2585531, dtype=float32), Array(0.86503786, dtype=float32), Array(-1.1586788, dtype=float32), Array(0.01607183, dtype=float32), Array(-0.3317459, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 109.9ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.6ms
+2025y-06m-25d-12h-14m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-33s DEBUG: pose_idx: 18/64
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105875, dtype=float32), 'left.joint_1.pos': Array(1.259017, dtype=float32), 'left.joint_2.pos': Array(0.8627438, dtype=float32), 'left.joint_3.pos': Array(-1.1559556, dtype=float32), 'left.joint_4.pos': Array(0.01608067, dtype=float32), 'left.joint_5.pos': Array(-0.33173388, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105875, dtype=float32), Array(1.259017, dtype=float32), Array(0.8627438, dtype=float32), Array(-1.1559556, dtype=float32), Array(0.01608067, dtype=float32), Array(-0.33173388, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 109.6ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-14m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-33s DEBUG: pose_idx: 19/64
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105762, dtype=float32), 'left.joint_1.pos': Array(1.2594888, dtype=float32), 'left.joint_2.pos': Array(0.8604541, dtype=float32), 'left.joint_3.pos': Array(-1.1532286, dtype=float32), 'left.joint_4.pos': Array(0.01608971, dtype=float32), 'left.joint_5.pos': Array(-0.33172178, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 6.3ms
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105762, dtype=float32), Array(1.2594888, dtype=float32), Array(0.8604541, dtype=float32), Array(-1.1532286, dtype=float32), Array(0.01608971, dtype=float32), Array(-0.33172178, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 108.5ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 102.6ms
+2025y-06m-25d-12h-14m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-14m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-33s DEBUG: pose_idx: 20/64
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105648, dtype=float32), 'left.joint_1.pos': Array(1.2599683, dtype=float32), 'left.joint_2.pos': Array(0.8581688, dtype=float32), 'left.joint_3.pos': Array(-1.1504984, dtype=float32), 'left.joint_4.pos': Array(0.0160987, dtype=float32), 'left.joint_5.pos': Array(-0.33170986, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105648, dtype=float32), Array(1.2599683, dtype=float32), Array(0.8581688, dtype=float32), Array(-1.1504984, dtype=float32), Array(0.0160987, dtype=float32), Array(-0.33170986, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-14m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-34s DEBUG: pose_idx: 21/64
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 109.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-34s DEBUG: pose_idx: 22/64
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 109.3ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.9ms
+2025y-06m-25d-12h-14m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-34s DEBUG: pose_idx: 23/64
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 110.9ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 109.5ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-14m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-34s DEBUG: pose_idx: 24/64
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 110.8ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-34s DEBUG: pose_idx: 25/64
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 110.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-14m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-34s DEBUG: pose_idx: 26/64
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 1.8ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 105.8ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms
+2025y-06m-25d-12h-14m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-34s DEBUG: pose_idx: 27/64
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 108.9ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-14m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-34s DEBUG: pose_idx: 28/64
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 107.3ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 107.9ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-14m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-34s DEBUG: pose_idx: 29/64
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(218622278376) read took: 4.2ms
+2025y-06m-25d-12h-14m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-34s DEBUG: RealSenseCamera(230422273017) read took: 7.0ms
+2025y-06m-25d-12h-14m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 105.9ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(230422273017) read took: 102.6ms
+2025y-06m-25d-12h-14m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-35s DEBUG: pose_idx: 30/64
