diff --git "a/logs/episode_000003.txt" "b/logs/episode_000003.txt" new file mode 100644--- /dev/null +++ "b/logs/episode_000003.txt" @@ -0,0 +1,897 @@ +2025y-06m-25d-12h-14m-45s DEBUG: 🤖 sending arms to rest pose +2025y-06m-25d-12h-14m-45s 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-45s 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-45s 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-47s DEBUG: RealSenseCamera(218622278376) read took: 2033.5ms +2025y-06m-25d-12h-14m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 0.0 +2025y-06m-25d-12h-14m-47s INFO: 🤖 recording path 3 of 15 +2025y-06m-25d-12h-14m-47s DEBUG: pose_idx: 0/64 +2025y-06m-25d-12h-14m-47s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-14m-47s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-47s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-47s DEBUG: RealSenseCamera(230422273017) read took: 2032.4ms +2025y-06m-25d-12h-14m-47s DEBUG: RealSenseCamera(218622278376) read took: 2.3ms +2025y-06m-25d-12h-14m-47s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-47s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-47s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9513719, dtype=float32), 'left.joint_1.pos': Array(1.3009942, dtype=float32), 'left.joint_2.pos': Array(0.91858333, dtype=float32), 'left.joint_3.pos': Array(-1.1686088, dtype=float32), 'left.joint_4.pos': Array(-0.0081346, dtype=float32), 'left.joint_5.pos': Array(0.61179066, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107894, dtype=float32), 'right.joint_1.pos': Array(1.2518599, dtype=float32), 'right.joint_2.pos': Array(0.9047216, dtype=float32), 'right.joint_3.pos': Array(-1.2044623, dtype=float32), 'right.joint_4.pos': Array(-0.01592097, dtype=float32), 'right.joint_5.pos': Array(0.33194605, dtype=float32), 'right.gripper.pos': Array(-0.00081068, dtype=float32)} +2025y-06m-25d-12h-14m-47s DEBUG: 🦾 Setting right arm positions: [Array(1.9107894, dtype=float32), Array(1.2518599, dtype=float32), Array(0.9047216, dtype=float32), Array(-1.2044623, dtype=float32), Array(-0.01592097, dtype=float32), Array(0.33194605, dtype=float32), Array(-0.00081068, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-14m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.9996566772460938 1.9107893705368042 +2025y-06m-25d-12h-14m-47s ERROR: 🦾❌ Right arm position mismatch: right.joint_0 0.9996566772460938 1.9107893705368042 +2025y-06m-25d-12h-14m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 0.09975585341453552 1.2518599033355713 +2025y-06m-25d-12h-14m-47s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 0.09975585341453552 1.2518599033355713 +2025y-06m-25d-12h-14m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.4999237060546875 0.9047216176986694 +2025y-06m-25d-12h-14m-47s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.4999237060546875 0.9047216176986694 +2025y-06m-25d-12h-14m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.200312852859497 -1.2044622898101807 +2025y-06m-25d-12h-14m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.00019073777366429567 -0.0159209743142128 +2025y-06m-25d-12h-14m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.00019073777366429567 0.3319460451602936 +2025y-06m-25d-12h-14m-47s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 -0.00019073777366429567 0.3319460451602936 +2025y-06m-25d-12h-14m-47s WARNING: 🦾❌ Failed to set right arm positions: +: +right arm joints mismatch +No error +2025y-06m-25d-12h-14m-47s DEBUG: 🦾 Setting left arm positions: [Array(-0.9513719, dtype=float32), Array(1.3009942, dtype=float32), Array(0.91858333, dtype=float32), Array(-1.1686088, dtype=float32), Array(-0.0081346, dtype=float32), Array(0.61179066, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-14m-49s DEBUG: RealSenseCamera(230422273017) read took: 2008.6ms +2025y-06m-25d-12h-14m-49s DEBUG: RealSenseCamera(218622278376) read took: 2009.1ms +2025y-06m-25d-12h-14m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms +2025y-06m-25d-12h-14m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms +2025y-06m-25d-12h-14m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-49s DEBUG: pose_idx: 1/64 +2025y-06m-25d-12h-14m-49s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-14m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9512396, dtype=float32), 'left.joint_1.pos': Array(1.3105955, dtype=float32), 'left.joint_2.pos': Array(0.8766917, dtype=float32), 'left.joint_3.pos': Array(-1.1180481, dtype=float32), 'left.joint_4.pos': Array(-0.00801891, dtype=float32), 'left.joint_5.pos': Array(0.61192536, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108948, dtype=float32), 'right.joint_1.pos': Array(1.2521012, dtype=float32), 'right.joint_2.pos': Array(0.9022987, dtype=float32), 'right.joint_3.pos': Array(-1.2017901, dtype=float32), 'right.joint_4.pos': Array(-0.01587011, dtype=float32), 'right.joint_5.pos': Array(0.33206666, dtype=float32), 'right.gripper.pos': Array(-0.00080986, dtype=float32)} +2025y-06m-25d-12h-14m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.9108948, dtype=float32), Array(1.2521012, dtype=float32), Array(0.9022987, dtype=float32), Array(-1.2017901, dtype=float32), Array(-0.01587011, dtype=float32), Array(0.33206666, dtype=float32), Array(-0.00080986, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-14m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9050507545471191 0.9022986888885498 +2025y-06m-25d-12h-14m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.2045090198516846 -1.2017900943756104 +2025y-06m-25d-12h-14m-49s DEBUG: 🦾 Setting left arm positions: [Array(-0.9512396, dtype=float32), Array(1.3105955, dtype=float32), Array(0.8766917, dtype=float32), Array(-1.1180481, dtype=float32), Array(-0.00801891, dtype=float32), Array(0.61192536, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(230422273017) read took: 2005.2ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(218622278376) read took: 2005.1ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-51s DEBUG: pose_idx: 2/64 +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9508725, dtype=float32), 'left.joint_1.pos': Array(1.3123567, dtype=float32), 'left.joint_2.pos': Array(0.8779669, dtype=float32), 'left.joint_3.pos': Array(-1.1175388, dtype=float32), 'left.joint_4.pos': Array(-0.00800925, dtype=float32), 'left.joint_5.pos': Array(0.6122914, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107676, dtype=float32), 'right.joint_1.pos': Array(1.2525322, dtype=float32), 'right.joint_2.pos': Array(0.8999865, dtype=float32), 'right.joint_3.pos': Array(-1.1991253, dtype=float32), 'right.joint_4.pos': Array(-0.01593862, dtype=float32), 'right.joint_5.pos': Array(0.33192316, dtype=float32), 'right.gripper.pos': Array(-0.00081071, dtype=float32)} +2025y-06m-25d-12h-14m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.9107676, dtype=float32), Array(1.2525322, dtype=float32), Array(0.8999865, dtype=float32), Array(-1.1991253, dtype=float32), Array(-0.01593862, dtype=float32), Array(0.33192316, dtype=float32), Array(-0.00081071, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9019989371299744 0.8999865055084229 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.201838731765747 -1.1991252899169922 +2025y-06m-25d-12h-14m-51s DEBUG: 🦾 Setting left arm positions: [Array(-0.9508725, dtype=float32), Array(1.3123567, dtype=float32), Array(0.8779669, dtype=float32), Array(-1.1175388, dtype=float32), Array(-0.00800925, dtype=float32), Array(0.6122914, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(218622278376) read took: 105.9ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(230422273017) read took: 106.8ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8768215179443359 0.8779668807983398 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-51s DEBUG: pose_idx: 3/64 +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.95011157, dtype=float32), 'left.joint_1.pos': Array(1.3136102, dtype=float32), 'left.joint_2.pos': Array(0.87887675, dtype=float32), 'left.joint_3.pos': Array(-1.1171789, dtype=float32), 'left.joint_4.pos': Array(-0.00801647, dtype=float32), 'left.joint_5.pos': Array(0.61303943, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108707, dtype=float32), 'right.joint_1.pos': Array(1.25279, dtype=float32), 'right.joint_2.pos': Array(0.8975727, dtype=float32), 'right.joint_3.pos': Array(-1.1964461, dtype=float32), 'right.joint_4.pos': Array(-0.0158887, dtype=float32), 'right.joint_5.pos': Array(0.33204126, dtype=float32), 'right.gripper.pos': Array(-0.00080991, dtype=float32)} +2025y-06m-25d-12h-14m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.9108707, dtype=float32), Array(1.25279, dtype=float32), Array(0.8975727, dtype=float32), Array(-1.1964461, dtype=float32), Array(-0.0158887, dtype=float32), Array(0.33204126, dtype=float32), Array(-0.00080991, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8997100591659546 0.8975726962089539 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1999313831329346 -1.1964460611343384 +2025y-06m-25d-12h-14m-51s DEBUG: 🦾 Setting left arm positions: [Array(-0.95011157, dtype=float32), Array(1.3136102, dtype=float32), Array(0.87887675, dtype=float32), Array(-1.1171789, dtype=float32), Array(-0.00801647, dtype=float32), Array(0.61303943, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(218622278376) read took: 108.1ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(230422273017) read took: 108.2ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8768215179443359 0.8788767457008362 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(230422273017) read took: 1.3ms +2025y-06m-25d-12h-14m-51s DEBUG: pose_idx: 4/64 +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.94935036, dtype=float32), 'left.joint_1.pos': Array(1.3148633, dtype=float32), 'left.joint_2.pos': Array(0.87978756, dtype=float32), 'left.joint_3.pos': Array(-1.1168203, dtype=float32), 'left.joint_4.pos': Array(-0.00802232, dtype=float32), 'left.joint_5.pos': Array(0.61378837, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108586, dtype=float32), 'right.joint_1.pos': Array(1.2531453, dtype=float32), 'right.joint_2.pos': Array(0.89521646, dtype=float32), 'right.joint_3.pos': Array(-1.1937697, dtype=float32), 'right.joint_4.pos': Array(-0.01589788, dtype=float32), 'right.joint_5.pos': Array(0.33202857, dtype=float32), 'right.gripper.pos': Array(-0.00080993, dtype=float32)} +2025y-06m-25d-12h-14m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.9108586, dtype=float32), Array(1.2531453, dtype=float32), Array(0.89521646, dtype=float32), Array(-1.1937697, dtype=float32), Array(-0.01589788, dtype=float32), Array(0.33202857, dtype=float32), Array(-0.00080993, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8981841802597046 0.8952164649963379 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1957350969314575 -1.1937696933746338 +2025y-06m-25d-12h-14m-51s DEBUG: 🦾 Setting left arm positions: [Array(-0.94935036, dtype=float32), Array(1.3148633, dtype=float32), Array(0.87978756, dtype=float32), Array(-1.1168203, dtype=float32), Array(-0.00802232, dtype=float32), Array(0.61378837, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(230422273017) read took: 108.6ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(218622278376) read took: 110.4ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8772030472755432 0.8797875642776489 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-51s DEBUG: pose_idx: 5/64 +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read state: 1.3ms +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.94956803, dtype=float32), 'left.joint_1.pos': Array(1.3162485, dtype=float32), 'left.joint_2.pos': Array(0.8807963, dtype=float32), 'left.joint_3.pos': Array(-1.1164253, dtype=float32), 'left.joint_4.pos': Array(-0.00800217, dtype=float32), 'left.joint_5.pos': Array(0.6135814, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107342, dtype=float32), 'right.joint_1.pos': Array(1.2535982, dtype=float32), 'right.joint_2.pos': Array(0.89291686, dtype=float32), 'right.joint_3.pos': Array(-1.1910949, dtype=float32), 'right.joint_4.pos': Array(-0.01596499, dtype=float32), 'right.joint_5.pos': Array(0.3318881, dtype=float32), 'right.gripper.pos': Array(-0.00081076, dtype=float32)} +2025y-06m-25d-12h-14m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.9107342, dtype=float32), Array(1.2535982, dtype=float32), Array(0.89291686, dtype=float32), Array(-1.1910949, dtype=float32), Array(-0.01596499, dtype=float32), Array(0.3318881, dtype=float32), Array(-0.00081076, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2525749206542969 