diff --git "a/logs/episode_000004.txt" "b/logs/episode_000004.txt" new file mode 100644--- /dev/null +++ "b/logs/episode_000004.txt" @@ -0,0 +1,904 @@ +2025y-06m-25d-12h-15m-04s DEBUG: 🤖 sending arms to rest pose +2025y-06m-25d-12h-15m-04s 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-15m-04s 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-15m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.9106203317642212 1.0 +2025y-06m-25d-12h-15m-04s ERROR: 🦾❌ Right arm position mismatch: right.joint_0 1.9106203317642212 1.0 +2025y-06m-25d-12h-15m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2514305114746094 0.10000000149011612 +2025y-06m-25d-12h-15m-04s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 1.2514305114746094 0.10000000149011612 +2025y-06m-25d-12h-15m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9046692848205566 0.5 +2025y-06m-25d-12h-15m-04s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.9046692848205566 0.5 +2025y-06m-25d-12h-15m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.204890489578247 -1.2000000476837158 +2025y-06m-25d-12h-15m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.016212711110711098 0.0 +2025y-06m-25d-12h-15m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 0.33169299364089966 0.0 +2025y-06m-25d-12h-15m-04s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 0.33169299364089966 0.0 +2025y-06m-25d-12h-15m-04s WARNING: 🦾❌ Failed to set right arm positions: +: +right arm joints mismatch +No error +2025y-06m-25d-12h-15m-04s 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-15m-06s DEBUG: RealSenseCamera(230422273017) read took: 2023.6ms +2025y-06m-25d-12h-15m-06s DEBUG: RealSenseCamera(218622278376) read took: 2026.7ms +2025y-06m-25d-12h-15m-06s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 0.0 +2025y-06m-25d-12h-15m-06s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-06s INFO: 🤖 recording path 4 of 15 +2025y-06m-25d-12h-15m-06s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-15m-06s DEBUG: pose_idx: 0/64 +2025y-06m-25d-12h-15m-06s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-15m-06s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-06s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-06s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107896, dtype=float32), 'left.joint_1.pos': Array(1.2518598, dtype=float32), 'left.joint_2.pos': Array(0.9047215, dtype=float32), 'left.joint_3.pos': Array(-1.2044624, dtype=float32), 'left.joint_4.pos': Array(0.015921, dtype=float32), 'left.joint_5.pos': Array(-0.33194628, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.961802, dtype=float32), 'right.joint_1.pos': Array(1.3384398, dtype=float32), 'right.joint_2.pos': Array(0.94606435, dtype=float32), 'right.joint_3.pos': Array(-1.1580597, dtype=float32), 'right.joint_4.pos': Array(0.00753628, dtype=float32), 'right.joint_5.pos': Array(-0.601736, dtype=float32), 'right.gripper.pos': Array(0.04460917, dtype=float32)} +2025y-06m-25d-12h-15m-06s DEBUG: 🦾 Setting right arm positions: [Array(0.961802, dtype=float32), Array(1.3384398, dtype=float32), Array(0.94606435, dtype=float32), Array(-1.1580597, dtype=float32), Array(0.00753628, dtype=float32), Array(-0.601736, dtype=float32), Array(0.04460917, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-06s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.0000381469726562 0.9618020057678223 +2025y-06m-25d-12h-15m-06s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 0.09937438368797302 1.3384398221969604 +2025y-06m-25d-12h-15m-06s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 0.09937438368797302 1.3384398221969604 +2025y-06m-25d-12h-15m-06s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.499542236328125 0.9460643529891968 +2025y-06m-25d-12h-15m-06s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.499542236328125 0.9460643529891968 +2025y-06m-25d-12h-15m-06s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.200312852859497 -1.1580597162246704 +2025y-06m-25d-12h-15m-06s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 0.00019073777366429567 0.007536283228546381 +2025y-06m-25d-12h-15m-06s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.000572213320992887 -0.6017360091209412 +2025y-06m-25d-12h-15m-06s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 -0.000572213320992887 -0.6017360091209412 +2025y-06m-25d-12h-15m-06s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 8.511729538440704e-05 0.04460917413234711 +2025y-06m-25d-12h-15m-06s WARNING: 🦾❌ Failed to set right arm positions: +: +right arm joints mismatch +No error +2025y-06m-25d-12h-15m-06s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107896, dtype=float32), Array(1.2518598, dtype=float32), Array(0.9047215, dtype=float32), Array(-1.2044624, dtype=float32), Array(0.015921, dtype=float32), Array(-0.33194628, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-08s DEBUG: RealSenseCamera(230422273017) read took: 2005.8ms +2025y-06m-25d-12h-15m-08s DEBUG: RealSenseCamera(218622278376) read took: 2005.8ms +2025y-06m-25d-12h-15m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-15m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms +2025y-06m-25d-12h-15m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.016975661739706993 0.01592099666595459 +2025y-06m-25d-12h-15m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-08s DEBUG: pose_idx: 1/64 +2025y-06m-25d-12h-15m-08s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-08s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-08s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-08s DEBUG: RealSenseCamera(230422273017) read took: 2.4ms +2025y-06m-25d-12h-15m-08s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107792, dtype=float32), 'left.joint_1.pos': Array(1.2521919, dtype=float32), 'left.joint_2.pos': Array(0.90235156, dtype=float32), 'left.joint_3.pos': Array(-1.2017953, dtype=float32), 'left.joint_4.pos': Array(0.01592941, dtype=float32), 'left.joint_5.pos': Array(-0.3319357, dtype=float32), 'left.gripper.pos': Array(1.6138117e-08, dtype=float32), 'right.joint_0.pos': Array(0.9616639, dtype=float32), 'right.joint_1.pos': Array(1.3485198, dtype=float32), 'right.joint_2.pos': Array(0.90484893, dtype=float32), 'right.joint_3.pos': Array(-1.1077608, dtype=float32), 'right.joint_4.pos': Array(0.00741437, dtype=float32), 'right.joint_5.pos': Array(-0.60187346, dtype=float32), 'right.gripper.pos': Array(0.04460963, dtype=float32)} +2025y-06m-25d-12h-15m-08s DEBUG: 🦾 Setting right arm positions: [Array(0.9616639, dtype=float32), Array(1.3485198, dtype=float32), Array(0.90484893, dtype=float32), Array(-1.1077608, dtype=float32), Array(0.00741437, dtype=float32), Array(-0.60187346, dtype=float32), Array(0.04460963, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3384069204330444 1.3485198020935059 +2025y-06m-25d-12h-15m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9462500810623169 0.9048489332199097 +2025y-06m-25d-12h-15m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1575875282287598 -1.1077607870101929 +2025y-06m-25d-12h-15m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.6029220819473267 -0.6018734574317932 +2025y-06m-25d-12h-15m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.04004658758640289 0.04460963234305382 +2025y-06m-25d-12h-15m-08s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107792, dtype=float32), Array(1.2521919, dtype=float32), Array(0.90235156, dtype=float32), Array(-1.2017953, dtype=float32), Array(0.01592941, dtype=float32), Array(-0.3319357, dtype=float32), Array(1.6138117e-08, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-10s DEBUG: RealSenseCamera(230422273017) read took: 2003.7ms +2025y-06m-25d-12h-15m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-15m-10s DEBUG: RealSenseCamera(218622278376) read took: 2007.4ms +2025y-06m-25d-12h-15m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.6138116620822984e-08 +2025y-06m-25d-12h-15m-10s DEBUG: pose_idx: 2/64 +2025y-06m-25d-12h-15m-10s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-15m-10s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-10s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107674, dtype=float32), 'left.joint_1.pos': Array(1.2525325, dtype=float32), 'left.joint_2.pos': Array(0.8999865, dtype=float32), 'left.joint_3.pos': Array(-1.1991253, dtype=float32), 'left.joint_4.pos': Array(0.01593836, dtype=float32), 'left.joint_5.pos': Array(-0.33192316, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9610999, dtype=float32), 'right.joint_1.pos': Array(1.3488818, dtype=float32), 'right.joint_2.pos': Array(0.90512407, dtype=float32), 'right.joint_3.pos': Array(-1.1076694, dtype=float32), 'right.joint_4.pos': Array(0.00742417, dtype=float32), 'right.joint_5.pos': Array(-0.6024264, dtype=float32), 'right.gripper.pos': Array(0.04461027, dtype=float32)} +2025y-06m-25d-12h-15m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.9610999, dtype=float32), Array(1.3488818, dtype=float32), Array(0.90512407, dtype=float32), Array(-1.1076694, dtype=float32), Array(0.00742417, dtype=float32), Array(-0.6024264, dtype=float32), Array(0.04461027, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04461027309298515 +2025y-06m-25d-12h-15m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107674, dtype=float32), Array(1.2525325, dtype=float32), Array(0.8999865, dtype=float32), Array(-1.1991253, dtype=float32), Array(0.01593836, dtype=float32), Array(-0.33192316, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-10s DEBUG: RealSenseCamera(218622278376) read took: 106.4ms +2025y-06m-25d-12h-15m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-10s DEBUG: RealSenseCamera(230422273017) read took: 107.3ms +2025y-06m-25d-12h-15m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms +2025y-06m-25d-12h-15m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-10s DEBUG: pose_idx: 3/64 +2025y-06m-25d-12h-15m-10s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-10s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-10s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107565, dtype=float32), 'left.joint_1.pos': Array(1.2528802, dtype=float32), 'left.joint_2.pos': Array(0.8976257, dtype=float32), 'left.joint_3.pos': Array(-1.1964517, dtype=float32), 'left.joint_4.pos': Array(0.01594732, dtype=float32), 'left.joint_5.pos': Array(-0.33191153, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9605368, dtype=float32), 'right.joint_1.pos': Array(1.3492428, dtype=float32), 'right.joint_2.pos': Array(0.90539885, dtype=float32), 'right.joint_3.pos': Array(-1.1075778, dtype=float32), 'right.joint_4.pos': Array(0.00743387, dtype=float32), 'right.joint_5.pos': Array(-0.6029782, dtype=float32), 'right.gripper.pos': Array(0.04461091, dtype=float32)} +2025y-06m-25d-12h-15m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.9605368, dtype=float32), Array(1.3492428, dtype=float32), Array(0.90539885, dtype=float32), Array(-1.1075778, dtype=float32), Array(0.00743387, dtype=float32), Array(-0.6029782, dtype=float32), Array(0.04461091, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04461091011762619 +2025y-06m-25d-12h-15m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107565, dtype=float32), Array(1.2528802, dtype=float32), Array(0.8976257, dtype=float32), Array(-1.1964517, dtype=float32), Array(0.01594732, dtype=float32), Array(-0.33191153, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-10s DEBUG: RealSenseCamera(230422273017) read took: 105.9ms +2025y-06m-25d-12h-15m-10s DEBUG: RealSenseCamera(218622278376) read took: 107.0ms +2025y-06m-25d-12h-15m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms +2025y-06m-25d-12h-15m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.9ms +2025y-06m-25d-12h-15m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-10s DEBUG: pose_idx: 4/64 +2025y-06m-25d-12h-15m-10s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-10s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-10s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108586, dtype=float32), 'left.joint_1.pos': Array(1.2531453, dtype=float32), 'left.joint_2.pos': Array(0.8952166, dtype=float32), 'left.joint_3.pos': Array(-1.1937699, dtype=float32), 'left.joint_4.pos': Array(0.01589792, dtype=float32), 'left.joint_5.pos': Array(-0.33202866, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.95997614, dtype=float32), 'right.joint_1.pos': Array(1.3496052, dtype=float32), 'right.joint_2.pos': Array(0.90567434, dtype=float32), 'right.joint_3.pos': Array(-1.1074861, dtype=float32), 'right.joint_4.pos': Array(0.00744489, dtype=float32), 