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(230422273017) read took: 106.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 107.2ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-14m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-35s DEBUG: pose_idx: 31/64
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(230422273017) read took: 107.8ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 106.4ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-14m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-35s DEBUG: pose_idx: 32/64
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 104.4ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(230422273017) read took: 105.5ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 1.0ms
+2025y-06m-25d-12h-14m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-35s DEBUG: pose_idx: 33/64
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 5.6ms
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 100.9ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(230422273017) read took: 107.8ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-35s DEBUG: pose_idx: 34/64
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(230422273017) read took: 104.9ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 105.8ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 0.6ms
+2025y-06m-25d-12h-14m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-35s DEBUG: pose_idx: 35/64
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 106.3ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-35s DEBUG: pose_idx: 36/64
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 18.3ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(230422273017) read took: 128.6ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense2: 18.2ms
+2025y-06m-25d-12h-14m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 107.5ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(230422273017) read took: 104.8ms
+2025y-06m-25d-12h-14m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-35s DEBUG: pose_idx: 37/64
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(230422273017) read took: 108.2ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-14m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-35s DEBUG: pose_idx: 38/64
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(230422273017) read took: 111.8ms
+2025y-06m-25d-12h-14m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-36s DEBUG: pose_idx: 39/64
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(218622278376) read took: 5.9ms
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(230422273017) read took: 6.9ms
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-36s DEBUG: pose_idx: 40/64
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-36s DEBUG: pose_idx: 41/64
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(218622278376) read took: 231.3ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense1: 14.8ms
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(230422273017) read took: 233.3ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense2: 2.9ms
+2025y-06m-25d-12h-14m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-36s DEBUG: pose_idx: 42/64
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read state: 1.3ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(218622278376) read took: 21.5ms
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense2: 21.7ms
+2025y-06m-25d-12h-14m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(230422273017) read took: 107.3ms
+2025y-06m-25d-12h-14m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-36s DEBUG: pose_idx: 43/64
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(218622278376) read took: 106.1ms
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(230422273017) read took: 105.2ms
+2025y-06m-25d-12h-14m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-36s DEBUG: pose_idx: 44/64
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105655, dtype=float32), 'left.joint_1.pos': Array(1.2599444, dtype=float32), 'left.joint_2.pos': Array(0.8582828, dtype=float32), 'left.joint_3.pos': Array(-1.1506345, dtype=float32), 'left.joint_4.pos': Array(0.01609827, dtype=float32), 'left.joint_5.pos': Array(-0.3317106, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105655, dtype=float32), Array(1.2599444, dtype=float32), Array(0.8582828, dtype=float32), Array(-1.1506345, dtype=float32), Array(0.01609827, dtype=float32), Array(-0.3317106, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms
+2025y-06m-25d-12h-14m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8566033244132996 0.8582828044891357
+2025y-06m-25d-12h-14m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09
+2025y-06m-25d-12h-14m-36s DEBUG: pose_idx: 45/64
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(218622278376) read took: 117.9ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense1: 4.6ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105773, dtype=float32), 'left.joint_1.pos': Array(1.2594413, dtype=float32), 'left.joint_2.pos': Array(0.8606828, dtype=float32), 'left.joint_3.pos': Array(-1.1535014, dtype=float32), 'left.joint_4.pos': Array(0.01608882, dtype=float32), 'left.joint_5.pos': Array(-0.33172303, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(230422273017) read took: 10.1ms