1.2535982131958008 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8951323628425598 0.8929168581962585 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.19459068775177 -1.1910948753356934 +2025y-06m-25d-12h-14m-51s DEBUG: 🦾 Setting left arm positions: [Array(-0.94956803, dtype=float32), Array(1.3162485, dtype=float32), Array(0.8807963, dtype=float32), Array(-1.1164253, dtype=float32), Array(-0.00800217, dtype=float32), Array(0.6135814, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8783474564552307 0.8807963132858276 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-51s DEBUG: pose_idx: 6/64 +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9492096, dtype=float32), 'left.joint_1.pos': Array(1.3180057, dtype=float32), 'left.joint_2.pos': Array(0.882079, dtype=float32), 'left.joint_3.pos': Array(-1.1159275, dtype=float32), 'left.joint_4.pos': Array(-0.00799356, dtype=float32), 'left.joint_5.pos': Array(0.61393857, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910723, dtype=float32), 'right.joint_1.pos': Array(1.2539686, dtype=float32), 'right.joint_2.pos': Array(0.89056927, dtype=float32), 'right.joint_3.pos': Array(-1.1884118, dtype=float32), 'right.joint_4.pos': Array(-0.01597385, dtype=float32), 'right.joint_5.pos': Array(0.3318765, dtype=float32), 'right.gripper.pos': Array(-0.00081078, dtype=float32)} +2025y-06m-25d-12h-14m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.910723, dtype=float32), Array(1.2539686, dtype=float32), Array(0.89056927, dtype=float32), Array(-1.1884118, dtype=float32), Array(-0.01597385, dtype=float32), Array(0.3318765, dtype=float32), Array(-0.00081078, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.892080545425415 0.890569269657135 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.191157341003418 -1.188411831855774 +2025y-06m-25d-12h-14m-51s DEBUG: 🦾 Setting left arm positions: [Array(-0.9492096, dtype=float32), Array(1.3180057, dtype=float32), Array(0.882079, dtype=float32), Array(-1.1159275, dtype=float32), Array(-0.00799356, dtype=float32), Array(0.61393857, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8806362748146057 0.882079005241394 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-51s DEBUG: pose_idx: 7/64 +2025y-06m-25d-12h-14m-51s DEBUG: RealSenseCamera(230422273017) read took: 2.4ms +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9494292, dtype=float32), 'left.joint_1.pos': Array(1.3193895, dtype=float32), 'left.joint_2.pos': Array(0.8830913, dtype=float32), 'left.joint_3.pos': Array(-1.1155375, dtype=float32), 'left.joint_4.pos': Array(-0.00797447, dtype=float32), 'left.joint_5.pos': Array(0.61372894, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107119, dtype=float32), 'right.joint_1.pos': Array(1.2543468, dtype=float32), 'right.joint_2.pos': Array(0.8882263, dtype=float32), 'right.joint_3.pos': Array(-1.1857259, dtype=float32), 'right.joint_4.pos': Array(-0.01598262, dtype=float32), 'right.joint_5.pos': Array(0.33186522, dtype=float32), 'right.gripper.pos': Array(-0.0008108, dtype=float32)} +2025y-06m-25d-12h-14m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.9107119, dtype=float32), Array(1.2543468, dtype=float32), Array(0.8882263, dtype=float32), Array(-1.1857259, dtype=float32), Array(-0.01598262, dtype=float32), Array(0.33186522, dtype=float32), Array(-0.0008108, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2533378601074219 1.2543468475341797 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8901731967926025 0.8882262706756592 +2025y-06m-25d-12h-14m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1884870529174805 -1.1857259273529053 +2025y-06m-25d-12h-14m-51s DEBUG: 🦾 Setting left arm positions: [Array(-0.9494292, dtype=float32), Array(1.3193895, dtype=float32), Array(0.8830913, dtype=float32), Array(-1.1155375, dtype=float32), Array(-0.00797447, dtype=float32), Array(0.61372894, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 111.1ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 108.0ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.5ms +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.881780743598938 0.8830912709236145 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-52s DEBUG: pose_idx: 8/64 +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.94907194, dtype=float32), 'left.joint_1.pos': Array(1.3211443, dtype=float32), 'left.joint_2.pos': Array(0.88437766, dtype=float32), 'left.joint_3.pos': Array(-1.1150455, dtype=float32), 'left.joint_4.pos': Array(-0.00796589, dtype=float32), 'left.joint_5.pos': Array(0.6140849, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107008, dtype=float32), 'right.joint_1.pos': Array(1.2547324, dtype=float32), 'right.joint_2.pos': Array(0.8858871, dtype=float32), 'right.joint_3.pos': Array(-1.1830359, dtype=float32), 'right.joint_4.pos': Array(-0.0159914, dtype=float32), 'right.joint_5.pos': Array(0.33185327, dtype=float32), 'right.gripper.pos': Array(-0.00081082, dtype=float32)} +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.9107008, dtype=float32), Array(1.2547324, dtype=float32), Array(0.8858871, dtype=float32), Array(-1.1830359, dtype=float32), Array(-0.0159914, dtype=float32), Array(0.33185327, dtype=float32), Array(-0.00081082, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8878843188285828 0.885887086391449 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.185816764831543 -1.1830358505249023 +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting left arm positions: [Array(-0.94907194, dtype=float32), Array(1.3211443, dtype=float32), Array(0.88437766, dtype=float32), Array(-1.1150455, dtype=float32), Array(-0.00796589, dtype=float32), Array(0.6140849, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 109.9ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8829251527786255 0.884377658367157 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-52s DEBUG: pose_idx: 9/64 +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9483214, dtype=float32), 'left.joint_1.pos': Array(1.3223943, dtype=float32), 'left.joint_2.pos': Array(0.8852957, dtype=float32), 'left.joint_3.pos': Array(-1.1146972, dtype=float32), 'left.joint_4.pos': Array(-0.00797295, dtype=float32), 'left.joint_5.pos': Array(0.61482275, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107988, dtype=float32), 'right.joint_1.pos': Array(1.2550377, dtype=float32), 'right.joint_2.pos': Array(0.88350093, dtype=float32), 'right.joint_3.pos': Array(-1.1803377, dtype=float32), 'right.joint_4.pos': Array(-0.01594412, dtype=float32), 'right.joint_5.pos': Array(0.33196527, dtype=float32), 'right.gripper.pos': Array(-0.00081006, dtype=float32)} +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.9107988, dtype=float32), Array(1.2550377, dtype=float32), Array(0.88350093, dtype=float32), Array(-1.1803377, dtype=float32), Array(-0.01594412, dtype=float32), Array(0.33196527, dtype=float32), Array(-0.00081006, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8852140307426453 0.8835009336471558 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.183146357536316 -1.18033766746521 +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting left arm positions: [Array(-0.9483214, dtype=float32), Array(1.3223943, dtype=float32), Array(0.8852957, dtype=float32), Array(-1.1146972, dtype=float32), Array(-0.00797295, dtype=float32), Array(0.61482275, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 108.8ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8836880922317505 0.8852956891059875 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-52s DEBUG: pose_idx: 10/64 +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 3.6ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.94853926, dtype=float32), 'left.joint_1.pos': Array(1.3237748, dtype=float32), 'left.joint_2.pos': Array(0.88631135, dtype=float32), 'left.joint_3.pos': Array(-1.1143136, dtype=float32), 'left.joint_4.pos': Array(-0.00795287, dtype=float32), 'left.joint_5.pos': Array(0.61461556, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106784, dtype=float32), 'right.joint_1.pos': Array(1.2555268, dtype=float32), 'right.joint_2.pos': Array(0.8812228, dtype=float32), 'right.joint_3.pos': Array(-1.1776468, dtype=float32), 'right.joint_4.pos': Array(-0.01600935, dtype=float32), 'right.joint_5.pos': Array(0.33182967, dtype=float32), 'right.gripper.pos': Array(-0.00081087, dtype=float32)} +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.9106784, dtype=float32), Array(1.2555268, dtype=float32), Array(0.8812228, dtype=float32), Array(-1.1776468, dtype=float32), Array(-0.01600935, dtype=float32), Array(0.33182967, dtype=float32), Array(-0.00081087, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.883306622505188 0.8812227845191956 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1804760694503784 -1.1776467561721802 +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting left arm positions: [Array(-0.94853926, dtype=float32), Array(1.3237748, dtype=float32), Array(0.88631135, dtype=float32), Array(-1.1143136, dtype=float32), Array(-0.00795287, dtype=float32), Array(0.61461556, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 106.5ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-52s DEBUG: pose_idx: 11/64 +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.94875884, dtype=float32), 'left.joint_1.pos': Array(1.3251547, dtype=float32), 'left.joint_2.pos': Array(0.8873288, dtype=float32), 'left.joint_3.pos': Array(-1.1139323, dtype=float32), 'left.joint_4.pos': Array(-0.00793438, dtype=float32), 'left.joint_5.pos': Array(0.61440593, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910667, dtype=float32), 'right.joint_1.pos': Array(1.2559357, dtype=float32), 'right.joint_2.pos': Array(0.8788972, dtype=float32), 'right.joint_3.pos': Array(-1.1749473, dtype=float32), 'right.joint_4.pos': Array(-0.01601804, dtype=float32), 'right.joint_5.pos': Array(0.33181775, dtype=float32), 'right.gripper.pos': Array(-0.00081089, dtype=float32)} +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.910667, dtype=float32), Array(1.2559357, dtype=float32), Array(0.8788972, dtype=float32), Array(-1.1749473, dtype=float32), Array(-0.01601804, dtype=float32), Array(0.33181775, dtype=float32), Array(-0.00081089, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8821622133255005 0.8788971900939941 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1774243116378784 -1.1749472618103027 +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting left arm positions: [Array(-0.94875884, dtype=float32), Array(1.3251547, dtype=float32), Array(0.8873288, dtype=float32), Array(-1.1139323, dtype=float32), Array(-0.00793438, dtype=float32), Array(0.61440593, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 109.5ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.7ms +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-52s DEBUG: pose_idx: 12/64 +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.94840574, dtype=float32), 'left.joint_1.pos': Array(1.3269058, dtype=float32), 'left.joint_2.pos': Array(0.88862216, dtype=float32), 'left.joint_3.pos': Array(-1.1134509, dtype=float32), 'left.joint_4.pos': Array(-0.00792589, dtype=float32), 'left.joint_5.pos': Array(0.6147577, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910656, dtype=float32), 'right.joint_1.pos': Array(1.2563524, dtype=float32), 'right.joint_2.pos': Array(0.8765762, dtype=float32), 'right.joint_3.pos': Array(-1.1722444, dtype=float32), 'right.joint_4.pos': Array(-0.01602681, dtype=float32), 'right.joint_5.pos': Array(0.3318059, dtype=float32), 'right.gripper.pos': Array(-0.00081092, dtype=float32)} +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.910656, dtype=float32), Array(1.2563524, dtype=float32), Array(0.8765762, dtype=float32), Array(-1.1722444, dtype=float32), Array(-0.01602681, dtype=float32), Array(0.3318059, dtype=float32), Array(-0.00081092, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8783474564552307 0.8765761852264404 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1755168437957764 -1.1722444295883179 +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting left arm positions: [Array(-0.94840574, dtype=float32), Array(1.3269058, dtype=float32), Array(0.88862216, dtype=float32), Array(-1.1134509, dtype=float32), Array(-0.00792589, dtype=float32), Array(0.6147577, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 