'right.joint_5.pos': Array(-0.60352683, dtype=float32), 'right.gripper.pos': Array(0.04461157, dtype=float32)} +2025y-06m-25d-12h-15m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.95997614, dtype=float32), Array(1.3496052, dtype=float32), Array(0.90567434, dtype=float32), Array(-1.1074861, dtype=float32), Array(0.00744489, dtype=float32), Array(-0.60352683, dtype=float32), Array(0.04461157, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9046692848205566 0.9056743383407593 +2025y-06m-25d-12h-15m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044611573219299316 +2025y-06m-25d-12h-15m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108586, dtype=float32), Array(1.2531453, dtype=float32), Array(0.8952166, dtype=float32), Array(-1.1937699, dtype=float32), Array(0.01589792, dtype=float32), Array(-0.33202866, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 107.7ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 108.0ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-11s DEBUG: pose_idx: 5/64 +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 2.2ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107342, dtype=float32), 'left.joint_1.pos': Array(1.2535982, dtype=float32), 'left.joint_2.pos': Array(0.892917, dtype=float32), 'left.joint_3.pos': Array(-1.1910952, dtype=float32), 'left.joint_4.pos': Array(0.01596486, dtype=float32), 'left.joint_5.pos': Array(-0.3318881, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.95941126, dtype=float32), 'right.joint_1.pos': Array(1.3499669, dtype=float32), 'right.joint_2.pos': Array(0.9059496, dtype=float32), 'right.joint_3.pos': Array(-1.1073946, dtype=float32), 'right.joint_4.pos': Array(0.00745345, dtype=float32), 'right.joint_5.pos': Array(-0.6040812, dtype=float32), 'right.gripper.pos': Array(0.04461218, dtype=float32)} +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 5.6ms +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting right arm positions: [Array(0.95941126, dtype=float32), Array(1.3499669, dtype=float32), Array(0.9059496, dtype=float32), Array(-1.1073946, dtype=float32), Array(0.00745345, dtype=float32), Array(-0.6040812, dtype=float32), Array(0.04461218, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9046692848205566 0.905949592590332 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.6025406122207642 -0.6040812134742737 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044612184166908264 +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107342, dtype=float32), Array(1.2535982, dtype=float32), Array(0.892917, dtype=float32), Array(-1.1910952, dtype=float32), Array(0.01596486, dtype=float32), Array(-0.3318881, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 102.8ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 107.0ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-11s DEBUG: pose_idx: 6/64 +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107232, dtype=float32), 'left.joint_1.pos': Array(1.2539686, dtype=float32), 'left.joint_2.pos': Array(0.89056945, dtype=float32), 'left.joint_3.pos': Array(-1.1884121, dtype=float32), 'left.joint_4.pos': Array(0.0159736, dtype=float32), 'left.joint_5.pos': Array(-0.33187667, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.95884943, dtype=float32), 'right.joint_1.pos': Array(1.3503287, dtype=float32), 'right.joint_2.pos': Array(0.9062255, dtype=float32), 'right.joint_3.pos': Array(-1.1073034, dtype=float32), 'right.joint_4.pos': Array(0.0074632, dtype=float32), 'right.joint_5.pos': Array(-0.60463196, dtype=float32), 'right.gripper.pos': Array(0.04461282, dtype=float32)} +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting right arm positions: [Array(0.95884943, dtype=float32), Array(1.3503287, dtype=float32), Array(0.9062255, dtype=float32), Array(-1.1073034, dtype=float32), Array(0.0074632, dtype=float32), Array(-0.60463196, dtype=float32), Array(0.04461282, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9046692848205566 0.9062255024909973 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.6029220819473267 -0.6046319603919983 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044612817466259 +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107232, dtype=float32), Array(1.2539686, dtype=float32), Array(0.89056945, dtype=float32), Array(-1.1884121, dtype=float32), Array(0.0159736, dtype=float32), Array(-0.33187667, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 111.3ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2529563903808594 1.253968596458435 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-11s DEBUG: pose_idx: 7/64 +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107122, dtype=float32), 'left.joint_1.pos': Array(1.2543467, dtype=float32), 'left.joint_2.pos': Array(0.8882261, dtype=float32), 'left.joint_3.pos': Array(-1.1857257, dtype=float32), 'left.joint_4.pos': Array(0.01598245, dtype=float32), 'left.joint_5.pos': Array(-0.33186525, dtype=float32), 'left.gripper.pos': Array(8.543708e-09, dtype=float32), 'right.joint_0.pos': Array(0.95828795, dtype=float32), 'right.joint_1.pos': Array(1.3506908, dtype=float32), 'right.joint_2.pos': Array(0.9065017, dtype=float32), 'right.joint_3.pos': Array(-1.1072123, dtype=float32), 'right.joint_4.pos': Array(0.00747302, dtype=float32), 'right.joint_5.pos': Array(-0.60518223, dtype=float32), 'right.gripper.pos': Array(0.04461345, dtype=float32)} +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting right arm positions: [Array(0.95828795, dtype=float32), Array(1.3506908, dtype=float32), Array(0.9065017, dtype=float32), Array(-1.1072123, dtype=float32), Array(0.00747302, dtype=float32), Array(-0.60518223, dtype=float32), Array(0.04461345, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9046692848205566 0.9065017104148865 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.6029220819473267 -0.6051822304725647 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04461345076560974 +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107122, dtype=float32), Array(1.2543467, dtype=float32), Array(0.8882261, dtype=float32), Array(-1.1857257, dtype=float32), Array(0.01598245, dtype=float32), Array(-0.33186525, dtype=float32), Array(8.543708e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 110.5ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 8.543707963326597e-09 +2025y-06m-25d-12h-15m-11s DEBUG: pose_idx: 8/64 +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 4.7ms +2025y-06m-25d-12h-15m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107008, dtype=float32), 'left.joint_1.pos': Array(1.2547327, dtype=float32), 'left.joint_2.pos': Array(0.88588727, dtype=float32), 'left.joint_3.pos': Array(-1.1830357, dtype=float32), 'left.joint_4.pos': Array(0.01599139, dtype=float32), 'left.joint_5.pos': Array(-0.33185327, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9577268, dtype=float32), 'right.joint_1.pos': Array(1.3510535, dtype=float32), 'right.joint_2.pos': Array(0.90677834, dtype=float32), 'right.joint_3.pos': Array(-1.1071212, dtype=float32), 'right.joint_4.pos': Array(0.00748269, dtype=float32), 'right.joint_5.pos': Array(-0.6057321, dtype=float32), 'right.gripper.pos': Array(0.04461408, dtype=float32)} +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting right arm positions: [Array(0.9577268, dtype=float32), Array(1.3510535, dtype=float32), Array(0.90677834, dtype=float32), Array(-1.1071212, dtype=float32), Array(0.00748269, dtype=float32), Array(-0.6057321, dtype=float32), Array(0.04461408, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 8.4ms +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9046692848205566 0.9067783355712891 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.6036850810050964 -0.6057320833206177 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04461408406496048 +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107008, dtype=float32), Array(1.2547327, dtype=float32), Array(0.88588727, dtype=float32), Array(-1.1830357, dtype=float32), Array(0.01599139, dtype=float32), Array(-0.33185327, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 102.8ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 105.1ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-11s DEBUG: pose_idx: 9/64 +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read state: 1.2ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106898, dtype=float32), 'left.joint_1.pos': Array(1.2551256, dtype=float32), 'left.joint_2.pos': Array(0.88355273, dtype=float32), 'left.joint_3.pos': Array(-1.1803429, dtype=float32), 'left.joint_4.pos': Array(0.01600028, dtype=float32), 'left.joint_5.pos': Array(-0.33184147, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.95716614, dtype=float32), 'right.joint_1.pos': Array(1.3514165, dtype=float32), 'right.joint_2.pos': Array(0.90705496, dtype=float32), 'right.joint_3.pos': Array(-1.1070302, dtype=float32), 'right.joint_4.pos': Array(0.00749241, dtype=float32), 'right.joint_5.pos': Array(-0.60628176, dtype=float32), 'right.gripper.pos': Array(0.04461472, dtype=float32)} +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting right arm positions: [Array(0.95716614, dtype=float32), Array(1.3514165, dtype=float32), Array(0.90705496, dtype=float32), Array(-1.1070302, dtype=float32), Array(0.00749241, dtype=float32), Array(-0.60628176, dtype=float32), Array(0.04461472, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9046692848205566 0.9070549607276917 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.6048294901847839 -0.6062817573547363 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04461471736431122 +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106898, dtype=float32), Array(1.2551256, dtype=float32), Array(0.88355273, dtype=float32), Array(-1.1803429, dtype=float32), Array(0.01600028, dtype=float32), Array(-0.33184147, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 110.0ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-11s DEBUG: pose_idx: 10/64 +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910787, dtype=float32), 'left.joint_1.pos': Array(1.2554392, dtype=float32), 'left.joint_2.pos': Array(0.88117105, dtype=float32), 'left.joint_3.pos': Array(-1.1776415, dtype=float32), 'left.joint_4.pos': Array(0.01595336, dtype=float32), 'left.joint_5.pos': Array(-0.33195257, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.9566082, dtype=float32), 'right.joint_1.pos': Array(1.3517803, dtype=float32), 'right.joint_2.pos': Array(0.9073327, dtype=float32), 'right.joint_3.pos': Array(-1.1069392, dtype=float32), 'right.joint_4.pos': Array(0.00750336, dtype=float32), 'right.joint_5.pos': Array(-0.6068278, dtype=float32), 'right.gripper.pos': Array(0.04461538, dtype=float32)} +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting right arm positions: [Array(0.9566082, dtype=float32), Array(1.3517803, dtype=float32), Array(0.9073327, dtype=float32), Array(-1.1069392, dtype=float32), Array(0.00750336, dtype=float32), Array(-0.6068278, dtype=float32), Array(0.04461538, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9050507545471191 0.907332718372345 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044615376740694046 +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.910787, dtype=float32), Array(1.2554392, dtype=float32), Array(0.88117105, dtype=float32), Array(-1.1776415, dtype=float32), Array(0.01595336, dtype=float32), Array(-0.33195257, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-11s DEBUG: pose_idx: 11/64 +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106672, dtype=float32), 'left.joint_1.pos': Array(1.2559355, dtype=float32), 'left.joint_2.pos': Array(0.8788974, dtype=float32), 'left.joint_3.pos': Array(-1.1749476, dtype=float32), 'left.joint_4.pos': Array(0.01601803, dtype=float32), 'left.joint_5.pos': Array(-0.33181795, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(0.9560459, dtype=float32), 'right.joint_1.pos': Array(1.3521428, dtype=float32), 'right.joint_2.pos': Array(0.9076098, dtype=float32), 'right.joint_3.pos': Array(-1.1068482, dtype=float32), 'right.joint_4.pos': Array(0.0075117, dtype=float32), 'right.joint_5.pos': Array(-0.6073797, dtype=float32), 'right.gripper.pos': Array(0.04461598, dtype=float32)} +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 5.8ms +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting right arm positions: [Array(0.9560459, dtype=float32), Array(1.3521428, dtype=float32), Array(0.9076098, dtype=float32), Array(-1.1068482, dtype=float32), Array(0.0075117, dtype=float32), Array(-0.6073797, dtype=float32), Array(0.04461598, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9065766334533691 