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105773, dtype=float32), Array(1.2594413, dtype=float32), Array(0.8606828, dtype=float32), Array(-1.1535014, dtype=float32), Array(0.01608882, dtype=float32), Array(-0.33172303, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(218622278376) read took: 107.5ms
+2025y-06m-25d-12h-14m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8596551418304443 0.8606827855110168
+2025y-06m-25d-12h-14m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-36s DEBUG: pose_idx: 46/64
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read state: 1.3ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105895, dtype=float32), 'left.joint_1.pos': Array(1.258947, dtype=float32), 'left.joint_2.pos': Array(0.8630875, dtype=float32), 'left.joint_3.pos': Array(-1.1563638, dtype=float32), 'left.joint_4.pos': Array(0.01607932, dtype=float32), 'left.joint_5.pos': Array(-0.3317357, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105895, dtype=float32), Array(1.258947, dtype=float32), Array(0.8630875, dtype=float32), Array(-1.1563638, dtype=float32), Array(0.01607932, dtype=float32), Array(-0.3317357, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(218622278376) read took: 110.9ms
+2025y-06m-25d-12h-14m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8619440197944641 0.8630874752998352
+2025y-06m-25d-12h-14m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-36s DEBUG: pose_idx: 47/64
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-14m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-36s DEBUG: RealSenseCamera(218622278376) read took: 14.4ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(230422273017) read took: 265.7ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense2: 48.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106013, dtype=float32), 'left.joint_1.pos': Array(1.2584614, dtype=float32), 'left.joint_2.pos': Array(0.8654973, dtype=float32), 'left.joint_3.pos': Array(-1.1592231, dtype=float32), 'left.joint_4.pos': Array(0.01607007, dtype=float32), 'left.joint_5.pos': Array(-0.33174822, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106013, dtype=float32), Array(1.2584614, dtype=float32), Array(0.8654973, dtype=float32), Array(-1.1592231, dtype=float32), Array(0.01607007, dtype=float32), Array(-0.33174822, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(230422273017) read took: 107.1ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(230422273017) read took: 0.9ms
+2025y-06m-25d-12h-14m-37s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.1602579355239868 -1.1592230796813965
+2025y-06m-25d-12h-14m-37s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-37s DEBUG: pose_idx: 48/64
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106133, dtype=float32), 'left.joint_1.pos': Array(1.2579844, dtype=float32), 'left.joint_2.pos': Array(0.86791205, dtype=float32), 'left.joint_3.pos': Array(-1.1620785, dtype=float32), 'left.joint_4.pos': Array(0.01606051, dtype=float32), 'left.joint_5.pos': Array(-0.33176106, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106133, dtype=float32), Array(1.2579844, dtype=float32), Array(0.86791205, dtype=float32), Array(-1.1620785, dtype=float32), Array(0.01606051, dtype=float32), Array(-0.33176106, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(230422273017) read took: 110.3ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 111.4ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms
+2025y-06m-25d-12h-14m-37s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-37s DEBUG: pose_idx: 49/64
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106253, dtype=float32), 'left.joint_1.pos': Array(1.2575164, dtype=float32), 'left.joint_2.pos': Array(0.8703315, dtype=float32), 'left.joint_3.pos': Array(-1.1649293, dtype=float32), 'left.joint_4.pos': Array(0.0160511, dtype=float32), 'left.joint_5.pos': Array(-0.33177367, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106253, dtype=float32), Array(1.2575164, dtype=float32), Array(0.8703315, dtype=float32), Array(-1.1649293, dtype=float32), Array(0.0160511, dtype=float32), Array(-0.33177367, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-37s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8691920638084412 0.8703315258026123
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 0.6ms
+2025y-06m-25d-12h-14m-37s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-37s DEBUG: pose_idx: 50/64
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(230422273017) read took: 4.6ms