110.4ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8875028491020203 0.8886221647262573 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-52s DEBUG: pose_idx: 13/64 +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 2.4ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 4.7ms +2025y-06m-25d-12h-14m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9486255, dtype=float32), 'left.joint_1.pos': Array(1.328284, dtype=float32), 'left.joint_2.pos': Array(0.88964283, dtype=float32), 'left.joint_3.pos': Array(-1.1130747, dtype=float32), 'left.joint_4.pos': Array(-0.00790725, dtype=float32), 'left.joint_5.pos': Array(0.6145479, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106447, dtype=float32), 'right.joint_1.pos': Array(1.2567767, dtype=float32), 'right.joint_2.pos': Array(0.8742597, dtype=float32), 'right.joint_3.pos': Array(-1.1695381, dtype=float32), 'right.joint_4.pos': Array(-0.01603584, dtype=float32), 'right.joint_5.pos': Array(0.3317941, dtype=float32), 'right.gripper.pos': Array(-0.00081094, dtype=float32)} +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.9106447, dtype=float32), Array(1.2567767, dtype=float32), Array(0.8742597, dtype=float32), Array(-1.1695381, dtype=float32), Array(-0.01603584, dtype=float32), Array(0.3317941, dtype=float32), Array(-0.00081094, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8760585784912109 0.8742597103118896 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1717021465301514 -1.169538140296936 +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting left arm positions: [Array(-0.9486255, dtype=float32), Array(1.328284, dtype=float32), Array(0.88964283, dtype=float32), Array(-1.1130747, dtype=float32), Array(-0.00790725, dtype=float32), Array(0.6145479, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 107.5ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.7ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 106.4ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-52s DEBUG: pose_idx: 14/64 +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9482739, dtype=float32), 'left.joint_1.pos': Array(1.3300323, dtype=float32), 'left.joint_2.pos': Array(0.8909398, dtype=float32), 'left.joint_3.pos': Array(-1.1125996, dtype=float32), 'left.joint_4.pos': Array(-0.00789875, dtype=float32), 'left.joint_5.pos': Array(0.61489826, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106331, dtype=float32), 'right.joint_1.pos': Array(1.257209, dtype=float32), 'right.joint_2.pos': Array(0.87194735, dtype=float32), 'right.joint_3.pos': Array(-1.1668285, dtype=float32), 'right.joint_4.pos': Array(-0.01604482, dtype=float32), 'right.joint_5.pos': Array(0.33178198, dtype=float32), 'right.gripper.pos': Array(-0.00081097, dtype=float32)} +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.9106331, dtype=float32), Array(1.257209, dtype=float32), Array(0.87194735, dtype=float32), Array(-1.1668285, dtype=float32), Array(-0.01604482, dtype=float32), Array(0.33178198, dtype=float32), Array(-0.00081097, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8737697601318359 0.8719473481178284 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1697947978973389 -1.1668285131454468 +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting left arm positions: [Array(-0.9482739, dtype=float32), Array(1.3300323, dtype=float32), Array(0.8909398, dtype=float32), Array(-1.1125996, dtype=float32), Array(-0.00789875, dtype=float32), Array(0.61489826, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 108.2ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-52s DEBUG: pose_idx: 15/64 +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9479238, dtype=float32), 'left.joint_1.pos': Array(1.3317796, dtype=float32), 'left.joint_2.pos': Array(0.892239, dtype=float32), 'left.joint_3.pos': Array(-1.1121275, dtype=float32), 'left.joint_4.pos': Array(-0.00789028, dtype=float32), 'left.joint_5.pos': Array(0.615247, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910622, dtype=float32), 'right.joint_1.pos': Array(1.2576491, dtype=float32), 'right.joint_2.pos': Array(0.86963975, dtype=float32), 'right.joint_3.pos': Array(-1.1641154, dtype=float32), 'right.joint_4.pos': Array(-0.01605369, dtype=float32), 'right.joint_5.pos': Array(0.33177, dtype=float32), 'right.gripper.pos': Array(-0.00081099, dtype=float32)} +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.910622, dtype=float32), Array(1.2576491, dtype=float32), Array(0.86963975, dtype=float32), Array(-1.1641154, dtype=float32), Array(-0.01605369, dtype=float32), Array(0.33177, dtype=float32), Array(-0.00081099, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8714808821678162 0.8696397542953491 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1667429208755493 -1.1641154289245605 +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting left arm positions: [Array(-0.9479238, dtype=float32), Array(1.3317796, dtype=float32), Array(0.892239, dtype=float32), Array(-1.1121275, dtype=float32), Array(-0.00789028, dtype=float32), Array(0.615247, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 108.8ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 110.0ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-52s DEBUG: pose_idx: 16/64 +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(218622278376) read took: 3.6ms +2025y-06m-25d-12h-14m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9477495, dtype=float32), 'left.joint_1.pos': Array(1.3326528, dtype=float32), 'left.joint_2.pos': Array(0.89288926, dtype=float32), 'left.joint_3.pos': Array(-1.1118926, dtype=float32), 'left.joint_4.pos': Array(-0.00788612, dtype=float32), 'left.joint_5.pos': Array(0.61542076, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106106, dtype=float32), 'right.joint_1.pos': Array(1.2580973, dtype=float32), 'right.joint_2.pos': Array(0.86733675, dtype=float32), 'right.joint_3.pos': Array(-1.1613991, dtype=float32), 'right.joint_4.pos': Array(-0.01606267, dtype=float32), 'right.joint_5.pos': Array(0.33175793, dtype=float32), 'right.gripper.pos': Array(-0.00081102, dtype=float32)} +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.9106106, dtype=float32), Array(1.2580973, dtype=float32), Array(0.86733675, dtype=float32), Array(-1.1613991, dtype=float32), Array(-0.01606267, dtype=float32), Array(0.33175793, dtype=float32), Array(-0.00081102, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-52s DEBUG: RealSenseCamera(230422273017) read took: 6.5ms +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8691920638084412 0.8673367500305176 +2025y-06m-25d-12h-14m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1636911630630493 -1.1613991260528564 +2025y-06m-25d-12h-14m-52s DEBUG: 🦾 Setting left arm positions: [Array(-0.9477495, dtype=float32), Array(1.3326528, dtype=float32), Array(0.89288926, dtype=float32), Array(-1.1118926, dtype=float32), Array(-0.00788612, dtype=float32), Array(0.61542076, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 102.7ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 106.4ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.6ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.7ms +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-53s DEBUG: pose_idx: 17/64 +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9474041, dtype=float32), 'left.joint_1.pos': Array(1.3343989, dtype=float32), 'left.joint_2.pos': Array(0.8941923, dtype=float32), 'left.joint_3.pos': Array(-1.1114262, dtype=float32), 'left.joint_4.pos': Array(-0.00787878, dtype=float32), 'left.joint_5.pos': Array(0.615764, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107028, dtype=float32), 'right.joint_1.pos': Array(1.2584674, dtype=float32), 'right.joint_2.pos': Array(0.86498666, dtype=float32), 'right.joint_3.pos': Array(-1.1586729, dtype=float32), 'right.joint_4.pos': Array(-0.01601834, dtype=float32), 'right.joint_5.pos': Array(0.33186334, dtype=float32), 'right.gripper.pos': Array(-0.00081031, dtype=float32)} +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9107028, dtype=float32), Array(1.2584674, dtype=float32), Array(0.86498666, dtype=float32), Array(-1.1586729, dtype=float32), Array(-0.01601834, dtype=float32), Array(0.33186334, dtype=float32), Array(-0.00081031, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8672846555709839 0.8649866580963135 +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1625467538833618 -1.1586729288101196 +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting left arm positions: [Array(-0.9474041, dtype=float32), Array(1.3343989, dtype=float32), Array(0.8941923, dtype=float32), Array(-1.1114262, dtype=float32), Array(-0.00787878, dtype=float32), Array(0.615764, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 109.4ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-53s DEBUG: pose_idx: 18/64 +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.94666433, dtype=float32), 'left.joint_1.pos': Array(1.3356423, dtype=float32), 'left.joint_2.pos': Array(0.8951215, dtype=float32), 'left.joint_3.pos': Array(-1.1110947, dtype=float32), 'left.joint_4.pos': Array(-0.00788423, dtype=float32), 'left.joint_5.pos': Array(0.61649185, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106909, dtype=float32), 'right.joint_1.pos': Array(1.2589312, dtype=float32), 'right.joint_2.pos': Array(0.8626928, dtype=float32), 'right.joint_3.pos': Array(-1.1559502, dtype=float32), 'right.joint_4.pos': Array(-0.01602751, dtype=float32), 'right.joint_5.pos': Array(0.3318508, dtype=float32), 'right.gripper.pos': Array(-0.00081034, dtype=float32)} +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9106909, dtype=float32), Array(1.2589312, dtype=float32), Array(0.8626928, dtype=float32), Array(-1.1559502, dtype=float32), Array(-0.01602751, dtype=float32), Array(0.3318508, dtype=float32), Array(-0.00081034, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2579156160354614 1.2589311599731445 +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8653773069381714 0.8626927733421326 +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1583504676818848 -1.1559501886367798 +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting left arm positions: [Array(-0.94666433, dtype=float32), Array(1.3356423, dtype=float32), Array(0.8951215, dtype=float32), Array(-1.1110947, dtype=float32), Array(-0.00788423, dtype=float32), Array(0.61649185, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 111.3ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 111.2ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-53s DEBUG: pose_idx: 19/64 +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 4.6ms +2025y-06m-25d-12h-14m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.94592345, dtype=float32), 'left.joint_1.pos': Array(1.336885, dtype=float32), 'left.joint_2.pos': Array(0.8960519, dtype=float32), 'left.joint_3.pos': Array(-1.1107655, dtype=float32), 'left.joint_4.pos': Array(-0.00788847, dtype=float32), 'left.joint_5.pos': Array(0.6172217, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105762, dtype=float32), 'right.joint_1.pos': Array(1.2594888, dtype=float32), 'right.joint_2.pos': Array(0.860454, dtype=float32), 'right.joint_3.pos': Array(-1.1532286, dtype=float32), 'right.joint_4.pos': Array(-0.01608971, dtype=float32), 'right.joint_5.pos': Array(0.33172187, dtype=float32), 'right.gripper.pos': Array(-0.00081111, dtype=float32)} +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9105762, dtype=float32), Array(1.2594888, dtype=float32), Array(0.860454, dtype=float32), Array(-1.1532286, dtype=float32), Array(-0.01608971, dtype=float32), Array(0.33172187, dtype=float32), Array(-0.00081111, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 8.9ms +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8627069592475891 0.8604540228843689 +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1556801795959473 -1.1532286405563354 +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting left arm positions: [Array(-0.94592345, dtype=float32), Array(1.336885, dtype=float32), Array(0.8960519, dtype=float32), Array(-1.1107655, dtype=float32), Array(-0.00788847, dtype=float32), Array(0.6172217, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 102.1ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 105.9ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-53s DEBUG: pose_idx: 20/64 +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9446234, dtype=float32), 'left.joint_1.pos': Array(1.3384991, dtype=float32), 