0.9076098203659058 +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 9.6ms +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0446159802377224 +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106672, dtype=float32), Array(1.2559355, dtype=float32), Array(0.8788974, dtype=float32), Array(-1.1749476, dtype=float32), Array(0.01601803, dtype=float32), Array(-0.33181795, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 101.7ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 103.9ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-15m-11s DEBUG: pose_idx: 12/64 +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106559, dtype=float32), 'left.joint_1.pos': Array(1.2563523, dtype=float32), 'left.joint_2.pos': Array(0.8765761, dtype=float32), 'left.joint_3.pos': Array(-1.1722442, dtype=float32), 'left.joint_4.pos': Array(0.01602688, dtype=float32), 'left.joint_5.pos': Array(-0.33180583, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9549274, dtype=float32), 'right.joint_1.pos': Array(1.3528702, dtype=float32), 'right.joint_2.pos': Array(0.9081655, dtype=float32), 'right.joint_3.pos': Array(-1.1066664, dtype=float32), 'right.joint_4.pos': Array(0.00753094, dtype=float32), 'right.joint_5.pos': Array(-0.6084759, dtype=float32), 'right.gripper.pos': Array(0.04461724, dtype=float32)} +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting right arm positions: [Array(0.9549274, dtype=float32), Array(1.3528702, dtype=float32), Array(0.9081655, dtype=float32), Array(-1.1066664, dtype=float32), Array(0.00753094, dtype=float32), Array(-0.6084759, dtype=float32), Array(0.04461724, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.351758599281311 1.352870225906372 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9065766334533691 0.9081655144691467 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04461723566055298 +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106559, dtype=float32), Array(1.2563523, dtype=float32), Array(0.8765761, dtype=float32), Array(-1.1722442, dtype=float32), Array(0.01602688, dtype=float32), Array(-0.33180583, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms +2025y-06m-25d-12h-15m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-11s DEBUG: pose_idx: 13/64 +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106444, dtype=float32), 'left.joint_1.pos': Array(1.256777, dtype=float32), 'left.joint_2.pos': Array(0.87425953, dtype=float32), 'left.joint_3.pos': Array(-1.169538, dtype=float32), 'left.joint_4.pos': Array(0.01603587, dtype=float32), 'left.joint_5.pos': Array(-0.3317938, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.95436877, dtype=float32), 'right.joint_1.pos': Array(1.353234, dtype=float32), 'right.joint_2.pos': Array(0.9084443, dtype=float32), 'right.joint_3.pos': Array(-1.1065762, dtype=float32), 'right.joint_4.pos': Array(0.00754047, dtype=float32), 'right.joint_5.pos': Array(-0.6090234, dtype=float32), 'right.gripper.pos': Array(0.04461787, dtype=float32)} +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting right arm positions: [Array(0.95436877, dtype=float32), Array(1.353234, dtype=float32), Array(0.9084443, dtype=float32), Array(-1.1065762, dtype=float32), Array(0.00754047, dtype=float32), Array(-0.6090234, dtype=float32), Array(0.04461787, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3521400690078735 1.353234052658081 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9069581031799316 0.9084442853927612 +2025y-06m-25d-12h-15m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04461786523461342 +2025y-06m-25d-12h-15m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106444, dtype=float32), Array(1.256777, dtype=float32), Array(0.87425953, dtype=float32), Array(-1.169538, dtype=float32), Array(0.01603587, dtype=float32), Array(-0.3317938, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-12s DEBUG: pose_idx: 14/64 +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106332, dtype=float32), 'left.joint_1.pos': Array(1.257209, dtype=float32), 'left.joint_2.pos': Array(0.87194777, dtype=float32), 'left.joint_3.pos': Array(-1.1668288, dtype=float32), 'left.joint_4.pos': Array(0.01604481, dtype=float32), 'left.joint_5.pos': Array(-0.331782, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.95381033, dtype=float32), 'right.joint_1.pos': Array(1.3535985, dtype=float32), 'right.joint_2.pos': Array(0.9087229, dtype=float32), 'right.joint_3.pos': Array(-1.1064852, dtype=float32), 'right.joint_4.pos': Array(0.00755016, dtype=float32), 'right.joint_5.pos': Array(-0.6095708, dtype=float32), 'right.gripper.pos': Array(0.04461849, dtype=float32)} +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting right arm positions: [Array(0.95381033, dtype=float32), Array(1.3535985, dtype=float32), Array(0.9087229, dtype=float32), Array(-1.1064852, dtype=float32), Array(0.00755016, dtype=float32), Array(-0.6095708, dtype=float32), Array(0.04461849, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 6.5ms +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04461849108338356 +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106332, dtype=float32), Array(1.257209, dtype=float32), Array(0.87194777, dtype=float32), Array(-1.1668288, dtype=float32), Array(0.01604481, dtype=float32), Array(-0.331782, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 102.0ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-12s DEBUG: pose_idx: 15/64 +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910622, dtype=float32), 'left.joint_1.pos': Array(1.2576491, dtype=float32), 'left.joint_2.pos': Array(0.8696396, dtype=float32), 'left.joint_3.pos': Array(-1.1641151, dtype=float32), 'left.joint_4.pos': Array(0.01605381, dtype=float32), 'left.joint_5.pos': Array(-0.33177006, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9532526, dtype=float32), 'right.joint_1.pos': Array(1.3539629, dtype=float32), 'right.joint_2.pos': Array(0.9090019, dtype=float32), 'right.joint_3.pos': Array(-1.1063945, dtype=float32), 'right.joint_4.pos': Array(0.00755967, dtype=float32), 'right.joint_5.pos': Array(-0.6101174, dtype=float32), 'right.gripper.pos': Array(0.04461912, dtype=float32)} +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting right arm positions: [Array(0.9532526, dtype=float32), Array(1.3539629, dtype=float32), Array(0.9090019, dtype=float32), Array(-1.1063945, dtype=float32), Array(0.00755967, dtype=float32), Array(-0.6101174, dtype=float32), Array(0.04461912, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0446191169321537 +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.910622, dtype=float32), Array(1.2576491, dtype=float32), Array(0.8696396, dtype=float32), Array(-1.1641151, dtype=float32), Array(0.01605381, dtype=float32), Array(-0.33177006, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-12s DEBUG: pose_idx: 16/64 +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107146, dtype=float32), 'left.joint_1.pos': Array(1.2580112, dtype=float32), 'left.joint_2.pos': Array(0.86728525, dtype=float32), 'left.joint_3.pos': Array(-1.161393, dtype=float32), 'left.joint_4.pos': Array(0.01600908, dtype=float32), 'left.joint_5.pos': Array(-0.33187583, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.952698, dtype=float32), 'right.joint_1.pos': Array(1.3543278, dtype=float32), 'right.joint_2.pos': Array(0.9092816, dtype=float32), 'right.joint_3.pos': Array(-1.1063045, dtype=float32), 'right.joint_4.pos': Array(0.00757042, dtype=float32), 'right.joint_5.pos': Array(-0.6106603, dtype=float32), 'right.gripper.pos': Array(0.04461977, dtype=float32)} +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting right arm positions: [Array(0.952698, dtype=float32), Array(1.3543278, dtype=float32), Array(0.9092816, dtype=float32), Array(-1.1063045, dtype=float32), Array(0.00757042, dtype=float32), Array(-0.6106603, dtype=float32), Array(0.04461977, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04461976885795593 +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107146, dtype=float32), Array(1.2580112, dtype=float32), Array(0.86728525, dtype=float32), Array(-1.161393, dtype=float32), Array(0.01600908, dtype=float32), Array(-0.33187583, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 108.1ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 108.1ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-12s DEBUG: pose_idx: 17/64 +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107027, dtype=float32), 'left.joint_1.pos': Array(1.2584672, dtype=float32), 'left.joint_2.pos': Array(0.8649868, dtype=float32), 'left.joint_3.pos': Array(-1.1586733, dtype=float32), 'left.joint_4.pos': Array(0.01601829, dtype=float32), 'left.joint_5.pos': Array(-0.33186322, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.95214075, dtype=float32), 'right.joint_1.pos': Array(1.3546927, dtype=float32), 'right.joint_2.pos': Array(0.9095614, dtype=float32), 'right.joint_3.pos': Array(-1.1062144, dtype=float32), 'right.joint_4.pos': Array(0.00757995, dtype=float32), 'right.joint_5.pos': Array(-0.6112065, dtype=float32), 'right.gripper.pos': Array(0.04462039, dtype=float32)} +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting right arm positions: [Array(0.95214075, dtype=float32), Array(1.3546927, dtype=float32), Array(0.9095614, dtype=float32), Array(-1.1062144, dtype=float32), Array(0.00757995, dtype=float32), Array(-0.6112065, dtype=float32), Array(0.04462039, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3536659479141235 1.3546926975250244 +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9084840416908264 0.9095613956451416 +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 7.2ms +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.044620394706726074 +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107027, dtype=float32), Array(1.2584672, dtype=float32), Array(0.8649868, dtype=float32), Array(-1.1586733, dtype=float32), Array(0.01601829, dtype=float32), Array(-0.33186322, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 103.4ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-12s DEBUG: pose_idx: 18/64 +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105875, dtype=float32), 'left.joint_1.pos': Array(1.259017, dtype=float32), 'left.joint_2.pos': Array(0.8627438, dtype=float32), 'left.joint_3.pos': Array(-1.1559556, dtype=float32), 'left.joint_4.pos': Array(0.01608067, dtype=float32), 'left.joint_5.pos': Array(-0.33173388, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9515816, dtype=float32), 'right.joint_1.pos': Array(1.3550576, dtype=float32), 'right.joint_2.pos': Array(0.90984106, dtype=float32), 'right.joint_3.pos': Array(-1.1061237, dtype=float32), 'right.joint_4.pos': Array(0.00758827, dtype=float32), 'right.joint_5.pos': Array(-0.6117552, dtype=float32), 'right.gripper.pos': Array(0.04462099, dtype=float32)} +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting right arm positions: [Array(0.9515816, dtype=float32), Array(1.3550576, dtype=float32), Array(0.90984106, dtype=float32), Array(-1.1061237, dtype=float32), Array(0.00758827, dtype=float32), Array(-0.6117552, dtype=float32), Array(0.04462099, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04462098702788353 +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105875, dtype=float32), Array(1.259017, dtype=float32), Array(0.8627438, dtype=float32), Array(-1.1559556, dtype=float32), Array(0.01608067, dtype=float32), Array(-0.33173388, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-12s DEBUG: pose_idx: 19/64 +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105762, dtype=float32), 'left.joint_1.pos': Array(1.2594888, dtype=float32), 'left.joint_2.pos': Array(0.8604541, dtype=float32), 'left.joint_3.pos': Array(-1.1532286, dtype=float32), 'left.joint_4.pos': Array(0.01608971, dtype=float32), 'left.joint_5.pos': Array(-0.33172178, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.95102555, dtype=float32), 'right.joint_1.pos': Array(1.355423, dtype=float32), 'right.joint_2.pos': Array(0.91012114, dtype=float32), 'right.joint_3.pos': Array(-1.1060334, dtype=float32), 'right.joint_4.pos': Array(0.00759771, dtype=float32), 'right.joint_5.pos': Array(-0.61230034, dtype=float32), 'right.gripper.pos': Array(0.04462161, dtype=float32)} +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting right arm positions: [Array(0.95102555, dtype=float32), Array(1.355423, dtype=float32), Array(0.91012114, dtype=float32), Array(-1.1060334, dtype=float32), Array(0.00759771, dtype=float32), Array(-0.61230034, dtype=float32), Array(0.04462161, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04462160915136337 +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105762, dtype=float32), Array(1.2594888, dtype=float32), Array(0.8604541, dtype=float32), Array(-1.1532286, dtype=float32), Array(0.01608971, dtype=float32), Array(-0.33172178, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.9ms +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-12s DEBUG: pose_idx: 20/64 +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910667, dtype=float32), 'left.joint_1.pos': Array(1.2598833, dtype=float32), 'left.joint_2.pos': Array(0.8581178, dtype=float32), 'left.joint_3.pos': Array(-1.1504927, dtype=float32), 'left.joint_4.pos': Array(0.01604609, dtype=float32), 'left.joint_5.pos': Array(-0.3318248, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.95047265, dtype=float32), 'right.joint_1.pos': Array(1.3557891, dtype=float32), 'right.joint_2.pos': Array(0.9104022, dtype=float32), 'right.joint_3.pos': Array(-1.1059433, dtype=float32), 'right.joint_4.pos': Array(0.00760851, dtype=float32), 'right.joint_5.pos': Array(-0.6128413, dtype=float32), 'right.gripper.pos': Array(0.04462226, dtype=float32)} +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting right arm positions: [Array(0.95047265, dtype=float32), Array(1.3557891, dtype=float32), Array(0.9104022, dtype=float32), Array(-1.1059433, dtype=float32), Array(0.00760851, dtype=float32), Array(-0.6128413, dtype=float32), Array(0.04462226, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.6116960644721985 -0.6128413081169128 +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044622257351875305 +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.910667, dtype=float32), Array(1.2598833, dtype=float32), Array(0.8581178, dtype=float32), Array(-1.1504927, dtype=float32), Array(0.01604609, dtype=float32), Array(-0.3318248, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 109.0ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 110.5ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-12s DEBUG: pose_idx: 21/64 +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 2.9ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105532, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.8558878, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610767, dtype=float32), 'left.joint_5.pos': Array(-0.33169764, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(0.9499148, dtype=float32), 'right.joint_1.pos': Array(1.3561542, dtype=float32), 'right.joint_2.pos': Array(0.91068286, dtype=float32), 'right.joint_3.pos': Array(-1.1058533, dtype=float32), 'right.joint_4.pos': Array(0.00761652, dtype=float32), 'right.joint_5.pos': Array(-0.6133891, dtype=float32), 'right.gripper.pos': Array(0.04462285, dtype=float32)} +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting right arm positions: [Array(0.9499148, dtype=float32), Array(1.3561542, dtype=float32), Array(0.91068286, dtype=float32), Array(-1.1058533, dtype=float32), Array(0.00761652, dtype=float32), Array(-0.6133891, dtype=float32), Array(0.04462285, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04462284967303276 +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105532, dtype=float32), Array(1.2604566, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610767, dtype=float32), Array(-0.33169764, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 106.9ms +2025y-06m-25d-12h-15m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-15m-12s DEBUG: pose_idx: 22/64 +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.9493626, dtype=float32), 'right.joint_1.pos': Array(1.3565207, dtype=float32), 'right.joint_2.pos': Array(0.9109646, dtype=float32), 'right.joint_3.pos': Array(-1.1057638, dtype=float32), 'right.joint_4.pos': Array(0.00762729, dtype=float32), 'right.joint_5.pos': Array(-0.6139294, dtype=float32), 'right.gripper.pos': Array(0.0446235, dtype=float32)} +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting right arm positions: [Array(0.9493626, dtype=float32), Array(1.3565207, dtype=float32), Array(0.9109646, dtype=float32), Array(-1.1057638, dtype=float32), Array(0.00762729, dtype=float32), Array(-0.6139294, dtype=float32), Array(0.0446235, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04462349787354469 +2025y-06m-25d-12h-15m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 110.8ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 111.7ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-13s DEBUG: pose_idx: 23/64 +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9488055, dtype=float32), 'right.joint_1.pos': Array(1.3568866, dtype=float32), 'right.joint_2.pos': Array(0.9112455, dtype=float32), 'right.joint_3.pos': Array(-1.1056733, dtype=float32), 'right.joint_4.pos': Array(0.00763543, dtype=float32), 'right.joint_5.pos': Array(-0.6144763, dtype=float32), 'right.gripper.pos': Array(0.04462409, dtype=float32)} +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting right arm positions: [Array(0.9488055, dtype=float32), Array(1.3568866, dtype=float32), Array(0.9112455, dtype=float32), Array(-1.1056733, dtype=float32), Array(0.00763543, dtype=float32), Array(-0.6144763, dtype=float32), Array(0.04462409, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04462408646941185 +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-13s DEBUG: pose_idx: 24/64 +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 3.3ms +2025y-06m-25d-12h-15m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9482513, dtype=float32), 'right.joint_1.pos': Array(1.3572531, dtype=float32), 'right.joint_2.pos': Array(0.91152745, dtype=float32), 'right.joint_3.pos': Array(-1.1055833, dtype=float32), 'right.joint_4.pos': Array(0.00764476, dtype=float32), 'right.joint_5.pos': Array(-0.61501956, dtype=float32), 'right.gripper.pos': Array(0.0446247, dtype=float32)} +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting right arm positions: [Array(0.9482513, dtype=float32), Array(1.3572531, dtype=float32), Array(0.91152745, dtype=float32), Array(-1.1055833, dtype=float32), Array(0.00764476, dtype=float32), Array(-0.61501956, dtype=float32), Array(0.0446247, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044624701142311096 +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 106.4ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 1.1ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 1.2ms +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-13s DEBUG: pose_idx: 25/64 +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9476977, dtype=float32), 'right.joint_1.pos': Array(1.3576195, dtype=float32), 'right.joint_2.pos': Array(0.9118095, dtype=float32), 'right.joint_3.pos': Array(-1.1054939, dtype=float32), 'right.joint_4.pos': Array(0.00765415, dtype=float32), 'right.joint_5.pos': Array(-0.61556214, dtype=float32), 'right.gripper.pos': Array(0.04462532, dtype=float32)} +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting right arm positions: [Array(0.9476977, dtype=float32), Array(1.3576195, dtype=float32), Array(0.9118095, dtype=float32), Array(-1.1054939, dtype=float32), Array(0.00765415, dtype=float32), Array(-0.61556214, dtype=float32), Array(0.04462532, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9107728600502014 0.911809504032135 +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04462531954050064 +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 109.9ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 110.5ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-13s DEBUG: pose_idx: 26/64 +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.94714725, dtype=float32), 'right.joint_1.pos': Array(1.3579867, dtype=float32), 'right.joint_2.pos': Array(0.9120925, dtype=float32), 'right.joint_3.pos': Array(-1.1054047, dtype=float32), 'right.joint_4.pos': Array(0.00766477, dtype=float32), 'right.joint_5.pos': Array(-0.616101, dtype=float32), 'right.gripper.pos': Array(0.04462596, dtype=float32)} +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting right arm positions: [Array(0.94714725, dtype=float32), Array(1.3579867, dtype=float32), Array(0.9120925, dtype=float32), Array(-1.1054047, dtype=float32), Array(0.00766477, dtype=float32), Array(-0.616101, dtype=float32), Array(0.04462596, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044625964015722275 +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 110.5ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 110.7ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-13s DEBUG: pose_idx: 27/64 +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 3.0ms +2025y-06m-25d-12h-15m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9465918, dtype=float32), 'right.joint_1.pos': Array(1.3583533, dtype=float32), 'right.joint_2.pos': Array(0.9123746, dtype=float32), 'right.joint_3.pos': Array(-1.1053149, dtype=float32), 'right.joint_4.pos': Array(0.00767263, dtype=float32), 'right.joint_5.pos': Array(-0.61664605, dtype=float32), 'right.gripper.pos': Array(0.04462655, dtype=float32)} +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting right arm positions: [Array(0.9465918, dtype=float32), Array(1.3583533, dtype=float32), Array(0.9123746, dtype=float32), Array(-1.1053149, dtype=float32), Array(0.00767263, dtype=float32), Array(-0.61664605, dtype=float32), Array(0.04462655, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04462654888629913 +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 108.4ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 106.3ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-13s DEBUG: pose_idx: 28/64 +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.9460421, dtype=float32), 'right.joint_1.pos': Array(1.3587211, dtype=float32), 'right.joint_2.pos': Array(0.9126583, dtype=float32), 'right.joint_3.pos': Array(-1.1052256, dtype=float32), 'right.joint_4.pos': Array(0.00768339, dtype=float32), 'right.joint_5.pos': Array(-0.617184, dtype=float32), 'right.gripper.pos': Array(0.04462719, dtype=float32)} +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting right arm positions: [Array(0.9460421, dtype=float32), Array(1.3587211, dtype=float32), Array(0.9126583, dtype=float32), Array(-1.1052256, dtype=float32), Array(0.00768339, dtype=float32), Array(-0.617184, dtype=float32), Array(0.04462719, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04462719336152077 +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 110.0ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 110.7ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-13s DEBUG: pose_idx: 29/64 +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.94549024, dtype=float32), 'right.joint_1.pos': Array(1.359089, dtype=float32), 'right.joint_2.pos': Array(0.91294163, dtype=float32), 'right.joint_3.pos': Array(-1.1051359, dtype=float32), 'right.joint_4.pos': Array(0.00769266, dtype=float32), 'right.joint_5.pos': Array(-0.61772496, dtype=float32), 'right.gripper.pos': Array(0.0446278, dtype=float32)} +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting right arm positions: [Array(0.94549024, dtype=float32), Array(1.359089, dtype=float32), Array(0.91294163, dtype=float32), Array(-1.1051359, dtype=float32), Array(0.00769266, dtype=float32), Array(-0.61772496, dtype=float32), Array(0.0446278, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044627804309129715 +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.9ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.5ms +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-13s DEBUG: pose_idx: 30/64 +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 2.1ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 4.9ms +2025y-06m-25d-12h-15m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9449361, dtype=float32), 'right.joint_1.pos': Array(1.359456, dtype=float32), 'right.joint_2.pos': Array(0.9132252, dtype=float32), 'right.joint_3.pos': Array(-1.1050466, dtype=float32), 'right.joint_4.pos': Array(0.00770059, dtype=float32), 'right.joint_5.pos': Array(-0.6182693, dtype=float32), 'right.gripper.pos': Array(0.04462839, dtype=float32)} +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting right arm positions: [Array(0.9449361, dtype=float32), Array(1.359456, dtype=float32), Array(0.9132252, dtype=float32), Array(-1.1050466, dtype=float32), Array(0.00770059, dtype=float32), Array(-0.6182693, dtype=float32), Array(0.04462839, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044628385454416275 +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 