+2025y-06m-25d-12h-14m-37s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106373, dtype=float32), 'left.joint_1.pos': Array(1.2570568, dtype=float32), 'left.joint_2.pos': Array(0.8727563, dtype=float32), 'left.joint_3.pos': Array(-1.1677773, dtype=float32), 'left.joint_4.pos': Array(0.01604163, dtype=float32), 'left.joint_5.pos': Array(-0.33178633, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106373, dtype=float32), Array(1.2570568, dtype=float32), Array(0.8727563, dtype=float32), Array(-1.1677773, dtype=float32), Array(0.01604163, dtype=float32), Array(-0.33178633, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 107.7ms
+2025y-06m-25d-12h-14m-37s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-37s DEBUG: pose_idx: 51/64
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106494, dtype=float32), 'left.joint_1.pos': Array(1.2566062, dtype=float32), 'left.joint_2.pos': Array(0.8751858, dtype=float32), 'left.joint_3.pos': Array(-1.1706212, dtype=float32), 'left.joint_4.pos': Array(0.01603216, dtype=float32), 'left.joint_5.pos': Array(-0.33179882, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106494, dtype=float32), Array(1.2566062, dtype=float32), Array(0.8751858, dtype=float32), Array(-1.1706212, dtype=float32), Array(0.01603216, dtype=float32), Array(-0.33179882, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms
+2025y-06m-25d-12h-14m-37s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-37s DEBUG: pose_idx: 52/64
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 15.3ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(230422273017) read took: 233.3ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense2: 14.7ms
+2025y-06m-25d-12h-14m-37s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910661, dtype=float32), 'left.joint_1.pos': Array(1.2561642, dtype=float32), 'left.joint_2.pos': Array(0.87762016, dtype=float32), 'left.joint_3.pos': Array(-1.1734607, dtype=float32), 'left.joint_4.pos': Array(0.0160228, dtype=float32), 'left.joint_5.pos': Array(-0.33181128, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting left arm positions: [Array(-1.910661, dtype=float32), Array(1.2561642, dtype=float32), Array(0.87762016, dtype=float32), Array(-1.1734607, dtype=float32), Array(0.0160228, dtype=float32), Array(-0.33181128, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 110.2ms
+2025y-06m-25d-12h-14m-37s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.1747539043426514 -1.1734607219696045
+2025y-06m-25d-12h-14m-37s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-37s DEBUG: pose_idx: 53/64
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 22.4ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense2: 22.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107809, dtype=float32), 'left.joint_1.pos': Array(1.2556428, dtype=float32), 'left.joint_2.pos': Array(0.8800079, dtype=float32), 'left.joint_3.pos': Array(-1.1762921, dtype=float32), 'left.joint_4.pos': Array(0.01595801, dtype=float32), 'left.joint_5.pos': Array(-0.3319461, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107809, dtype=float32), Array(1.2556428, dtype=float32), Array(0.8800079, dtype=float32), Array(-1.1762921, dtype=float32), Array(0.01595801, dtype=float32), Array(-0.3319461, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(230422273017) read took: 107.1ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 110.2ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-37s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.1774243116378784 -1.176292061805725
+2025y-06m-25d-12h-14m-37s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-37s DEBUG: pose_idx: 54/64
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106843, dtype=float32), 'left.joint_1.pos': Array(1.2553053, dtype=float32), 'left.joint_2.pos': Array(0.88250405, dtype=float32), 'left.joint_3.pos': Array(-1.1791304, dtype=float32), 'left.joint_4.pos': Array(0.01600439, dtype=float32), 'left.joint_5.pos': Array(-0.33183613, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106843, dtype=float32), Array(1.2553053, dtype=float32), Array(0.88250405, dtype=float32), Array(-1.1791304, dtype=float32), Array(0.01600439, dtype=float32), Array(-0.33183613, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 108.9ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms
+2025y-06m-25d-12h-14m-37s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-37s DEBUG: pose_idx: 55/64
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-37s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106963, dtype=float32), 'left.joint_1.pos': Array(1.2548889, dtype=float32), 'left.joint_2.pos': Array(0.88495296, dtype=float32), 'left.joint_3.pos': Array(-1.181959, dtype=float32), 'left.joint_4.pos': Array(0.01599506, dtype=float32), 'left.joint_5.pos': Array(-0.33184847, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-37s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106963, dtype=float32), Array(1.2548889, dtype=float32), Array(0.88495296, dtype=float32), Array(-1.181959, dtype=float32), Array(0.01599506, dtype=float32), Array(-0.33184847, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(218622278376) read took: 110.2ms
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-38s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(218622278376) read took: 1.8ms