'left.joint_2.pos': Array(0.8972631, dtype=float32), 'left.joint_3.pos': Array(-1.1103401, dtype=float32), 'left.joint_4.pos': Array(-0.00790345, dtype=float32), 'left.joint_5.pos': Array(0.6184987, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105645, dtype=float32), 'right.joint_1.pos': Array(1.2599686, dtype=float32), 'right.joint_2.pos': Array(0.85816866, dtype=float32), 'right.joint_3.pos': Array(-1.1504983, dtype=float32), 'right.joint_4.pos': Array(-0.01609884, dtype=float32), 'right.joint_5.pos': Array(0.33170962, dtype=float32), 'right.gripper.pos': Array(-0.00081114, dtype=float32)} +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9105645, dtype=float32), Array(1.2599686, dtype=float32), Array(0.85816866, dtype=float32), Array(-1.1504983, dtype=float32), Array(-0.01609884, dtype=float32), Array(0.33170962, dtype=float32), Array(-0.00081114, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8600366115570068 0.8581686615943909 +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1530098915100098 -1.1504982709884644 +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting left arm positions: [Array(-0.9446234, dtype=float32), Array(1.3384991, dtype=float32), Array(0.8972631, dtype=float32), Array(-1.1103401, dtype=float32), Array(-0.00790345, dtype=float32), Array(0.6184987, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 1.0ms +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-53s DEBUG: pose_idx: 21/64 +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read state: 0.1ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.94349957, dtype=float32), 'left.joint_1.pos': Array(1.3392438, dtype=float32), 'left.joint_2.pos': Array(0.8978219, dtype=float32), 'left.joint_3.pos': Array(-1.1101444, dtype=float32), 'left.joint_4.pos': Array(-0.00792423, dtype=float32), 'left.joint_5.pos': Array(0.6195993, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8577477931976318 0.8558371663093567 +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1511024236679077 -1.147758960723877 +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting left arm positions: [Array(-0.94349957, dtype=float32), Array(1.3392438, dtype=float32), Array(0.8978219, dtype=float32), Array(-1.1101444, dtype=float32), Array(-0.00792423, dtype=float32), Array(0.6195993, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-53s DEBUG: pose_idx: 22/64 +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read state: 1.2ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9419775, dtype=float32), 'left.joint_1.pos': Array(1.339489, dtype=float32), 'left.joint_2.pos': Array(0.8980061, dtype=float32), 'left.joint_3.pos': Array(-1.1100799, dtype=float32), 'left.joint_4.pos': Array(-0.00795593, dtype=float32), 'left.joint_5.pos': Array(0.6210893, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 6.6ms +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting left arm positions: [Array(-0.9419775, dtype=float32), Array(1.339489, dtype=float32), Array(0.8980061, dtype=float32), Array(-1.1100799, dtype=float32), Array(-0.00795593, dtype=float32), Array(0.6210893, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 9.2ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 102.5ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-53s DEBUG: pose_idx: 23/64 +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.94029576, dtype=float32), 'left.joint_1.pos': Array(1.3406092, dtype=float32), 'left.joint_2.pos': Array(0.89884883, dtype=float32), 'left.joint_3.pos': Array(-1.1097875, dtype=float32), 'left.joint_4.pos': Array(-0.00798606, dtype=float32), 'left.joint_5.pos': Array(0.6227367, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting left arm positions: [Array(-0.94029576, dtype=float32), Array(1.3406092, dtype=float32), Array(0.89884883, dtype=float32), Array(-1.1097875, dtype=float32), Array(-0.00798606, dtype=float32), Array(0.6227367, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.9ms +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-53s DEBUG: pose_idx: 24/64 +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.93838036, dtype=float32), 'left.joint_1.pos': Array(1.3403624, dtype=float32), 'left.joint_2.pos': Array(0.8986626, dtype=float32), 'left.joint_3.pos': Array(-1.1098515, dtype=float32), 'left.joint_4.pos': Array(-0.00803179, dtype=float32), 'left.joint_5.pos': Array(0.6246094, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting left arm positions: [Array(-0.93838036, dtype=float32), Array(1.3403624, dtype=float32), Array(0.8986626, dtype=float32), Array(-1.1098515, dtype=float32), Array(-0.00803179, dtype=float32), Array(0.6246094, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 109.3ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-53s DEBUG: pose_idx: 25/64 +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.93742645, dtype=float32), 'left.joint_1.pos': Array(1.3402413, dtype=float32), 'left.joint_2.pos': Array(0.89857125, dtype=float32), 'left.joint_3.pos': Array(-1.1098834, dtype=float32), 'left.joint_4.pos': Array(-0.00805663, dtype=float32), 'left.joint_5.pos': Array(0.62554073, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-53s DEBUG: RealSenseCamera(218622278376) read took: 8.0ms +2025y-06m-25d-12h-14m-53s DEBUG: 🦾 Setting left arm positions: [Array(-0.93742645, dtype=float32), Array(1.3402413, dtype=float32), Array(0.89857125, dtype=float32), Array(-1.1098834, dtype=float32), Array(-0.00805663, dtype=float32), Array(0.62554073, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 101.6ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 111.3ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-14m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-54s DEBUG: pose_idx: 26/64 +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.93550915, dtype=float32), 'left.joint_1.pos': Array(1.3399993, dtype=float32), 'left.joint_2.pos': Array(0.8983888, dtype=float32), 'left.joint_3.pos': Array(-1.1099464, dtype=float32), 'left.joint_4.pos': Array(-0.00810233, dtype=float32), 'left.joint_5.pos': Array(0.6274153, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting left arm positions: [Array(-0.93550915, dtype=float32), Array(1.3399993, dtype=float32), Array(0.8983888, dtype=float32), Array(-1.1099464, dtype=float32), Array(-0.00810233, dtype=float32), Array(0.6274153, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-54s DEBUG: pose_idx: 27/64 +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.933993, dtype=float32), 'left.joint_1.pos': Array(1.3402568, dtype=float32), 'left.joint_2.pos': Array(0.8985824, dtype=float32), 'left.joint_3.pos': Array(-1.1098793, dtype=float32), 'left.joint_4.pos': Array(-0.00813535, dtype=float32), 'left.joint_5.pos': Array(0.6288988, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting left arm positions: [Array(-0.933993, dtype=float32), Array(1.3402568, dtype=float32), Array(0.8985824, dtype=float32), Array(-1.1098793, dtype=float32), Array(-0.00813535, dtype=float32), Array(0.6288988, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 108.4ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-54s DEBUG: pose_idx: 28/64 +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.93207747, dtype=float32), 'left.joint_1.pos': Array(1.340022, dtype=float32), 'left.joint_2.pos': Array(0.89840525, dtype=float32), 'left.joint_3.pos': Array(-1.1099406, dtype=float32), 'left.joint_4.pos': Array(-0.00818229, dtype=float32), 'left.joint_5.pos': Array(0.6307707, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting left arm positions: [Array(-0.93207747, dtype=float32), Array(1.340022, dtype=float32), Array(0.89840525, dtype=float32), Array(-1.1099406, dtype=float32), Array(-0.00818229, dtype=float32), Array(0.6307707, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 109.0ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.9ms +2025y-06m-25d-12h-14m-54s DEBUG: pose_idx: 29/64 +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 4.9ms +2025y-06m-25d-12h-14m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.930719, dtype=float32), 'left.joint_1.pos': Array(1.3394116, dtype=float32), 'left.joint_2.pos': Array(0.89794576, dtype=float32), 'left.joint_3.pos': Array(-1.1101, dtype=float32), 'left.joint_4.pos': Array(-0.00822025, dtype=float32), 'left.joint_5.pos': Array(0.63209647, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting left arm positions: [Array(-0.930719, dtype=float32), Array(1.3394116, dtype=float32), Array(0.89794576, dtype=float32), Array(-1.1101, dtype=float32), Array(-0.00822025, dtype=float32), Array(0.63209647, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 108.1ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 105.3ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.340695858001709 1.3394116163253784 +2025y-06m-25d-12h-14m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-54s DEBUG: pose_idx: 30/64 +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9288009, dtype=float32), 'left.joint_1.pos': Array(1.3391824, dtype=float32), 'left.joint_2.pos': Array(0.8977737, dtype=float32), 'left.joint_3.pos': Array(-1.1101611, dtype=float32), 'left.joint_4.pos': Array(-0.00826731, dtype=float32), 'left.joint_5.pos': Array(0.63397074, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting left arm positions: [Array(-0.9288009, dtype=float32), Array(1.3391824, dtype=float32), Array(0.8977737, dtype=float32), Array(-1.1101611, dtype=float32), Array(-0.00826731, dtype=float32), Array(0.63397074, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-54s DEBUG: pose_idx: 31/64 +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.927439, dtype=float32), 'left.joint_1.pos': Array(1.3385762, dtype=float32), 'left.joint_2.pos': Array(0.8973176, dtype=float32), 'left.joint_3.pos': Array(-1.11032, dtype=float32), 'left.joint_4.pos': Array(-0.00830534, dtype=float32), 'left.joint_5.pos': Array(0.6353001, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting left arm positions: [Array(-0.927439, dtype=float32), Array(1.3385762, dtype=float32), Array(0.8973176, dtype=float32), Array(-1.11032, dtype=float32), Array(-0.00830534, dtype=float32), Array(0.6353001, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 108.8ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 108.9ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8985656499862671 0.8973175883293152 +2025y-06m-25d-12h-14m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-54s DEBUG: pose_idx: 32/64 +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 4.0ms +2025y-06m-25d-12h-14m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.92551833, dtype=float32), 'left.joint_1.pos': Array(1.3383528, dtype=float32), 'left.joint_2.pos': Array(0.8971505, dtype=float32), 'left.joint_3.pos': Array(-1.1103796, dtype=float32), 'left.joint_4.pos': Array(-0.00835264, dtype=float32), 'left.joint_5.pos': Array(0.63717717, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 7.2ms +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting left arm positions: [Array(-0.92551833, dtype=float32), Array(1.3383528, dtype=float32), Array(0.8971505, dtype=float32), Array(-1.1103796, dtype=float32), Array(-0.00835264, dtype=float32), Array(0.63717717, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 102.3ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 107.4ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-14m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8985656499862671 0.8971505165100098 +2025y-06m-25d-12h-14m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-54s DEBUG: pose_idx: 33/64 +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.92415285, dtype=float32), 'left.joint_1.pos': Array(1.3377504, dtype=float32), 'left.joint_2.pos': Array(0.89669836, dtype=float32), 'left.joint_3.pos': Array(-1.1105386, dtype=float32), 'left.joint_4.pos': Array(-0.00839064, dtype=float32), 'left.joint_5.pos': Array(0.6385099, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting left arm positions: [Array(-0.92415285, dtype=float32), Array(1.3377504, dtype=float32), Array(0.89669836, dtype=float32), Array(-1.1105386, dtype=float32), Array(-0.00839064, dtype=float32), Array(0.6385099, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 108.7ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 108.4ms +2025y-06m-25d-12h-14m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.338788390159607 1.3377504348754883 +2025y-06m-25d-12h-14m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8981841802597046 