107.2ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 104.7ms +2025y-06m-25d-12h-15m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-13s DEBUG: pose_idx: 31/64 +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.9443879, dtype=float32), 'right.joint_1.pos': Array(1.359825, dtype=float32), 'right.joint_2.pos': Array(0.9135092, dtype=float32), 'right.joint_3.pos': Array(-1.1049572, dtype=float32), 'right.joint_4.pos': Array(0.00771113, dtype=float32), 'right.joint_5.pos': Array(-0.61880565, dtype=float32), 'right.gripper.pos': Array(0.04462903, dtype=float32)} +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting right arm positions: [Array(0.9443879, dtype=float32), Array(1.359825, dtype=float32), Array(0.9135092, dtype=float32), Array(-1.1049572, dtype=float32), Array(0.00771113, dtype=float32), Array(-0.61880565, dtype=float32), Array(0.04462903, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04462902620434761 +2025y-06m-25d-12h-15m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 108.9ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-14s DEBUG: pose_idx: 32/64 +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.943284, dtype=float32), 'right.joint_1.pos': Array(1.3605607, dtype=float32), 'right.joint_2.pos': Array(0.91407794, dtype=float32), 'right.joint_3.pos': Array(-1.1047791, dtype=float32), 'right.joint_4.pos': Array(0.00772828, dtype=float32), 'right.joint_5.pos': Array(-0.6198886, dtype=float32), 'right.gripper.pos': Array(0.04463021, dtype=float32)} +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting right arm positions: [Array(0.943284, dtype=float32), Array(1.3605607, dtype=float32), Array(0.91407794, dtype=float32), Array(-1.1047791, dtype=float32), Array(0.00772828, dtype=float32), Array(-0.6198886, dtype=float32), Array(0.04463021, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.6185625791549683 -0.6198886036872864 +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04463021084666252 +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.8ms +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-14s DEBUG: pose_idx: 33/64 +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 3.4ms +2025y-06m-25d-12h-15m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.94273686, dtype=float32), 'right.joint_1.pos': Array(1.3609303, dtype=float32), 'right.joint_2.pos': Array(0.9143632, dtype=float32), 'right.joint_3.pos': Array(-1.1046898, dtype=float32), 'right.joint_4.pos': Array(0.00773879, dtype=float32), 'right.joint_5.pos': Array(-0.6204238, dtype=float32), 'right.gripper.pos': Array(0.04463085, dtype=float32)} +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting right arm positions: [Array(0.94273686, dtype=float32), Array(1.3609303, dtype=float32), Array(0.9143632, dtype=float32), Array(-1.1046898, dtype=float32), Array(0.00773879, dtype=float32), Array(-0.6204238, dtype=float32), Array(0.04463085, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 7.3ms +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04463085159659386 +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 106.4ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 103.5ms +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-14s DEBUG: pose_idx: 34/64 +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.9421878, dtype=float32), 'right.joint_1.pos': Array(1.3612988, dtype=float32), 'right.joint_2.pos': Array(0.91464883, dtype=float32), 'right.joint_3.pos': Array(-1.1046019, dtype=float32), 'right.joint_4.pos': Array(0.00774796, dtype=float32), 'right.joint_5.pos': Array(-0.62096226, dtype=float32), 'right.gripper.pos': Array(0.04463146, dtype=float32)} +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting right arm positions: [Array(0.9421878, dtype=float32), Array(1.3612988, dtype=float32), Array(0.91464883, dtype=float32), Array(-1.1046019, dtype=float32), Array(0.00774796, dtype=float32), Array(-0.62096226, dtype=float32), Array(0.04463146, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044631458818912506 +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 110.0ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 110.7ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-14s DEBUG: pose_idx: 35/64 +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9416355, dtype=float32), 'right.joint_1.pos': Array(1.3616675, dtype=float32), 'right.joint_2.pos': Array(0.9149337, dtype=float32), 'right.joint_3.pos': Array(-1.1045122, dtype=float32), 'right.joint_4.pos': Array(0.00775573, dtype=float32), 'right.joint_5.pos': Array(-0.6215045, dtype=float32), 'right.gripper.pos': Array(0.04463203, dtype=float32)} +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting right arm positions: [Array(0.9416355, dtype=float32), Array(1.3616675, dtype=float32), Array(0.9149337, dtype=float32), Array(-1.1045122, dtype=float32), Array(0.00775573, dtype=float32), Array(-0.6215045, dtype=float32), Array(0.04463203, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04463203251361847 +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 110.7ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 112.1ms +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-14s DEBUG: pose_idx: 36/64 +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.9410898, dtype=float32), 'right.joint_1.pos': Array(1.3620374, dtype=float32), 'right.joint_2.pos': Array(0.9152198, dtype=float32), 'right.joint_3.pos': Array(-1.1044234, dtype=float32), 'right.joint_4.pos': Array(0.00776616, dtype=float32), 'right.joint_5.pos': Array(-0.62203836, dtype=float32), 'right.gripper.pos': Array(0.04463267, dtype=float32)} +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 5.5ms +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting right arm positions: [Array(0.9410898, dtype=float32), Array(1.3620374, dtype=float32), Array(0.9152198, dtype=float32), Array(-1.1044234, dtype=float32), Array(0.00776616, dtype=float32), Array(-0.62203836, dtype=float32), Array(0.04463267, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044632669538259506 +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 103.0ms +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-14s DEBUG: pose_idx: 37/64 +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read state: 1.2ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 27.6ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 140.9ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense2: 27.7ms +2025y-06m-25d-12h-15m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.94053864, dtype=float32), 'right.joint_1.pos': Array(1.3624064, dtype=float32), 'right.joint_2.pos': Array(0.9155055, dtype=float32), 'right.joint_3.pos': Array(-1.1043346, dtype=float32), 'right.joint_4.pos': Array(0.0077739, dtype=float32), 'right.joint_5.pos': Array(-0.6225796, dtype=float32), 'right.gripper.pos': Array(0.04463324, dtype=float32)} +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting right arm positions: [Array(0.94053864, dtype=float32), Array(1.3624064, dtype=float32), Array(0.9155055, dtype=float32), Array(-1.1043346, dtype=float32), Array(0.0077739, dtype=float32), Array(-0.6225796, dtype=float32), Array(0.04463324, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04463323950767517 +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 107.1ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-14s WARNING: ��⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-14s DEBUG: pose_idx: 38/64 +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.939994, dtype=float32), 'right.joint_1.pos': Array(1.3627765, dtype=float32), 'right.joint_2.pos': Array(0.9157928, dtype=float32), 'right.joint_3.pos': Array(-1.1042467, dtype=float32), 'right.joint_4.pos': Array(0.00778444, dtype=float32), 'right.joint_5.pos': Array(-0.62311256, dtype=float32), 'right.gripper.pos': Array(0.04463388, dtype=float32)} +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting right arm positions: [Array(0.939994, dtype=float32), Array(1.3627765, dtype=float32), Array(0.9157928, dtype=float32), Array(-1.1042467, dtype=float32), Array(0.00778444, dtype=float32), Array(-0.62311256, dtype=float32), Array(0.04463388, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04463387653231621 +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 111.3ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 0.8ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 112.6ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-14s DEBUG: pose_idx: 39/64 +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.93944365, dtype=float32), 'right.joint_1.pos': Array(1.3631457, dtype=float32), 'right.joint_2.pos': Array(0.9160791, dtype=float32), 'right.joint_3.pos': Array(-1.1041579, dtype=float32), 'right.joint_4.pos': Array(0.0077921, dtype=float32), 'right.joint_5.pos': Array(-0.623653, dtype=float32), 'right.gripper.pos': Array(0.04463445, dtype=float32)} +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting right arm positions: [Array(0.93944365, dtype=float32), Array(1.3631457, dtype=float32), Array(0.9160791, dtype=float32), Array(-1.1041579, dtype=float32), Array(0.0077921, dtype=float32), Array(-0.623653, dtype=float32), Array(0.04463445, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04463444650173187 +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 108.4ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 109.1ms +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(218622278376) read took: 1.4ms +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-14s DEBUG: pose_idx: 40/64 +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.93889976, dtype=float32), 'right.joint_1.pos': Array(1.3635168, dtype=float32), 'right.joint_2.pos': Array(0.9163668, dtype=float32), 'right.joint_3.pos': Array(-1.1040697, dtype=float32), 'right.joint_4.pos': Array(0.00780265, dtype=float32), 'right.joint_5.pos': Array(-0.6241851, dtype=float32), 'right.gripper.pos': Array(0.04463508, dtype=float32)} +2025y-06m-25d-12h-15m-14s DEBUG: RealSenseCamera(230422273017) read took: 5.3ms +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting right arm positions: [Array(0.93889976, dtype=float32), Array(1.3635168, dtype=float32), Array(0.9163668, dtype=float32), Array(-1.1040697, dtype=float32), Array(0.00780265, dtype=float32), Array(-0.6241851, dtype=float32), Array(0.04463508, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04463507980108261 +2025y-06m-25d-12h-15m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-15s DEBUG: pose_idx: 41/64 +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.93835324, dtype=float32), 'right.joint_1.pos': Array(1.3638868, dtype=float32), 'right.joint_2.pos': Array(0.9166538, dtype=float32), 'right.joint_3.pos': Array(-1.1039813, dtype=float32), 'right.joint_4.pos': Array(0.00781167, dtype=float32), 'right.joint_5.pos': Array(-0.6247208, dtype=float32), 'right.gripper.pos': Array(0.04463568, dtype=float32)} +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting right arm positions: [Array(0.93835324, dtype=float32), Array(1.3638868, dtype=float32), Array(0.9166538, dtype=float32), Array(-1.1039813, dtype=float32), Array(0.00781167, dtype=float32), Array(-0.6247208, dtype=float32), Array(0.04463568, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.362821340560913 1.363886833190918 +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04463567957282066 +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-15s DEBUG: pose_idx: 42/64 +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 13.1ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(230422273017) read took: 231.6ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense2: 14.4ms +2025y-06m-25d-12h-15m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105532, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.8558878, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610767, dtype=float32), 'left.joint_5.pos': Array(-0.33169764, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(0.93780416, dtype=float32), 'right.joint_1.pos': Array(1.3642567, dtype=float32), 'right.joint_2.pos': Array(0.9169413, dtype=float32), 'right.joint_3.pos': Array(-1.1038933, dtype=float32), 'right.joint_4.pos': Array(0.00781905, dtype=float32), 'right.joint_5.pos': Array(-0.6252601, dtype=float32), 'right.gripper.pos': Array(0.04463625, dtype=float32)} +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting right arm positions: [Array(0.93780416, dtype=float32), Array(1.3642567, dtype=float32), Array(0.9169413, dtype=float32), Array(-1.1038933, dtype=float32), Array(0.00781905, dtype=float32), Array(-0.6252601, dtype=float32), Array(0.04463625, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04463624581694603 +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105532, dtype=float32), Array(1.2604566, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610767, dtype=float32), Array(-0.33169764, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-15m-15s DEBUG: pose_idx: 43/64 +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 23.1ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense2: 22.4ms +2025y-06m-25d-12h-15m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.9372615, dtype=float32), 'right.joint_1.pos': Array(1.3646283, dtype=float32), 'right.joint_2.pos': Array(0.9172297, dtype=float32), 'right.joint_3.pos': Array(-1.1038052, dtype=float32), 'right.joint_4.pos': Array(0.00782957, dtype=float32), 'right.joint_5.pos': Array(-0.62579113, dtype=float32), 'right.gripper.pos': Array(0.04463688, dtype=float32)} +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting right arm positions: [Array(0.9372615, dtype=float32), Array(1.3646283, dtype=float32), Array(0.9172297, dtype=float32), Array(-1.1038052, dtype=float32), Array(0.00782957, dtype=float32), Array(-0.62579113, dtype=float32), Array(0.04463688, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.916113555431366 0.9172297120094299 +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04463687911629677 +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(230422273017) read took: 107.5ms +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-15s DEBUG: pose_idx: 44/64 +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106673, dtype=float32), 'left.joint_1.pos': Array(1.2598591, dtype=float32), 'left.joint_2.pos': Array(0.8582319, dtype=float32), 'left.joint_3.pos': Array(-1.1506293, dtype=float32), 'left.joint_4.pos': Array(0.01604566, dtype=float32), 'left.joint_5.pos': Array(-0.3318258, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.93671626, dtype=float32), 'right.joint_1.pos': Array(1.3649995, dtype=float32), 'right.joint_2.pos': Array(0.9175183, dtype=float32), 'right.joint_3.pos': Array(-1.1037171, dtype=float32), 'right.joint_4.pos': Array(0.00783848, dtype=float32), 'right.joint_5.pos': Array(-0.62632567, dtype=float32), 'right.gripper.pos': Array(0.04463748, dtype=float32)} +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting right arm positions: [Array(0.93671626, dtype=float32), Array(1.3649995, dtype=float32), Array(0.9175183, dtype=float32), Array(-1.1037171, dtype=float32), Array(0.00783848, dtype=float32), Array(-0.62632567, dtype=float32), Array(0.04463748, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9164950251579285 0.9175183176994324 +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04463747516274452 +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106673, dtype=float32), Array(1.2598591, dtype=float32), Array(0.8582319, dtype=float32), Array(-1.1506293, dtype=float32), Array(0.01604566, dtype=float32), Array(-0.3318258, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 110.6ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(230422273017) read took: 110.8ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8562218546867371 0.8582319021224976 +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-15s DEBUG: pose_idx: 45/64 +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105773, dtype=float32), 'left.joint_1.pos': Array(1.2594413, dtype=float32), 'left.joint_2.pos': Array(0.8606828, dtype=float32), 'left.joint_3.pos': Array(-1.1535014, dtype=float32), 'left.joint_4.pos': Array(0.01608882, dtype=float32), 'left.joint_5.pos': Array(-0.33172303, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.93616825, dtype=float32), 'right.joint_1.pos': Array(1.3653698, dtype=float32), 'right.joint_2.pos': Array(0.9178063, dtype=float32), 'right.joint_3.pos': Array(-1.1036294, dtype=float32), 'right.joint_4.pos': Array(0.00784576, dtype=float32), 'right.joint_5.pos': Array(-0.62686396, dtype=float32), 'right.gripper.pos': Array(0.04463804, dtype=float32)} +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting right arm positions: [Array(0.93616825, dtype=float32), Array(1.3653698, dtype=float32), Array(0.9178063, dtype=float32), Array(-1.1036294, dtype=float32), Array(0.00784576, dtype=float32), Array(-0.62686396, dtype=float32), Array(0.04463804, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04463803768157959 +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105773, dtype=float32), Array(1.2594413, dtype=float32), Array(0.8606828, dtype=float32), Array(-1.1535014, dtype=float32), Array(0.01608882, dtype=float32), Array(-0.33172303, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8596551418304443 0.8606827855110168 +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 1.5ms +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-15s DEBUG: pose_idx: 46/64 +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(230422273017) read took: 114.6ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense2: 1.7ms +2025y-06m-25d-12h-15m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105895, dtype=float32), 'left.joint_1.pos': Array(1.258947, dtype=float32), 'left.joint_2.pos': Array(0.8630875, dtype=float32), 'left.joint_3.pos': Array(-1.1563638, dtype=float32), 'left.joint_4.pos': Array(0.01607932, dtype=float32), 'left.joint_5.pos': Array(-0.3317357, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9356237, dtype=float32), 'right.joint_1.pos': Array(1.3657414, dtype=float32), 'right.joint_2.pos': Array(0.9180954, dtype=float32), 'right.joint_3.pos': Array(-1.1035414, dtype=float32), 'right.joint_4.pos': Array(0.00785479, dtype=float32), 'right.joint_5.pos': Array(-0.6273974, dtype=float32), 'right.gripper.pos': Array(0.04463863, dtype=float32)} +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting right arm positions: [Array(0.9356237, dtype=float32), Array(1.3657414, dtype=float32), Array(0.9180954, dtype=float32), Array(-1.1035414, dtype=float32), Array(0.00785479, dtype=float32), Array(-0.6273974, dtype=float32), Array(0.04463863, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044638633728027344 +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105895, dtype=float32), Array(1.258947, dtype=float32), Array(0.8630875, dtype=float32), Array(-1.1563638, dtype=float32), Array(0.01607932, dtype=float32), Array(-0.3317357, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(230422273017) read took: 107.1ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 110.4ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8619440197944641 0.8630874752998352 +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-15s DEBUG: pose_idx: 47/64 +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107051, dtype=float32), 'left.joint_1.pos': Array(1.2583755, dtype=float32), 'left.joint_2.pos': Array(0.8654462, dtype=float32), 'left.joint_3.pos': Array(-1.1592175, dtype=float32), 'left.joint_4.pos': Array(0.01601633, dtype=float32), 'left.joint_5.pos': Array(-0.33186573, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.935083, dtype=float32), 'right.joint_1.pos': Array(1.3661138, dtype=float32), 'right.joint_2.pos': Array(0.91838527, dtype=float32), 'right.joint_3.pos': Array(-1.1034539, dtype=float32), 'right.joint_4.pos': Array(0.00786532, dtype=float32), 'right.joint_5.pos': Array(-0.62792647, dtype=float32), 'right.gripper.pos': Array(0.04463926, dtype=float32)} +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting right arm positions: [Array(0.935083, dtype=float32), Array(1.3661138, dtype=float32), Array(0.91838527, dtype=float32), Array(-1.1034539, dtype=float32), Array(0.00786532, dtype=float32), Array(-0.62792647, dtype=float32), Array(0.04463926, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044639263302087784 +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107051, dtype=float32), Array(1.2583755, dtype=float32), Array(0.8654462, dtype=float32), Array(-1.1592175, dtype=float32), Array(0.01601633, dtype=float32), Array(-0.33186573, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 111.2ms +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-15s DEBUG: pose_idx: 48/64 +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 11.2ms +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(230422273017) read took: 126.1ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense2: 12.2ms +2025y-06m-25d-12h-15m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106133, dtype=float32), 'left.joint_1.pos': Array(1.2579844, dtype=float32), 'left.joint_2.pos': Array(0.86791205, dtype=float32), 'left.joint_3.pos': Array(-1.1620785, dtype=float32), 'left.joint_4.pos': Array(0.01606051, dtype=float32), 'left.joint_5.pos': Array(-0.33176106, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.93453616, dtype=float32), 'right.joint_1.pos': Array(1.3664848, dtype=float32), 'right.joint_2.pos': Array(0.9186742, dtype=float32), 'right.joint_3.pos': Array(-1.1033658, dtype=float32), 'right.joint_4.pos': Array(0.00787261, dtype=float32), 'right.joint_5.pos': Array(-0.6284638, dtype=float32), 'right.gripper.pos': Array(0.04463982, dtype=float32)} +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting right arm positions: [Array(0.93453616, dtype=float32), Array(1.3664848, dtype=float32), Array(0.9186742, dtype=float32), Array(-1.1033658, dtype=float32), Array(0.00787261, dtype=float32), Array(-0.6284638, dtype=float32), Array(0.04463982, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04463982209563255 +2025y-06m-25d-12h-15m-15s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106133, dtype=float32), Array(1.2579844, dtype=float32), Array(0.86791205, dtype=float32), Array(-1.1620785, dtype=float32), Array(0.01606051, dtype=float32), Array(-0.33176106, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-15s DEBUG: RealSenseCamera(218622278376) read took: 110.5ms +2025y-06m-25d-12h-15m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-15s DEBUG: pose_idx: 49/64 +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read state: 0.2ms +2025y-06m-25d-12h-15m-15s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 22.8ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense2: 24.0ms +2025y-06m-25d-12h-15m-16s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106253, dtype=float32), 'left.joint_1.pos': Array(1.2575164, dtype=float32), 'left.joint_2.pos': Array(0.8703315, dtype=float32), 'left.joint_3.pos': Array(-1.1649293, dtype=float32), 'left.joint_4.pos': Array(0.0160511, dtype=float32), 'left.joint_5.pos': Array(-0.33177367, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9339932, dtype=float32), 'right.joint_1.pos': Array(1.366857, dtype=float32), 'right.joint_2.pos': Array(0.918964, dtype=float32), 'right.joint_3.pos': Array(-1.103278, dtype=float32), 'right.joint_4.pos': Array(0.00788149, dtype=float32), 'right.joint_5.pos': Array(-0.6289959, dtype=float32), 'right.gripper.pos': Array(0.04464041, dtype=float32)} +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting right arm positions: [Array(0.9339932, dtype=float32), Array(1.366857, dtype=float32), Array(0.918964, dtype=float32), Array(-1.103278, dtype=float32), Array(0.00788149, dtype=float32), Array(-0.6289959, dtype=float32), Array(0.04464041, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04464041441679001 +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106253, dtype=float32), Array(1.2575164, dtype=float32), Array(0.8703315, dtype=float32), Array(-1.1649293, dtype=float32), Array(0.0160511, dtype=float32), Array(-0.33177367, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(230422273017) read took: 107.7ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 111.3ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8691920638084412 0.8703315258026123 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-16s DEBUG: pose_idx: 50/64 +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read state: 0.2ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-16s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106373, dtype=float32), 'left.joint_1.pos': Array(1.2570568, dtype=float32), 'left.joint_2.pos': Array(0.8727563, dtype=float32), 'left.joint_3.pos': Array(-1.1677773, dtype=float32), 'left.joint_4.pos': Array(0.01604163, dtype=float32), 'left.joint_5.pos': Array(-0.33178633, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9334502, dtype=float32), 'right.joint_1.pos': Array(1.3672293, dtype=float32), 'right.joint_2.pos': Array(0.91925406, dtype=float32), 