+2025y-06m-25d-12h-14m-38s DEBUG: pose_idx: 56/64
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(230422273017) read took: 113.9ms
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read realsense2: 1.5ms
+2025y-06m-25d-12h-14m-38s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107082, dtype=float32), 'left.joint_1.pos': Array(1.2544805, dtype=float32), 'left.joint_2.pos': Array(0.88740677, dtype=float32), 'left.joint_3.pos': Array(-1.1847847, dtype=float32), 'left.joint_4.pos': Array(0.0159857, dtype=float32), 'left.joint_5.pos': Array(-0.33186108, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-38s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-38s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107082, dtype=float32), Array(1.2544805, dtype=float32), Array(0.88740677, dtype=float32), Array(-1.1847847, dtype=float32), Array(0.0159857, dtype=float32), Array(-0.33186108, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(230422273017) read took: 106.6ms
+2025y-06m-25d-12h-14m-38s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.1861982345581055 -1.1847846508026123
+2025y-06m-25d-12h-14m-38s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-38s DEBUG: pose_idx: 57/64
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-38s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107196, dtype=float32), 'left.joint_1.pos': Array(1.2540814, dtype=float32), 'left.joint_2.pos': Array(0.88986576, dtype=float32), 'left.joint_3.pos': Array(-1.1876063, dtype=float32), 'left.joint_4.pos': Array(0.01597639, dtype=float32), 'left.joint_5.pos': Array(-0.33187303, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-38s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-38s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107196, dtype=float32), Array(1.2540814, dtype=float32), Array(0.88986576, dtype=float32), Array(-1.1876063, dtype=float32), Array(0.01597639, dtype=float32), Array(-0.33187303, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(218622278376) read took: 106.6ms
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(218622278376) read took: 0.7ms
+2025y-06m-25d-12h-14m-38s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-38s DEBUG: pose_idx: 58/64
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(218622278376) read took: 16.4ms
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(230422273017) read took: 126.6ms
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read realsense2: 17.7ms
+2025y-06m-25d-12h-14m-38s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107312, dtype=float32), 'left.joint_1.pos': Array(1.25369, dtype=float32), 'left.joint_2.pos': Array(0.8923296, dtype=float32), 'left.joint_3.pos': Array(-1.1904248, dtype=float32), 'left.joint_4.pos': Array(0.01596713, dtype=float32), 'left.joint_5.pos': Array(-0.33188513, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-38s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-38s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107312, dtype=float32), Array(1.25369, dtype=float32), Array(0.8923296, dtype=float32), Array(-1.1904248, dtype=float32), Array(0.01596713, dtype=float32), Array(-0.33188513, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(218622278376) read took: 108.0ms
+2025y-06m-25d-12h-14m-38s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-38s DEBUG: pose_idx: 59/64
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(218622278376) read took: 25.2ms
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(230422273017) read took: 133.4ms
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read realsense2: 25.2ms
+2025y-06m-25d-12h-14m-38s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107429, dtype=float32), 'left.joint_1.pos': Array(1.2533073, dtype=float32), 'left.joint_2.pos': Array(0.8947984, dtype=float32), 'left.joint_3.pos': Array(-1.1932393, dtype=float32), 'left.joint_4.pos': Array(0.01595795, dtype=float32), 'left.joint_5.pos': Array(-0.33189756, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-38s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-38s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107429, dtype=float32), Array(1.2533073, dtype=float32), Array(0.8947984, dtype=float32), Array(-1.1932393, dtype=float32), Array(0.01595795, dtype=float32), Array(-0.33189756, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(230422273017) read took: 108.1ms
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-14m-38s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-38s DEBUG: pose_idx: 60/64