0.8966983556747437 +2025y-06m-25d-12h-14m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-54s DEBUG: pose_idx: 34/64 +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.92222935, dtype=float32), 'left.joint_1.pos': Array(1.3375331, dtype=float32), 'left.joint_2.pos': Array(0.8965354, dtype=float32), 'left.joint_3.pos': Array(-1.1105963, dtype=float32), 'left.joint_4.pos': Array(-0.00843783, dtype=float32), 'left.joint_5.pos': Array(0.64038956, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105532, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.85588783, dtype=float32), 'right.joint_3.pos': Array(-1.1477641, dtype=float32), 'right.joint_4.pos': Array(-0.01610778, dtype=float32), 'right.joint_5.pos': Array(0.3316976, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.9105532, dtype=float32), Array(1.2604564, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(-0.01610778, dtype=float32), Array(0.3316976, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-54s DEBUG: 🦾 Setting left arm positions: [Array(-0.92222935, dtype=float32), Array(1.3375331, dtype=float32), Array(0.8965354, dtype=float32), Array(-1.1105963, dtype=float32), Array(-0.00843783, dtype=float32), Array(0.64038956, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 110.5ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-14m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-14m-55s DEBUG: pose_idx: 35/64 +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 4.2ms +2025y-06m-25d-12h-14m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.92086023, dtype=float32), 'left.joint_1.pos': Array(1.3369352, dtype=float32), 'left.joint_2.pos': Array(0.8960869, dtype=float32), 'left.joint_3.pos': Array(-1.110754, dtype=float32), 'left.joint_4.pos': Array(-0.00847604, dtype=float32), 'left.joint_5.pos': Array(0.6417256, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(230422273017) read took: 8.0ms +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting left arm positions: [Array(-0.92086023, dtype=float32), Array(1.3369352, dtype=float32), Array(0.8960869, dtype=float32), Array(-1.110754, dtype=float32), Array(-0.00847604, dtype=float32), Array(0.6417256, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(230422273017) read took: 102.0ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 105.5ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms +2025y-06m-25d-12h-14m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-55s DEBUG: pose_idx: 36/64 +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read state: 1.4ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9189343, dtype=float32), 'left.joint_1.pos': Array(1.3367232, dtype=float32), 'left.joint_2.pos': Array(0.89592904, dtype=float32), 'left.joint_3.pos': Array(-1.1108114, dtype=float32), 'left.joint_4.pos': Array(-0.00852351, dtype=float32), 'left.joint_5.pos': Array(0.64360815, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105532, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.85588783, dtype=float32), 'right.joint_3.pos': Array(-1.1477641, dtype=float32), 'right.joint_4.pos': Array(-0.01610778, dtype=float32), 'right.joint_5.pos': Array(0.3316976, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.9105532, dtype=float32), Array(1.2604564, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(-0.01610778, dtype=float32), Array(0.3316976, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting left arm positions: [Array(-0.9189343, dtype=float32), Array(1.3367232, dtype=float32), Array(0.89592904, dtype=float32), Array(-1.1108114, dtype=float32), Array(-0.00852351, dtype=float32), Array(0.64360815, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(230422273017) read took: 110.4ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 109.6ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-14m-55s DEBUG: pose_idx: 37/64 +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9174167, dtype=float32), 'left.joint_1.pos': Array(1.3370045, dtype=float32), 'left.joint_2.pos': Array(0.89613986, dtype=float32), 'left.joint_3.pos': Array(-1.1107372, dtype=float32), 'left.joint_4.pos': Array(-0.00855635, dtype=float32), 'left.joint_5.pos': Array(0.64509284, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting left arm positions: [Array(-0.9174167, dtype=float32), Array(1.3370045, dtype=float32), Array(0.89613986, dtype=float32), Array(-1.1107372, dtype=float32), Array(-0.00855635, dtype=float32), Array(0.64509284, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 108.6ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms +2025y-06m-25d-12h-14m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-55s DEBUG: pose_idx: 38/64 +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.91548955, dtype=float32), 'left.joint_1.pos': Array(1.3367993, dtype=float32), 'left.joint_2.pos': Array(0.8959865, dtype=float32), 'left.joint_3.pos': Array(-1.1107924, dtype=float32), 'left.joint_4.pos': Array(-0.0086035, dtype=float32), 'left.joint_5.pos': Array(0.6469761, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 7.9ms +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting left arm positions: [Array(-0.91548955, dtype=float32), Array(1.3367993, dtype=float32), Array(0.8959865, dtype=float32), Array(-1.1107924, dtype=float32), Array(-0.0086035, dtype=float32), Array(0.6469761, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(230422273017) read took: 109.0ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 102.2ms +2025y-06m-25d-12h-14m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-55s DEBUG: pose_idx: 39/64 +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read state: 0.2ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.91452557, dtype=float32), 'left.joint_1.pos': Array(1.336698, dtype=float32), 'left.joint_2.pos': Array(0.8959109, dtype=float32), 'left.joint_3.pos': Array(-1.1108198, dtype=float32), 'left.joint_4.pos': Array(-0.00862724, dtype=float32), 'left.joint_5.pos': Array(0.64791834, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting left arm positions: [Array(-0.91452557, dtype=float32), Array(1.336698, dtype=float32), Array(0.8959109, dtype=float32), Array(-1.1108198, dtype=float32), Array(-0.00862724, dtype=float32), Array(0.64791834, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(230422273017) read took: 109.3ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-55s DEBUG: pose_idx: 40/64 +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9125973, dtype=float32), 'left.joint_1.pos': Array(1.3364979, dtype=float32), 'left.joint_2.pos': Array(0.8957618, dtype=float32), 'left.joint_3.pos': Array(-1.110874, dtype=float32), 'left.joint_4.pos': Array(-0.00867462, dtype=float32), 'left.joint_5.pos': Array(0.64980286, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting left arm positions: [Array(-0.9125973, dtype=float32), Array(1.3364979, dtype=float32), Array(0.8957618, dtype=float32), Array(-1.110874, dtype=float32), Array(-0.00867462, dtype=float32), Array(0.64980286, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 108.2ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-55s DEBUG: pose_idx: 41/64 +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 12.9ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(230422273017) read took: 125.4ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense2: 13.4ms +2025y-06m-25d-12h-14m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9109406, dtype=float32), 'left.joint_1.pos': Array(1.3376641, dtype=float32), 'left.joint_2.pos': Array(0.89663625, dtype=float32), 'left.joint_3.pos': Array(-1.1105663, dtype=float32), 'left.joint_4.pos': Array(-0.0087014, dtype=float32), 'left.joint_5.pos': Array(0.6514269, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting left arm positions: [Array(-0.9109406, dtype=float32), Array(1.3376641, dtype=float32), Array(0.89663625, dtype=float32), Array(-1.1105663, dtype=float32), Array(-0.0087014, dtype=float32), Array(0.6514269, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(230422273017) read took: 103.4ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 106.5ms +2025y-06m-25d-12h-14m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-55s DEBUG: pose_idx: 42/64 +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9094261, dtype=float32), 'left.joint_1.pos': Array(1.3379562, dtype=float32), 'left.joint_2.pos': Array(0.896856, dtype=float32), 'left.joint_3.pos': Array(-1.1104902, dtype=float32), 'left.joint_4.pos': Array(-0.00873363, dtype=float32), 'left.joint_5.pos': Array(0.6529087, dtype=float32), 'left.gripper.pos': Array(4.841438e-08, dtype=float32), 'right.joint_0.pos': Array(1.9105564, dtype=float32), 'right.joint_1.pos': Array(1.2604553, dtype=float32), 'right.joint_2.pos': Array(0.85588664, dtype=float32), 'right.joint_3.pos': Array(-1.1477634, dtype=float32), 'right.joint_4.pos': Array(-0.01610628, dtype=float32), 'right.joint_5.pos': Array(0.33170155, dtype=float32), 'right.gripper.pos': Array(-0.00081113, dtype=float32)} +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.9105564, dtype=float32), Array(1.2604553, dtype=float32), Array(0.85588664, dtype=float32), Array(-1.1477634, dtype=float32), Array(-0.01610628, dtype=float32), Array(0.33170155, dtype=float32), Array(-0.00081113, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting left arm positions: [Array(-0.9094261, dtype=float32), Array(1.3379562, dtype=float32), Array(0.896856, dtype=float32), Array(-1.1104902, dtype=float32), Array(-0.00873363, dtype=float32), Array(0.6529087, dtype=float32), Array(4.841438e-08, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 105.0ms +2025y-06m-25d-12h-14m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3368810415267944 1.337956190109253 +2025y-06m-25d-12h-14m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.841437828417838e-08 +2025y-06m-25d-12h-14m-55s DEBUG: pose_idx: 43/64 +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(218622278376) read took: 19.9ms +2025y-06m-25d-12h-14m-55s DEBUG: RealSenseCamera(230422273017) read took: 129.2ms +2025y-06m-25d-12h-14m-55s DEBUG: None Tatbot read realsense2: 21.1ms +2025y-06m-25d-12h-14m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.908325, dtype=float32), 'left.joint_1.pos': Array(1.3387363, dtype=float32), 'left.joint_2.pos': Array(0.8974424, dtype=float32), 'left.joint_3.pos': Array(-1.1102859, dtype=float32), 'left.joint_4.pos': Array(-0.00875119, dtype=float32), 'left.joint_5.pos': Array(0.65398824, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105532, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.85588783, dtype=float32), 'right.joint_3.pos': Array(-1.1477641, dtype=float32), 'right.joint_4.pos': Array(-0.01610778, dtype=float32), 'right.joint_5.pos': Array(0.3316976, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.9105532, dtype=float32), Array(1.2604564, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(-0.01610778, dtype=float32), Array(0.3316976, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-55s DEBUG: 🦾 Setting left arm positions: [Array(-0.908325, dtype=float32), Array(1.3387363, dtype=float32), Array(0.8974424, dtype=float32), Array(-1.1102859, dtype=float32), Array(-0.00875119, dtype=float32), Array(0.65398824, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(230422273017) read took: 103.3ms +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 106.9ms +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3368810415267944 1.3387362957000732 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8962767720222473 0.8974424004554749 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-14m-56s DEBUG: pose_idx: 44/64 +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.90709096, dtype=float32), 'left.joint_1.pos': Array(1.3403918, dtype=float32), 'left.joint_2.pos': Array(0.89868814, dtype=float32), 'left.joint_3.pos': Array(-1.1098534, dtype=float32), 'left.joint_4.pos': Array(-0.00876272, dtype=float32), 'left.joint_5.pos': Array(0.65520126, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105651, dtype=float32), 'right.joint_1.pos': Array(1.2599444, dtype=float32), 'right.joint_2.pos': Array(0.85828304, dtype=float32), 'right.joint_3.pos': Array(-1.150635, dtype=float32), 'right.joint_4.pos': Array(-0.01609833, dtype=float32), 'right.joint_5.pos': Array(0.33171028, dtype=float32), 'right.gripper.pos': Array(-0.00081114, dtype=float32)} +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting right arm positions: [Array(1.9105651, dtype=float32), Array(1.2599444, dtype=float32), Array(0.85828304, dtype=float32), Array(-1.150635, dtype=float32), Array(-0.01609833, dtype=float32), Array(0.33171028, dtype=float32), Array(-0.00081114, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8554589152336121 0.8582830429077148 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1480506658554077 -1.150635004043579 +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting left arm positions: [Array(-0.90709096, dtype=float32), Array(1.3403918, dtype=float32), Array(0.89868814, dtype=float32), Array(-1.1098534, dtype=float32), Array(-0.00876272, dtype=float32), Array(0.65520126, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 105.9ms +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3384069204330444 1.340391755104065 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8966583013534546 0.8986881375312805 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-56s DEBUG: pose_idx: 45/64 +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 20.0ms +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(230422273017) read took: 129.2ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense2: 20.0ms +2025y-06m-25d-12h-14m-56s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9064079, dtype=float32), 'left.joint_1.pos': Array(1.3416572, dtype=float32), 'left.joint_2.pos': Array(0.8996419, dtype=float32), 'left.joint_3.pos': Array(-1.1095243, dtype=float32), 'left.joint_4.pos': Array(-0.00876532, dtype=float32), 'left.joint_5.pos': Array(0.6558739, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105775, dtype=float32), 'right.joint_1.pos': Array(1.2594413, dtype=float32), 'right.joint_2.pos': Array(0.86068267, dtype=float32), 'right.joint_3.pos': Array(-1.1535014, dtype=float32), 'right.joint_4.pos': Array(-0.01608886, dtype=float32), 'right.joint_5.pos': Array(0.3317231, dtype=float32), 'right.gripper.pos': Array(-0.00081111, dtype=float32)} +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting right arm positions: [Array(1.9105775, dtype=float32), Array(1.2594413, dtype=float32), Array(0.86068267, dtype=float32), Array(-1.1535014, dtype=float32), Array(-0.01608886, dtype=float32), Array(0.3317231, dtype=float32), Array(-0.00081111, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8566033244132996 0.8606826663017273 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1507209539413452 -1.1535013914108276 +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting left arm positions: [Array(-0.9064079, dtype=float32), Array(1.3416572, dtype=float32), Array(0.8996419, dtype=float32), Array(-1.1095243, dtype=float32), Array(-0.00876532, dtype=float32), Array(0.6558739, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(230422273017) read took: 107.2ms +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 111.2ms +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3403143882751465 1.3416571617126465 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8978027105331421 0.8996418714523315 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-56s DEBUG: pose_idx: 46/64 +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9057268, dtype=float32), 'left.joint_1.pos': Array(1.3429222, dtype=float32), 'left.joint_2.pos': Array(0.9005971, dtype=float32), 'left.joint_3.pos': Array(-1.1091967, dtype=float32), 'left.joint_4.pos': Array(-0.00876805, dtype=float32), 'left.joint_5.pos': Array(0.6565446, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106928, dtype=float32), 'right.joint_1.pos': Array(1.2588612, dtype=float32), 'right.joint_2.pos': Array(0.8630366, dtype=float32), 'right.joint_3.pos': Array(-1.1563587, dtype=float32), 'right.joint_4.pos': Array(-0.01602622, dtype=float32), 'right.joint_5.pos': Array(0.3318526, dtype=float32), 'right.gripper.pos': Array(-0.00081033, dtype=float32)} +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting right arm positions: [Array(1.9106928, dtype=float32), Array(1.2588612, dtype=float32), Array(0.8630366, dtype=float32), Array(-1.1563587, dtype=float32), Array(-0.01602622, dtype=float32), Array(0.3318526, dtype=float32), Array(-0.00081033, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8592736721038818 0.863036572933197 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1530098915100098 -1.1563587188720703 +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting left arm positions: [Array(-0.9057268, dtype=float32), Array(1.3429222, dtype=float32), Array(0.9005971, dtype=float32), Array(-1.1091967, dtype=float32), Array(-0.00876805, dtype=float32), Array(0.6565446, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(230422273017) read took: 110.8ms +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 110.2ms +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3418402671813965 1.3429222106933594 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8989471197128296 0.900597095489502 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-56s DEBUG: pose_idx: 47/64 +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.90545946, dtype=float32), 'left.joint_1.pos': Array(1.3446699, dtype=float32), 'left.joint_2.pos': Array(0.90191907, dtype=float32), 'left.joint_3.pos': Array(-1.1087464, dtype=float32), 'left.joint_4.pos': Array(-0.00875586, dtype=float32), 'left.joint_5.pos': Array(0.6568127, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106013, dtype=float32), 'right.joint_1.pos': Array(1.2584615, dtype=float32), 'right.joint_2.pos': Array(0.86549723, dtype=float32), 'right.joint_3.pos': Array(-1.1592228, dtype=float32), 'right.joint_4.pos': Array(-0.01606989, dtype=float32), 'right.joint_5.pos': Array(0.33174825, dtype=float32), 'right.gripper.pos': Array(-0.00081104, dtype=float32)} +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting right arm positions: [Array(1.9106013, dtype=float32), Array(1.2584615, dtype=float32), Array(0.86549723, dtype=float32), Array(-1.1592228, dtype=float32), Array(-0.01606989, dtype=float32), Array(0.33174825, dtype=float32), Array(-0.00081104, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8619440197944641 0.8654972314834595 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1572060585021973 -1.1592228412628174 +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting left arm positions: [Array(-0.90545946, dtype=float32), Array(1.3446699, dtype=float32), Array(0.90191907, dtype=float32), Array(-1.1087464, dtype=float32), Array(-0.00875586, dtype=float32), Array(0.6568127, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(230422273017) read took: 110.5ms +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 1.0ms +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9004730582237244 0.9019190669059753 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 1.0ms +2025y-06m-25d-12h-14m-56s DEBUG: pose_idx: 48/64 +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9053264, dtype=float32), 'left.joint_1.pos': Array(1.3455428, dtype=float32), 'left.joint_2.pos': Array(0.90258056, dtype=float32), 'left.joint_3.pos': Array(-1.1085227, dtype=float32), 'left.joint_4.pos': Array(-0.00874967, dtype=float32), 'left.joint_5.pos': Array(0.6569463, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106135, dtype=float32), 'right.joint_1.pos': Array(1.2579843, dtype=float32), 'right.joint_2.pos': Array(0.86791193, dtype=float32), 'right.joint_3.pos': Array(-1.1620783, dtype=float32), 'right.joint_4.pos': Array(-0.01606037, dtype=float32), 'right.joint_5.pos': Array(0.3317613, dtype=float32), 'right.gripper.pos': Array(-0.00081102, dtype=float32)} +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting right arm positions: [Array(1.9106135, dtype=float32), Array(1.2579843, dtype=float32), Array(0.86791193, dtype=float32), Array(-1.1620783, dtype=float32), Array(-0.01606037, dtype=float32), Array(0.3317613, dtype=float32), Array(-0.00081102, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8646143078804016 0.8679119348526001 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1591134071350098 -1.1620782613754272 +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting left arm positions: [Array(-0.9053264, dtype=float32), Array(1.3455428, dtype=float32), Array(0.90258056, dtype=float32), Array(-1.1085227, dtype=float32), Array(-0.00874967, dtype=float32), Array(0.6569463, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 107.6ms +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.344510555267334 1.3455427885055542 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9012359976768494 0.9025805592536926 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-56s DEBUG: pose_idx: 49/64 +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 25.6ms +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(230422273017) read took: 137.8ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense2: 25.2ms +2025y-06m-25d-12h-14m-56s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9050612, dtype=float32), 'left.joint_1.pos': Array(1.3472885, dtype=float32), 'left.joint_2.pos': Array(0.90390587, dtype=float32), 'left.joint_3.pos': Array(-1.1080774, dtype=float32), 'left.joint_4.pos': Array(-0.00873777, dtype=float32), 'left.joint_5.pos': Array(0.6572122, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106253, dtype=float32), 'right.joint_1.pos': Array(1.2575163, dtype=float32), 'right.joint_2.pos': Array(0.8703315, dtype=float32), 'right.joint_3.pos': Array(-1.1649294, dtype=float32), 'right.joint_4.pos': Array(-0.0160511, dtype=float32), 'right.joint_5.pos': Array(0.3317738, dtype=float32), 'right.gripper.pos': Array(-0.00081099, dtype=float32)} +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting right arm positions: [Array(1.9106253, dtype=float32), Array(1.2575163, dtype=float32), Array(0.8703315, dtype=float32), Array(-1.1649294, dtype=float32), Array(-0.0160511, dtype=float32), Array(0.3317738, dtype=float32), Array(-0.00081099, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8676661252975464 0.8703315258026123 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1625467538833618 -1.1649293899536133 +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting left arm positions: [Array(-0.9050612, dtype=float32), Array(1.3472885, dtype=float32), Array(0.90390587, dtype=float32), Array(-1.1080774, dtype=float32), Array(-0.00873777, dtype=float32), Array(0.6572122, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(230422273017) read took: 107.2ms +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9023804068565369 0.9039058685302734 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-14m-56s DEBUG: pose_idx: 50/64 +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read state: 0.2ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.904797, dtype=float32), 'left.joint_1.pos': Array(1.3490334, dtype=float32), 'left.joint_2.pos': Array(0.9052332, dtype=float32), 'left.joint_3.pos': Array(-1.1076355, dtype=float32), 'left.joint_4.pos': Array(-0.00872564, dtype=float32), 'left.joint_5.pos': Array(0.6574772, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107431, dtype=float32), 'right.joint_1.pos': Array(1.2569703, dtype=float32), 'right.joint_2.pos': Array(0.8727048, dtype=float32), 'right.joint_3.pos': Array(-1.1677716, dtype=float32), 'right.joint_4.pos': Array(-0.01598727, dtype=float32), 'right.joint_5.pos': Array(0.33190608, dtype=float32), 'right.gripper.pos': Array(-0.0008102, dtype=float32)} +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting right arm positions: [Array(1.9107431, dtype=float32), Array(1.2569703, dtype=float32), Array(0.8727048, dtype=float32), Array(-1.1677716, dtype=float32), Array(-0.01598727, dtype=float32), Array(0.33190608, dtype=float32), Array(-0.0008102, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8695735335350037 0.872704803943634 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1652170419692993 -1.167771577835083 +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting left arm positions: [Array(-0.904797, dtype=float32), Array(1.3490334, dtype=float32), Array(0.9052332, dtype=float32), Array(-1.1076355, dtype=float32), Array(-0.00872564, dtype=float32), Array(0.6574772, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 110.2ms +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-56s DEBUG: pose_idx: 51/64 +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 12.4ms +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(230422273017) read took: 126.0ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense2: 12.6ms +2025y-06m-25d-12h-14m-56s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.90507543, dtype=float32), 'left.joint_1.pos': Array(1.3503867, dtype=float32), 'left.joint_2.pos': Array(0.90626496, dtype=float32), 'left.joint_3.pos': Array(-1.1072943, dtype=float32), 'left.joint_4.pos': Array(-0.00870519, dtype=float32), 'left.joint_5.pos': Array(0.65721005, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107559, dtype=float32), 'right.joint_1.pos': Array(1.2565192, dtype=float32), 'right.joint_2.pos': Array(0.8751341, dtype=float32), 'right.joint_3.pos': Array(-1.1706153, dtype=float32), 'right.joint_4.pos': Array(-0.0159776, dtype=float32), 'right.joint_5.pos': Array(0.33191967, dtype=float32), 'right.gripper.pos': Array(-0.00081017, dtype=float32)} +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting right arm positions: [Array(1.9107559, dtype=float32), Array(1.2565192, dtype=float32), Array(0.8751341, dtype=float32), Array(-1.1706153, dtype=float32), Array(-0.0159776, dtype=float32), Array(0.33191967, dtype=float32), Array(-0.00081017, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8722438216209412 0.8751341104507446 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1678873300552368 -1.170615315437317 +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting left arm positions: [Array(-0.90507543, dtype=float32), Array(1.3503867, dtype=float32), Array(0.90626496, dtype=float32), Array(-1.1072943, dtype=float32), Array(-0.00870519, dtype=float32), Array(0.65721005, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms +2025y-06m-25d-12h-14m-56s DEBUG: RealSenseCamera(230422273017) read took: 107.6ms +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-56s DEBUG: pose_idx: 52/64 +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-56s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.90481204, dtype=float32), 'left.joint_1.pos': Array(1.352129, dtype=float32), 'left.joint_2.pos': Array(0.9075958, dtype=float32), 'left.joint_3.pos': Array(-1.106858, dtype=float32), 'left.joint_4.pos': Array(-0.00869325, dtype=float32), 'left.joint_5.pos': Array(0.6574744, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910661, dtype=float32), 'right.joint_1.pos': Array(1.2561642, dtype=float32), 'right.joint_2.pos': Array(0.8776202, dtype=float32), 'right.joint_3.pos': Array(-1.173461, dtype=float32), 'right.joint_4.pos': Array(-0.01602288, dtype=float32), 'right.joint_5.pos': Array(0.33181128, dtype=float32), 'right.gripper.pos': Array(-0.00081091, dtype=float32)} +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting right arm positions: [Array(1.910661, dtype=float32), Array(1.2561642, dtype=float32), Array(0.8776202, dtype=float32), Array(-1.173461, dtype=float32), Array(-0.01602288, dtype=float32), Array(0.33181128, dtype=float32), Array(-0.00081091, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8749141693115234 0.8776202201843262 +2025y-06m-25d-12h-14m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1709392070770264 -1.1734609603881836 +2025y-06m-25d-12h-14m-56s DEBUG: 🦾 Setting left arm positions: [Array(-0.90481204, dtype=float32), Array(1.352129, dtype=float32), Array(0.9075958, dtype=float32), Array(-1.106858, dtype=float32), Array(-0.00869325, dtype=float32), Array(0.6574744, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-57s DEBUG: pose_idx: 53/64 +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read state: 1.9ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 14.2ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(230422273017) read took: 125.4ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense2: 13.0ms +2025y-06m-25d-12h-14m-57s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.90508974, dtype=float32), 'left.joint_1.pos': Array(1.3534807, dtype=float32), 'left.joint_2.pos': Array(0.90863043, dtype=float32), 'left.joint_3.pos': Array(-1.1065216, dtype=float32), 'left.joint_4.pos': Array(-0.00867285, dtype=float32), 'left.joint_5.pos': Array(0.6572079, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106727, dtype=float32), 'right.joint_1.pos': Array(1.2557303, dtype=float32), 'right.joint_2.pos': Array(0.88005954, dtype=float32), 'right.joint_3.pos': Array(-1.1762975, dtype=float32), 'right.joint_4.pos': Array(-0.01601358, dtype=float32), 'right.joint_5.pos': Array(0.33182362, dtype=float32), 'right.gripper.pos': Array(-0.00081088, dtype=float32)} +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting right arm positions: [Array(1.9106727, dtype=float32), Array(1.2557303, dtype=float32), Array(0.88005954, dtype=float32), Array(-1.1762975, dtype=float32), Array(-0.01601358, dtype=float32), Array(0.33182362, dtype=float32), Array(-0.00081088, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8772030472755432 0.880059540271759 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1739909648895264 -1.1762975454330444 +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting left arm positions: [Array(-0.90508974, dtype=float32), Array(1.3534807, dtype=float32), Array(0.90863043, dtype=float32), Array(-1.1065216, dtype=float32), Array(-0.00867285, dtype=float32), Array(0.6572079, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 109.6ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(230422273017) read took: 107.8ms +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-57s DEBUG: pose_idx: 54/64 +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-57s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9053667, dtype=float32), 'left.joint_1.pos': Array(1.3548318, dtype=float32), 'left.joint_2.pos': Array(0.9096662, dtype=float32), 'left.joint_3.pos': Array(-1.1061865, dtype=float32), 'left.joint_4.pos': Array(-0.00865273, dtype=float32), 'left.joint_5.pos': Array(0.65694237, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106846, dtype=float32), 'right.joint_1.pos': Array(1.2553054, dtype=float32), 'right.joint_2.pos': Array(0.88250375, dtype=float32), 'right.joint_3.pos': Array(-1.17913, dtype=float32), 'right.joint_4.pos': Array(-0.01600421, dtype=float32), 'right.joint_5.pos': Array(0.33183604, dtype=float32), 'right.gripper.pos': Array(-0.00081086, dtype=float32)} +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting right arm positions: [Array(1.9106846, dtype=float32), Array(1.2553054, dtype=float32), Array(0.88250375, dtype=float32), Array(-1.17913, dtype=float32), Array(-0.01600421, dtype=float32), Array(0.33183604, dtype=float32), Array(-0.00081086, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8798733353614807 0.8825037479400635 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.176279902458191 -1.179129958152771 +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting left arm positions: [Array(-0.9053667, dtype=float32), Array(1.3548318, dtype=float32), Array(0.9096662, dtype=float32), Array(-1.1061865, dtype=float32), Array(-0.00865273, dtype=float32), Array(0.65694237, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 111.4ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-57s DEBUG: pose_idx: 55/64 +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 11.4ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(230422273017) read took: 125.4ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense2: 12.2ms +2025y-06m-25d-12h-14m-57s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.90469724, dtype=float32), 'left.joint_1.pos': Array(1.35609, dtype=float32), 'left.joint_2.pos': Array(0.9106329, dtype=float32), 'left.joint_3.pos': Array(-1.1058773, dtype=float32), 'left.joint_4.pos': Array(-0.00865516, dtype=float32), 'left.joint_5.pos': Array(0.6576016, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106964, dtype=float32), 'right.joint_1.pos': Array(1.2548888, dtype=float32), 'right.joint_2.pos': Array(0.8849528, dtype=float32), 'right.joint_3.pos': Array(-1.1819592, dtype=float32), 'right.joint_4.pos': Array(-0.01599498, dtype=float32), 'right.joint_5.pos': Array(0.33184847, dtype=float32), 'right.gripper.pos': Array(-0.00081083, dtype=float32)} +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting right arm positions: [Array(1.9106964, dtype=float32), Array(1.2548888, dtype=float32), Array(0.8849528, dtype=float32), Array(-1.1819592, dtype=float32), Array(-0.01599498, dtype=float32), Array(0.33184847, dtype=float32), Array(-0.00081083, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.882543683052063 0.8849527835845947 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.180094599723816 -1.1819591522216797 +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting left arm positions: [Array(-0.90469724, dtype=float32), Array(1.35609, dtype=float32), Array(0.9106329, dtype=float32), Array(-1.1058773, dtype=float32), Array(-0.00865516, dtype=float32), Array(0.6576016, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-57s DEBUG: pose_idx: 56/64 +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 23.2ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(230422273017) read took: 133.4ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense2: 22.3ms +2025y-06m-25d-12h-14m-57s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9044368, dtype=float32), 'left.joint_1.pos': Array(1.3578278, dtype=float32), 'left.joint_2.pos': Array(0.91197056, dtype=float32), 'left.joint_3.pos': Array(-1.105452, dtype=float32), 'left.joint_4.pos': Array(-0.00864322, dtype=float32), 'left.joint_5.pos': Array(0.65786284, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107081, dtype=float32), 'right.joint_1.pos': Array(1.2544808, dtype=float32), 'right.joint_2.pos': Array(0.887407, dtype=float32), 'right.joint_3.pos': Array(-1.1847847, dtype=float32), 'right.joint_4.pos': Array(-0.01598578, dtype=float32), 'right.joint_5.pos': Array(0.33186084, dtype=float32), 'right.gripper.pos': Array(-0.00081081, dtype=float32)} +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting right arm positions: [Array(1.9107081, dtype=float32), Array(1.2544808, dtype=float32), Array(0.887407, dtype=float32), Array(-1.1847847, dtype=float32), Array(-0.01598578, dtype=float32), Array(0.33186084, dtype=float32), Array(-0.00081081, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8844510316848755 0.8874070048332214 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1820019483566284 -1.1847846508026123 +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting left arm positions: [Array(-0.9044368, dtype=float32), Array(1.3578278, dtype=float32), Array(0.91197056, dtype=float32), Array(-1.105452, dtype=float32), Array(-0.00864322, dtype=float32), Array(0.65786284, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(230422273017) read took: 107.1ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 110.5ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-57s DEBUG: pose_idx: 57/64 +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-57s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.90471363, dtype=float32), 'left.joint_1.pos': Array(1.3591762, dtype=float32), 'left.joint_2.pos': Array(0.9130102, dtype=float32), 'left.joint_3.pos': Array(-1.1051233, dtype=float32), 'left.joint_4.pos': Array(-0.00862314, dtype=float32), 'left.joint_5.pos': Array(0.6575973, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107199, dtype=float32), 'right.joint_1.pos': Array(1.2540814, dtype=float32), 'right.joint_2.pos': Array(0.88986576, dtype=float32), 'right.joint_3.pos': Array(-1.1876062, dtype=float32), 'right.joint_4.pos': Array(-0.0159763, dtype=float32), 'right.joint_5.pos': Array(0.33187315, dtype=float32), 'right.gripper.pos': Array(-0.00081079, dtype=float32)} +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting right arm positions: [Array(1.9107199, dtype=float32), Array(1.2540814, dtype=float32), Array(0.88986576, dtype=float32), Array(-1.1876062, dtype=float32), Array(-0.0159763, dtype=float32), Array(0.33187315, dtype=float32), Array(-0.00081079, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8875028491020203 0.8898657560348511 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1854352951049805 -1.1876062154769897 +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting left arm positions: [Array(-0.90471363, dtype=float32), Array(1.3591762, dtype=float32), Array(0.9130102, dtype=float32), Array(-1.1051233, dtype=float32), Array(-0.00862314, dtype=float32), Array(0.6575973, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-57s DEBUG: pose_idx: 58/64 +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-57s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.904454, dtype=float32), 