'right.joint_3.pos': Array(-1.1031904, dtype=float32), 'right.joint_4.pos': Array(0.00789031, dtype=float32), 'right.joint_5.pos': Array(-0.62952816, dtype=float32), 'right.gripper.pos': Array(0.04464101, dtype=float32)} +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting right arm positions: [Array(0.9334502, dtype=float32), Array(1.3672293, dtype=float32), Array(0.91925406, dtype=float32), Array(-1.1031904, dtype=float32), Array(0.00789031, dtype=float32), Array(-0.62952816, dtype=float32), Array(0.04464101, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044641006737947464 +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106373, dtype=float32), Array(1.2570568, dtype=float32), Array(0.8727563, dtype=float32), Array(-1.1677773, dtype=float32), Array(0.01604163, dtype=float32), Array(-0.33178633, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-16s DEBUG: pose_idx: 51/64 +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 11.4ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(230422273017) read took: 124.8ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense2: 12.5ms +2025y-06m-25d-12h-15m-16s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106494, dtype=float32), 'left.joint_1.pos': Array(1.2566062, dtype=float32), 'left.joint_2.pos': Array(0.8751858, dtype=float32), 'left.joint_3.pos': Array(-1.1706212, dtype=float32), 'left.joint_4.pos': Array(0.01603216, dtype=float32), 'left.joint_5.pos': Array(-0.33179882, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.93290764, dtype=float32), 'right.joint_1.pos': Array(1.3676019, dtype=float32), 'right.joint_2.pos': Array(0.9195447, dtype=float32), 'right.joint_3.pos': Array(-1.103103, dtype=float32), 'right.joint_4.pos': Array(0.0078993, dtype=float32), 'right.joint_5.pos': Array(-0.63006, dtype=float32), 'right.gripper.pos': Array(0.0446416, dtype=float32)} +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting right arm positions: [Array(0.93290764, dtype=float32), Array(1.3676019, dtype=float32), Array(0.9195447, dtype=float32), Array(-1.103103, dtype=float32), Array(0.0078993, dtype=float32), Array(-0.63006, dtype=float32), Array(0.0446416, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04464159905910492 +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106494, dtype=float32), Array(1.2566062, dtype=float32), Array(0.8751858, dtype=float32), Array(-1.1706212, dtype=float32), Array(0.01603216, dtype=float32), Array(-0.33179882, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(230422273017) read took: 107.0ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 110.2ms +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-16s DEBUG: pose_idx: 52/64 +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-16s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910661, dtype=float32), 'left.joint_1.pos': Array(1.2561642, dtype=float32), 'left.joint_2.pos': Array(0.87762016, dtype=float32), 'left.joint_3.pos': Array(-1.1734607, dtype=float32), 'left.joint_4.pos': Array(0.0160228, dtype=float32), 'left.joint_5.pos': Array(-0.33181128, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.93182445, dtype=float32), 'right.joint_1.pos': Array(1.3683473, dtype=float32), 'right.joint_2.pos': Array(0.9201267, dtype=float32), 'right.joint_3.pos': Array(-1.1029289, dtype=float32), 'right.joint_4.pos': Array(0.00791676, dtype=float32), 'right.joint_5.pos': Array(-0.6311218, dtype=float32), 'right.gripper.pos': Array(0.04464278, dtype=float32)} +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting right arm positions: [Array(0.93182445, dtype=float32), Array(1.3683473, dtype=float32), Array(0.9201267, dtype=float32), Array(-1.1029289, dtype=float32), Array(0.00791676, dtype=float32), Array(-0.6311218, dtype=float32), Array(0.04464278, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.9328984618186951 0.9318244457244873 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.6296253800392151 -0.631121814250946 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04464277997612953 +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting left arm positions: [Array(-1.910661, dtype=float32), Array(1.2561642, dtype=float32), Array(0.87762016, dtype=float32), Array(-1.1734607, dtype=float32), Array(0.0160228, dtype=float32), Array(-0.33181128, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-16s DEBUG: pose_idx: 53/64 +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 11.9ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(230422273017) read took: 126.0ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense2: 12.2ms +2025y-06m-25d-12h-15m-16s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106727, dtype=float32), 'left.joint_1.pos': Array(1.2557302, dtype=float32), 'left.joint_2.pos': Array(0.88005954, dtype=float32), 'left.joint_3.pos': Array(-1.1762975, dtype=float32), 'left.joint_4.pos': Array(0.01601347, dtype=float32), 'left.joint_5.pos': Array(-0.33182365, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9312831, dtype=float32), 'right.joint_1.pos': Array(1.3687203, dtype=float32), 'right.joint_2.pos': Array(0.9204181, dtype=float32), 'right.joint_3.pos': Array(-1.1028417, dtype=float32), 'right.joint_4.pos': Array(0.00792551, dtype=float32), 'right.joint_5.pos': Array(-0.6316528, dtype=float32), 'right.gripper.pos': Array(0.04464337, dtype=float32)} +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting right arm positions: [Array(0.9312831, dtype=float32), Array(1.3687203, dtype=float32), Array(0.9204181, dtype=float32), Array(-1.1028417, dtype=float32), Array(0.00792551, dtype=float32), Array(-0.6316528, dtype=float32), Array(0.04464337, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.6303883194923401 -0.6316527724266052 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04464336857199669 +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106727, dtype=float32), Array(1.2557302, dtype=float32), Array(0.88005954, dtype=float32), Array(-1.1762975, dtype=float32), Array(0.01601347, dtype=float32), Array(-0.33182365, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(230422273017) read took: 103.9ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 108.2ms +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.1774243116378784 -1.1762975454330444 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-16s DEBUG: pose_idx: 54/64 +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read state: 1.2ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-16s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106843, dtype=float32), 'left.joint_1.pos': Array(1.2553053, dtype=float32), 'left.joint_2.pos': Array(0.88250405, dtype=float32), 'left.joint_3.pos': Array(-1.1791304, dtype=float32), 'left.joint_4.pos': Array(0.01600439, dtype=float32), 'left.joint_5.pos': Array(-0.33183613, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.93074256, dtype=float32), 'right.joint_1.pos': Array(1.3690937, dtype=float32), 'right.joint_2.pos': Array(0.9207098, dtype=float32), 'right.joint_3.pos': Array(-1.1027548, dtype=float32), 'right.joint_4.pos': Array(0.00793425, dtype=float32), 'right.joint_5.pos': Array(-0.6321826, dtype=float32), 'right.gripper.pos': Array(0.04464396, dtype=float32)} +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting right arm positions: [Array(0.93074256, dtype=float32), Array(1.3690937, dtype=float32), Array(0.9207098, dtype=float32), Array(-1.1027548, dtype=float32), Array(0.00793425, dtype=float32), Array(-0.6321826, dtype=float32), Array(0.04464396, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044643957167863846 +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106843, dtype=float32), Array(1.2553053, dtype=float32), Array(0.88250405, dtype=float32), Array(-1.1791304, dtype=float32), Array(0.01600439, dtype=float32), Array(-0.33183613, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 110.5ms +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-16s DEBUG: pose_idx: 55/64 +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 14.5ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(230422273017) read took: 129.3ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense2: 15.5ms +2025y-06m-25d-12h-15m-16s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108058, dtype=float32), 'left.joint_1.pos': Array(1.2548007, dtype=float32), 'left.joint_2.pos': Array(0.88490075, dtype=float32), 'left.joint_3.pos': Array(-1.1819535, dtype=float32), 'left.joint_4.pos': Array(0.01593864, dtype=float32), 'left.joint_5.pos': Array(-0.3319727, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.93020546, dtype=float32), 'right.joint_1.pos': Array(1.3694683, dtype=float32), 'right.joint_2.pos': Array(0.9210027, dtype=float32), 'right.joint_3.pos': Array(-1.1026677, dtype=float32), 'right.joint_4.pos': Array(0.00794479, dtype=float32), 'right.joint_5.pos': Array(-0.632708, dtype=float32), 'right.gripper.pos': Array(0.04464458, dtype=float32)} +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting right arm positions: [Array(0.93020546, dtype=float32), Array(1.3694683, dtype=float32), Array(0.9210027, dtype=float32), Array(-1.1026677, dtype=float32), Array(0.00794479, dtype=float32), Array(-0.632708, dtype=float32), Array(0.04464458, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04464457929134369 +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108058, dtype=float32), Array(1.2548007, dtype=float32), Array(0.88490075, dtype=float32), Array(-1.1819535, dtype=float32), Array(0.01593864, dtype=float32), Array(-0.3319727, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(230422273017) read took: 104.0ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 107.3ms +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-16s DEBUG: pose_idx: 56/64 +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-16s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107082, dtype=float32), 'left.joint_1.pos': Array(1.2544805, dtype=float32), 'left.joint_2.pos': Array(0.88740677, dtype=float32), 'left.joint_3.pos': Array(-1.1847847, dtype=float32), 'left.joint_4.pos': Array(0.0159857, dtype=float32), 'left.joint_5.pos': Array(-0.33186108, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9296625, dtype=float32), 'right.joint_1.pos': Array(1.3698412, dtype=float32), 'right.joint_2.pos': Array(0.9212941, dtype=float32), 'right.joint_3.pos': Array(-1.1025803, dtype=float32), 'right.joint_4.pos': Array(0.00795189, dtype=float32), 'right.joint_5.pos': Array(-0.63324153, dtype=float32), 'right.gripper.pos': Array(0.04464513, dtype=float32)} +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting right arm positions: [Array(0.9296625, dtype=float32), Array(1.3698412, dtype=float32), Array(0.9212941, dtype=float32), Array(-1.1025803, dtype=float32), Array(0.00795189, dtype=float32), Array(-0.63324153, dtype=float32), Array(0.04464513, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04464512690901756 +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107082, dtype=float32), Array(1.2544805, dtype=float32), Array(0.88740677, dtype=float32), Array(-1.1847847, dtype=float32), Array(0.0159857, dtype=float32), Array(-0.33186108, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 106.1ms +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.185816764831543 -1.1847846508026123 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-16s DEBUG: pose_idx: 57/64 +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read state: 1.4ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(218622278376) read took: 18.6ms +2025y-06m-25d-12h-15m-16s DEBUG: RealSenseCamera(230422273017) read took: 128.6ms +2025y-06m-25d-12h-15m-16s DEBUG: None Tatbot read realsense2: 18.5ms +2025y-06m-25d-12h-15m-16s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107196, dtype=float32), 'left.joint_1.pos': Array(1.2540814, dtype=float32), 'left.joint_2.pos': Array(0.88986576, dtype=float32), 'left.joint_3.pos': Array(-1.1876063, dtype=float32), 'left.joint_4.pos': Array(0.01597639, dtype=float32), 'left.joint_5.pos': Array(-0.33187303, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.92912287, dtype=float32), 'right.joint_1.pos': Array(1.3702148, dtype=float32), 'right.joint_2.pos': Array(0.9215869, dtype=float32), 'right.joint_3.pos': Array(-1.102494, dtype=float32), 'right.joint_4.pos': Array(0.00796052, dtype=float32), 'right.joint_5.pos': Array(-0.6337706, dtype=float32), 'right.gripper.pos': Array(0.04464571, dtype=float32)} +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting right arm positions: [Array(0.92912287, dtype=float32), Array(1.3702148, dtype=float32), Array(0.9215869, dtype=float32), Array(-1.102494, dtype=float32), Array(0.00796052, dtype=float32), Array(-0.6337706, dtype=float32), Array(0.04464571, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-16s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04464571177959442 +2025y-06m-25d-12h-15m-16s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107196, dtype=float32), Array(1.2540814, dtype=float32), Array(0.88986576, dtype=float32), Array(-1.1876063, dtype=float32), Array(0.01597639, dtype=float32), Array(-0.33187303, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms +2025y-06m-25d-12h-15m-17s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.188868522644043 -1.1876063346862793 +2025y-06m-25d-12h-15m-17s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-17s DEBUG: pose_idx: 58/64 +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(218622278376) read took: 22.0ms +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read realsense2: 23.2ms +2025y-06m-25d-12h-15m-17s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107312, dtype=float32), 'left.joint_1.pos': Array(1.25369, dtype=float32), 'left.joint_2.pos': Array(0.8923296, dtype=float32), 'left.joint_3.pos': Array(-1.1904248, dtype=float32), 'left.joint_4.pos': Array(0.01596713, dtype=float32), 'left.joint_5.pos': Array(-0.33188513, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9285838, dtype=float32), 'right.joint_1.pos': Array(1.3705893, dtype=float32), 'right.joint_2.pos': Array(0.9218799, dtype=float32), 'right.joint_3.pos': Array(-1.1024072, dtype=float32), 'right.joint_4.pos': Array(0.00796912, dtype=float32), 'right.joint_5.pos': Array(-0.634299, dtype=float32), 'right.gripper.pos': Array(0.0446463, dtype=float32)} +2025y-06m-25d-12h-15m-17s DEBUG: 🦾 Setting right arm positions: [Array(0.9285838, dtype=float32), Array(1.3705893, dtype=float32), Array(0.9218799, dtype=float32), Array(-1.1024072, dtype=float32), Array(0.00796912, dtype=float32), Array(-0.634299, dtype=float32), Array(0.0446463, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-17s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04464629665017128 +2025y-06m-25d-12h-15m-17s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107312, dtype=float32), Array(1.25369, dtype=float32), Array(0.8923296, dtype=float32), Array(-1.1904248, dtype=float32), Array(0.01596713, dtype=float32), Array(-0.33188513, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(230422273017) read took: 103.5ms +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(218622278376) read took: 106.8ms +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(218622278376) read took: 0.6ms +2025y-06m-25d-12h-15m-17s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-17s DEBUG: pose_idx: 59/64 +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-17s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108561, dtype=float32), 'left.joint_1.pos': Array(1.2532176, dtype=float32), 'left.joint_2.pos': Array(0.89474547, dtype=float32), 'left.joint_3.pos': Array(-1.1932336, dtype=float32), 'left.joint_4.pos': Array(0.01589988, dtype=float32), 'left.joint_5.pos': Array(-0.332026, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.92804855, dtype=float32), 'right.joint_1.pos': Array(1.3709645, dtype=float32), 'right.joint_2.pos': Array(0.9221737, dtype=float32), 'right.joint_3.pos': Array(-1.1023204, dtype=float32), 'right.joint_4.pos': Array(0.0079794, dtype=float32), 'right.joint_5.pos': Array(-0.6348227, dtype=float32), 'right.gripper.pos': Array(0.04464692, dtype=float32)} +2025y-06m-25d-12h-15m-17s DEBUG: 🦾 Setting right arm positions: [Array(0.92804855, dtype=float32), Array(1.3709645, dtype=float32), Array(0.9221737, dtype=float32), Array(-1.1023204, dtype=float32), Array(0.0079794, dtype=float32), Array(-0.6348227, dtype=float32), Array(0.04464692, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-17s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04464691877365112 +2025y-06m-25d-12h-15m-17s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108561, dtype=float32), Array(1.2532176, dtype=float32), Array(0.89474547, dtype=float32), Array(-1.1932336, dtype=float32), Array(0.01589988, dtype=float32), Array(-0.332026, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(218622278376) read took: 108.3ms +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-17s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-17s DEBUG: pose_idx: 60/64 +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-17s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107547, dtype=float32), 'left.joint_1.pos': Array(1.2529329, dtype=float32), 'left.joint_2.pos': Array(0.89727175, dtype=float32), 'left.joint_3.pos': Array(-1.1960503, dtype=float32), 'left.joint_4.pos': Array(0.01594868, dtype=float32), 'left.joint_5.pos': Array(-0.33190972, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9275071, dtype=float32), 'right.joint_1.pos': Array(1.3713382, dtype=float32), 'right.joint_2.pos': Array(0.92246664, dtype=float32), 'right.joint_3.pos': Array(-1.102234, dtype=float32), 'right.joint_4.pos': Array(0.00798637, dtype=float32), 'right.joint_5.pos': Array(-0.63535446, dtype=float32), 'right.gripper.pos': Array(0.04464746, dtype=float32)} +2025y-06m-25d-12h-15m-17s DEBUG: 🦾 Setting right arm positions: [Array(0.9275071, dtype=float32), Array(1.3713382, dtype=float32), Array(0.92246664, dtype=float32), Array(-1.102234, dtype=float32), Array(0.00798637, dtype=float32), Array(-0.63535446, dtype=float32), Array(0.04464746, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-17s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0446474626660347 +2025y-06m-25d-12h-15m-17s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107547, dtype=float32), Array(1.2529329, dtype=float32), Array(0.89727175, dtype=float32), Array(-1.1960503, dtype=float32), Array(0.01594868, dtype=float32), Array(-0.33190972, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(218622278376) read took: 110.5ms +2025y-06m-25d-12h-15m-17s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-17s DEBUG: pose_idx: 61/64 +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read state: 1.2ms +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(218622278376) read took: 5.8ms +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(230422273017) read took: 120.1ms +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read realsense2: 5.5ms +2025y-06m-25d-12h-15m-17s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107661, dtype=float32), 'left.joint_1.pos': Array(1.2525668, dtype=float32), 'left.joint_2.pos': Array(0.89975023, dtype=float32), 'left.joint_3.pos': Array(-1.198858, dtype=float32), 'left.joint_4.pos': Array(0.01593957, dtype=float32), 'left.joint_5.pos': Array(-0.33192173, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.92696935, dtype=float32), 'right.joint_1.pos': Array(1.3717129, dtype=float32), 'right.joint_2.pos': Array(0.92276067, dtype=float32), 'right.joint_3.pos': Array(-1.1021476, dtype=float32), 'right.joint_4.pos': Array(0.00799509, dtype=float32), 'right.joint_5.pos': Array(-0.6358815, dtype=float32), 'right.gripper.pos': Array(0.04464804, dtype=float32)} +2025y-06m-25d-12h-15m-17s DEBUG: 🦾 Setting right arm positions: [Array(0.92696935, dtype=float32), Array(1.3717129, dtype=float32), Array(0.92276067, dtype=float32), Array(-1.1021476, dtype=float32), Array(0.00799509, dtype=float32), Array(-0.6358815, dtype=float32), Array(0.04464804, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-17s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04464804381132126 +2025y-06m-25d-12h-15m-17s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107661, dtype=float32), Array(1.2525668, dtype=float32), Array(0.89975023, dtype=float32), Array(-1.198858, dtype=float32), Array(0.01593957, dtype=float32), Array(-0.33192173, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms +2025y-06m-25d-12h-15m-17s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-17s DEBUG: pose_idx: 62/64 +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(218622278376) read took: 22.7ms +2025y-06m-25d-12h-15m-17s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms +2025y-06m-25d-12h-15m-17s DEBUG: None Tatbot read realsense2: 23.4ms +2025y-06m-25d-12h-15m-17s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107779, dtype=float32), 'left.joint_1.pos': Array(1.2522092, dtype=float32), 'left.joint_2.pos': Array(0.90223366, dtype=float32), 'left.joint_3.pos': Array(-1.2016622, dtype=float32), 'left.joint_4.pos': Array(0.01593037, dtype=float32), 'left.joint_5.pos': Array(-0.33193398, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.92643166, dtype=float32), 'right.joint_1.pos': Array(1.3720877, dtype=float32), 'right.joint_2.pos': Array(0.9230546, dtype=float32), 'right.joint_3.pos': Array(-1.1020614, dtype=float32), 'right.joint_4.pos': Array(0.00800368, dtype=float32), 'right.joint_5.pos': Array(-0.63640887, dtype=float32), 'right.gripper.pos': Array(0.04464862, dtype=float32)} +2025y-06m-25d-12h-15m-17s DEBUG: 🦾 Setting right arm positions: [Array(0.92643166, dtype=float32), Array(1.3720877, dtype=float32), Array(0.9230546, dtype=float32), Array(-1.1020614, dtype=float32), Array(0.00800368, dtype=float32), Array(-0.63640887, dtype=float32), Array(0.04464862, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-17s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04464862495660782 +2025y-06m-25d-12h-15m-17s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107779, dtype=float32), Array(1.2522092, dtype=float32), Array(0.90223366, dtype=float32), Array(-1.2016622, dtype=float32), Array(0.01593037, dtype=float32), Array(-0.33193398, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-19s DEBUG: RealSenseCamera(218622278376) read took: 2009.1ms +2025y-06m-25d-12h-15m-19s DEBUG: RealSenseCamera(230422273017) read took: 2006.4ms +2025y-06m-25d-12h-15m-19s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-19s DEBUG: pose_idx: 63/64 +2025y-06m-25d-12h-15m-19s DEBUG: None Tatbot read state: 0.1ms +2025y-06m-25d-12h-15m-19s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-19s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-19s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107896, dtype=float32), 'left.joint_1.pos': Array(1.2518598, dtype=float32), 'left.joint_2.pos': Array(0.9047215, dtype=float32), 'left.joint_3.pos': Array(-1.2044624, dtype=float32), 'left.joint_4.pos': Array(0.015921, dtype=float32), 'left.joint_5.pos': Array(-0.33194628, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9265516, dtype=float32), 'right.joint_1.pos': Array(1.361744, dtype=float32), 'right.joint_2.pos': Array(0.96385044, dtype=float32), 'right.joint_3.pos': Array(-1.1521604, dtype=float32), 'right.joint_4.pos': Array(0.00810926, dtype=float32), 'right.joint_5.pos': Array(-0.6362908, dtype=float32), 'right.gripper.pos': Array(0.04464897, dtype=float32)} +2025y-06m-25d-12h-15m-19s DEBUG: 🦾 Setting right arm positions: [Array(0.9265516, dtype=float32), Array(1.361744, dtype=float32), Array(0.96385044, dtype=float32), Array(-1.1521604, dtype=float32), Array(0.00810926, dtype=float32), Array(-0.6362908, dtype=float32), Array(0.04464897, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-19s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3719768524169922 1.3617440462112427 +2025y-06m-25d-12h-15m-19s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9229800701141357 0.9638504385948181 +2025y-06m-25d-12h-15m-19s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1022735834121704 -1.152160406112671 +2025y-06m-25d-12h-15m-19s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.044648971408605576 +2025y-06m-25d-12h-15m-19s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107896, dtype=float32), Array(1.2518598, dtype=float32), Array(0.9047215, dtype=float32), Array(-1.2044624, dtype=float32), Array(0.015921, dtype=float32), Array(-0.33194628, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-21s WARNING: Error reading frame in background thread for RealSenseCamera(230422273017): RealSenseCamera(230422273017) read failed (status=False). +2025y-06m-25d-12h-15m-21s DEBUG: RealSenseCamera(218622278376) read took: 2010.5ms +2025y-06m-25d-12h-15m-21s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-21s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-21s INFO: 🤖🗃️ Writing episode log to /home/trossen-ai/tatbot/output/record/plan-bench-2025y-06m-25d-12h-13m-57s/logs/episode_000004.txt