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-38s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108689, dtype=float32), 'left.joint_1.pos': Array(1.2528427, dtype=float32), 'left.joint_2.pos': Array(0.8972188, dtype=float32), 'left.joint_3.pos': Array(-1.1960449, dtype=float32), 'left.joint_4.pos': Array(0.01588998, dtype=float32), 'left.joint_5.pos': Array(-0.33203948, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-38s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-38s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108689, dtype=float32), Array(1.2528427, dtype=float32), Array(0.8972188, dtype=float32), Array(-1.1960449, dtype=float32), Array(0.01588998, dtype=float32), Array(-0.33203948, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(230422273017) read took: 108.0ms
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-14m-38s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-14m-38s DEBUG: pose_idx: 61/64
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-38s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107661, dtype=float32), 'left.joint_1.pos': Array(1.2525668, dtype=float32), 'left.joint_2.pos': Array(0.89975023, dtype=float32), 'left.joint_3.pos': Array(-1.198858, dtype=float32), 'left.joint_4.pos': Array(0.01593957, dtype=float32), 'left.joint_5.pos': Array(-0.33192173, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-38s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-38s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107661, dtype=float32), Array(1.2525668, dtype=float32), Array(0.89975023, dtype=float32), Array(-1.198858, dtype=float32), Array(0.01593957, dtype=float32), Array(-0.33192173, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(218622278376) read took: 108.8ms
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(230422273017) read took: 109.1ms
+2025y-06m-25d-12h-14m-38s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-38s DEBUG: pose_idx: 62/64
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-38s DEBUG: RealSenseCamera(218622278376) read took: 3.6ms
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-38s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-14m-38s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107779, dtype=float32), 'left.joint_1.pos': Array(1.2522092, dtype=float32), 'left.joint_2.pos': Array(0.90223366, dtype=float32), 'left.joint_3.pos': Array(-1.2016622, dtype=float32), 'left.joint_4.pos': Array(0.01593037, dtype=float32), 'left.joint_5.pos': Array(-0.33193398, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-38s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-38s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107779, dtype=float32), Array(1.2522092, dtype=float32), Array(0.90223366, dtype=float32), Array(-1.2016622, dtype=float32), Array(0.01593037, dtype=float32), Array(-0.33193398, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-40s WARNING: Error reading frame in background thread for RealSenseCamera(218622278376): RealSenseCamera(218622278376) read failed (status=False).
+2025y-06m-25d-12h-14m-40s WARNING: Error reading frame in background thread for RealSenseCamera(230422273017): RealSenseCamera(230422273017) read failed (status=False).
+2025y-06m-25d-12h-14m-40s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-40s DEBUG: pose_idx: 63/64
+2025y-06m-25d-12h-14m-40s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-14m-40s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-14m-40s DEBUG: RealSenseCamera(218622278376) read took: 27.5ms
+2025y-06m-25d-12h-14m-40s DEBUG: RealSenseCamera(230422273017) read took: 29.6ms
+2025y-06m-25d-12h-14m-40s DEBUG: None Tatbot read realsense2: 27.0ms
+2025y-06m-25d-12h-14m-40s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107896, dtype=float32), 'left.joint_1.pos': Array(1.2518598, dtype=float32), 'left.joint_2.pos': Array(0.9047215, dtype=float32), 'left.joint_3.pos': Array(-1.2044624, dtype=float32), 'left.joint_4.pos': Array(0.015921, dtype=float32), 'left.joint_5.pos': Array(-0.33194628, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1., dtype=float32), 'right.joint_1.pos': Array(0.1, dtype=float32), 'right.joint_2.pos': Array(0.5, dtype=float32), 'right.joint_3.pos': Array(-1.2, dtype=float32), 'right.joint_4.pos': Array(0., dtype=float32), 'right.joint_5.pos': Array(0., dtype=float32), 'right.gripper.pos': Array(0., dtype=float32)}
+2025y-06m-25d-12h-14m-40s DEBUG: 🦾 Setting right arm positions: [Array(1., dtype=float32), Array(0.1, dtype=float32), Array(0.5, dtype=float32), Array(-1.2, dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32), Array(0., dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-40s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107896, dtype=float32), Array(1.2518598, dtype=float32), Array(0.9047215, dtype=float32), Array(-1.2044624, dtype=float32), Array(0.015921, dtype=float32), Array(-0.33194628, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-14m-42s DEBUG: RealSenseCamera(218622278376) read took: 2010.4ms
+2025y-06m-25d-12h-14m-42s DEBUG: RealSenseCamera(230422273017) read took: 2007.6ms
+2025y-06m-25d-12h-14m-42s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-14m-42s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-14m-42s INFO: 🤖🗃️ Writing episode log to /home/trossen-ai/tatbot/output/record/plan-bench-2025y-06m-25d-12h-13m-57s/logs/episode_000002.txt