'left.joint_1.pos': Array(1.3609122, dtype=float32), 'left.joint_2.pos': Array(0.9143514, dtype=float32), 'left.joint_3.pos': Array(-1.1047032, dtype=float32), 'left.joint_4.pos': Array(-0.00861135, dtype=float32), 'left.joint_5.pos': Array(0.6578577, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107313, dtype=float32), 'right.joint_1.pos': Array(1.2536901, dtype=float32), 'right.joint_2.pos': Array(0.8923295, dtype=float32), 'right.joint_3.pos': Array(-1.1904244, dtype=float32), 'right.joint_4.pos': Array(-0.01596706, dtype=float32), 'right.joint_5.pos': Array(0.3318854, dtype=float32), 'right.gripper.pos': Array(-0.00081077, dtype=float32)} +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting right arm positions: [Array(1.9107313, dtype=float32), Array(1.2536901, dtype=float32), Array(0.8923295, dtype=float32), Array(-1.1904244, dtype=float32), Array(-0.01596706, dtype=float32), Array(0.3318854, dtype=float32), Array(-0.00081077, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8901731967926025 0.8923295140266418 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1884870529174805 -1.1904244422912598 +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting left arm positions: [Array(-0.904454, dtype=float32), Array(1.3609122, dtype=float32), Array(0.9143514, dtype=float32), Array(-1.1047032, dtype=float32), Array(-0.00861135, dtype=float32), Array(0.6578577, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 110.5ms +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-57s DEBUG: pose_idx: 59/64 +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(230422273017) read took: 115.7ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense2: 1.1ms +2025y-06m-25d-12h-14m-57s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.90473044, dtype=float32), 'left.joint_1.pos': Array(1.3622591, dtype=float32), 'left.joint_2.pos': Array(0.91539407, dtype=float32), 'left.joint_3.pos': Array(-1.1043794, dtype=float32), 'left.joint_4.pos': Array(-0.00859148, dtype=float32), 'left.joint_5.pos': Array(0.65759254, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107431, dtype=float32), 'right.joint_1.pos': Array(1.2533072, dtype=float32), 'right.joint_2.pos': Array(0.8947982, dtype=float32), 'right.joint_3.pos': Array(-1.1932392, dtype=float32), 'right.joint_4.pos': Array(-0.01595796, dtype=float32), 'right.joint_5.pos': Array(0.33189785, dtype=float32), 'right.gripper.pos': Array(-0.00081075, dtype=float32)} +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting right arm positions: [Array(1.9107431, dtype=float32), Array(1.2533072, dtype=float32), Array(0.8947982, dtype=float32), Array(-1.1932392, dtype=float32), Array(-0.01595796, dtype=float32), Array(0.33189785, dtype=float32), Array(-0.00081075, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.892080545425415 0.894798219203949 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1907758712768555 -1.1932392120361328 +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting left arm positions: [Array(-0.90473044, dtype=float32), Array(1.3622591, dtype=float32), Array(0.91539407, dtype=float32), Array(-1.1043794, dtype=float32), Array(-0.00859148, dtype=float32), Array(0.65759254, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 110.9ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-57s DEBUG: pose_idx: 60/64 +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(218622278376) read took: 22.5ms +2025y-06m-25d-12h-14m-57s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms +2025y-06m-25d-12h-14m-57s DEBUG: None Tatbot read realsense2: 24.6ms +2025y-06m-25d-12h-14m-57s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.90406734, dtype=float32), 'left.joint_1.pos': Array(1.3635136, dtype=float32), 'left.joint_2.pos': Array(0.91636693, dtype=float32), 'left.joint_3.pos': Array(-1.1040794, dtype=float32), 'left.joint_4.pos': Array(-0.008594, dtype=float32), 'left.joint_5.pos': Array(0.6582454, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108686, dtype=float32), 'right.joint_1.pos': Array(1.2528427, dtype=float32), 'right.joint_2.pos': Array(0.8972189, dtype=float32), 'right.joint_3.pos': Array(-1.196045, dtype=float32), 'right.joint_4.pos': Array(-0.01588999, dtype=float32), 'right.joint_5.pos': Array(0.33203924, dtype=float32), 'right.gripper.pos': Array(-0.00080991, dtype=float32)} +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting right arm positions: [Array(1.9108686, dtype=float32), Array(1.2528427, dtype=float32), Array(0.8972189, dtype=float32), Array(-1.196045, dtype=float32), Array(-0.01588999, dtype=float32), Array(0.33203924, dtype=float32), Array(-0.00080991, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8955138325691223 0.8972188830375671 +2025y-06m-25d-12h-14m-57s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.193827748298645 -1.1960450410842896 +2025y-06m-25d-12h-14m-57s DEBUG: 🦾 Setting left arm positions: [Array(-0.90406734, dtype=float32), Array(1.3635136, dtype=float32), Array(0.91636693, dtype=float32), Array(-1.1040794, dtype=float32), Array(-0.008594, dtype=float32), Array(0.6582454, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-58s DEBUG: RealSenseCamera(218622278376) read took: 110.8ms +2025y-06m-25d-12h-14m-58s DEBUG: RealSenseCamera(230422273017) read took: 107.8ms +2025y-06m-25d-12h-14m-58s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9153505563735962 0.9163669347763062 +2025y-06m-25d-12h-14m-58s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-14m-58s DEBUG: pose_idx: 61/64 +2025y-06m-25d-12h-14m-58s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-14m-58s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-58s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-58s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.903406, dtype=float32), 'left.joint_1.pos': Array(1.3647677, dtype=float32), 'left.joint_2.pos': Array(0.91734165, dtype=float32), 'left.joint_3.pos': Array(-1.1037816, dtype=float32), 'left.joint_4.pos': Array(-0.00859628, dtype=float32), 'left.joint_5.pos': Array(0.65889686, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107662, dtype=float32), 'right.joint_1.pos': Array(1.252567, dtype=float32), 'right.joint_2.pos': Array(0.8997503, dtype=float32), 'right.joint_3.pos': Array(-1.1988578, dtype=float32), 'right.joint_4.pos': Array(-0.0159395, dtype=float32), 'right.joint_5.pos': Array(0.3319219, dtype=float32), 'right.gripper.pos': Array(-0.00081071, dtype=float32)} +2025y-06m-25d-12h-14m-58s DEBUG: 🦾 Setting right arm positions: [Array(1.9107662, dtype=float32), Array(1.252567, dtype=float32), Array(0.8997503, dtype=float32), Array(-1.1988578, dtype=float32), Array(-0.0159395, dtype=float32), Array(0.3319219, dtype=float32), Array(-0.00081071, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-58s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8974212408065796 0.899750292301178 +2025y-06m-25d-12h-14m-58s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.196879506111145 -1.1988577842712402 +2025y-06m-25d-12h-14m-58s DEBUG: 🦾 Setting left arm positions: [Array(-0.903406, dtype=float32), Array(1.3647677, dtype=float32), Array(0.91734165, dtype=float32), Array(-1.1037816, dtype=float32), Array(-0.00859628, dtype=float32), Array(0.65889686, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-14m-58s DEBUG: RealSenseCamera(230422273017) read took: 110.5ms +2025y-06m-25d-12h-14m-58s DEBUG: RealSenseCamera(218622278376) read took: 111.1ms +2025y-06m-25d-12h-14m-58s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-14m-58s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.6578545570373535 0.6588968634605408 +2025y-06m-25d-12h-14m-58s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-14m-58s DEBUG: pose_idx: 62/64 +2025y-06m-25d-12h-14m-58s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-14m-58s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-14m-58s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-14m-58s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.90315056, dtype=float32), 'left.joint_1.pos': Array(1.3664994, dtype=float32), 'left.joint_2.pos': Array(0.9186893, dtype=float32), 'left.joint_3.pos': Array(-1.103372, dtype=float32), 'left.joint_4.pos': Array(-0.0085846, dtype=float32), 'left.joint_5.pos': Array(0.659153, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107777, dtype=float32), 'right.joint_1.pos': Array(1.2522091, dtype=float32), 'right.joint_2.pos': Array(0.90223354, dtype=float32), 'right.joint_3.pos': Array(-1.2016622, dtype=float32), 'right.joint_4.pos': Array(-0.01593033, dtype=float32), 'right.joint_5.pos': Array(0.33193395, dtype=float32), 'right.gripper.pos': Array(-0.0008107, dtype=float32)} +2025y-06m-25d-12h-14m-58s DEBUG: 🦾 Setting right arm positions: [Array(1.9107777, dtype=float32), Array(1.2522091, dtype=float32), Array(0.90223354, dtype=float32), Array(-1.2016622, dtype=float32), Array(-0.01593033, dtype=float32), Array(0.33193395, dtype=float32), Array(-0.0008107, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-14m-58s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8997100591659546 0.9022335410118103 +2025y-06m-25d-12h-14m-58s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1987868547439575 -1.2016621828079224 +2025y-06m-25d-12h-14m-58s DEBUG: 🦾 Setting left arm positions: [Array(-0.90315056, dtype=float32), Array(1.3664994, dtype=float32), Array(0.9186893, dtype=float32), Array(-1.103372, dtype=float32), Array(-0.0085846, dtype=float32), Array(0.659153, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-00s DEBUG: RealSenseCamera(218622278376) read took: 2008.3ms +2025y-06m-25d-12h-15m-00s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-00s WARNING: Error reading frame in background thread for RealSenseCamera(230422273017): RealSenseCamera(230422273017) read failed (status=False). +2025y-06m-25d-12h-15m-00s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-00s DEBUG: RealSenseCamera(218622278376) read took: 1.5ms +2025y-06m-25d-12h-15m-00s DEBUG: pose_idx: 63/64 +2025y-06m-25d-12h-15m-00s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-00s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-00s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms +2025y-06m-25d-12h-15m-00s DEBUG: RealSenseCamera(230422273017) read took: 37.8ms +2025y-06m-25d-12h-15m-00s DEBUG: None Tatbot read realsense2: 34.9ms +2025y-06m-25d-12h-15m-00s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.90325916, dtype=float32), 'left.joint_1.pos': Array(1.3562118, dtype=float32), 'left.joint_2.pos': Array(0.95958024, dtype=float32), 'left.joint_3.pos': Array(-1.1535175, dtype=float32), 'left.joint_4.pos': Array(-0.00867919, dtype=float32), 'left.joint_5.pos': Array(0.65904564, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107894, dtype=float32), 'right.joint_1.pos': Array(1.2518599, dtype=float32), 'right.joint_2.pos': Array(0.9047216, dtype=float32), 'right.joint_3.pos': Array(-1.2044623, dtype=float32), 'right.joint_4.pos': Array(-0.01592097, dtype=float32), 'right.joint_5.pos': Array(0.33194605, dtype=float32), 'right.gripper.pos': Array(-0.00081068, dtype=float32)} +2025y-06m-25d-12h-15m-00s DEBUG: 🦾 Setting right arm positions: [Array(1.9107894, dtype=float32), Array(1.2518599, dtype=float32), Array(0.9047216, dtype=float32), Array(-1.2044623, dtype=float32), Array(-0.01592097, dtype=float32), Array(0.33194605, dtype=float32), Array(-0.00081068, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-00s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9027618765830994 0.9047216176986694 +2025y-06m-25d-12h-15m-00s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.201838731765747 -1.2044622898101807 +2025y-06m-25d-12h-15m-00s DEBUG: 🦾 Setting left arm positions: [Array(-0.90325916, dtype=float32), Array(1.3562118, dtype=float32), Array(0.95958024, dtype=float32), Array(-1.1535175, dtype=float32), Array(-0.00867919, dtype=float32), Array(0.65904564, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-02s DEBUG: RealSenseCamera(218622278376) read took: 2008.5ms +2025y-06m-25d-12h-15m-02s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-02s DEBUG: RealSenseCamera(230422273017) read took: 2005.7ms +2025y-06m-25d-12h-15m-02s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-02s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-02s INFO: 🤖🗃️ Writing episode log to /home/trossen-ai/tatbot/output/record/plan-bench-2025y-06m-25d-12h-13m-57s/logs/episode_000003.txt