diff --git "a/logs/episode_000005.txt" "b/logs/episode_000005.txt"
new file mode 100644--- /dev/null
+++ "b/logs/episode_000005.txt"
@@ -0,0 +1,925 @@
+2025y-06m-25d-12h-15m-24s DEBUG: 🤖 sending arms to rest pose
+2025y-06m-25d-12h-15m-24s 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-24s 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-24s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.926413357257843 1.0
+2025y-06m-25d-12h-15m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3616769313812256 0.10000000149011612
+2025y-06m-25d-12h-15m-24s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 1.3616769313812256 0.10000000149011612
+2025y-06m-25d-12h-15m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9637979865074158 0.5
+2025y-06m-25d-12h-15m-24s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.9637979865074158 0.5
+2025y-06m-25d-12h-15m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1522468328475952 -1.2000000476837158
+2025y-06m-25d-12h-15m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 0.008201723918318748 0.0
+2025y-06m-25d-12h-15m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.6364919543266296 0.0
+2025y-06m-25d-12h-15m-24s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 -0.6364919543266296 0.0
+2025y-06m-25d-12h-15m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0
+2025y-06m-25d-12h-15m-24s WARNING: 🦾❌ Failed to set right arm positions: 
+<class 'ValueError'>:
+right arm joints mismatch
+No error
+2025y-06m-25d-12h-15m-24s 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-26s DEBUG: RealSenseCamera(218622278376) read took: 2004.1ms
+2025y-06m-25d-12h-15m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 0.0
+2025y-06m-25d-12h-15m-26s INFO: 🤖 recording path 5 of 15
+2025y-06m-25d-12h-15m-26s DEBUG: pose_idx: 0/64
+2025y-06m-25d-12h-15m-26s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-15m-26s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-26s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-26s DEBUG: RealSenseCamera(218622278376) read took: 1.2ms
+2025y-06m-25d-12h-15m-26s DEBUG: RealSenseCamera(230422273017) read took: 2035.2ms
+2025y-06m-25d-12h-15m-26s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-26s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.000905, dtype=float32), 'left.joint_1.pos': Array(1.3003037, dtype=float32), 'left.joint_2.pos': Array(0.91813546, dtype=float32), 'left.joint_3.pos': Array(-1.1688577, dtype=float32), 'left.joint_4.pos': Array(-0.00696559, dtype=float32), 'left.joint_5.pos': Array(0.5633622, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107894, dtype=float32), 'right.joint_1.pos': Array(1.2518599, dtype=float32), 'right.joint_2.pos': Array(0.9047216, dtype=float32), 'right.joint_3.pos': Array(-1.2044623, dtype=float32), 'right.joint_4.pos': Array(-0.01592097, dtype=float32), 'right.joint_5.pos': Array(0.33194605, dtype=float32), 'right.gripper.pos': Array(-0.00081068, dtype=float32)}
+2025y-06m-25d-12h-15m-26s DEBUG: 🦾 Setting right arm positions: [Array(1.9107894, dtype=float32), Array(1.2518599, dtype=float32), Array(0.9047216, dtype=float32), Array(-1.2044623, dtype=float32), Array(-0.01592097, dtype=float32), Array(0.33194605, dtype=float32), Array(-0.00081068, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-15m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.0000381469726562 1.9107893705368042
+2025y-06m-25d-12h-15m-26s ERROR: 🦾❌ Right arm position mismatch: right.joint_0 1.0000381469726562 1.9107893705368042
+2025y-06m-25d-12h-15m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 0.09937438368797302 1.2518599033355713
+2025y-06m-25d-12h-15m-26s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 0.09937438368797302 1.2518599033355713
+2025y-06m-25d-12h-15m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.499542236328125 0.9047216176986694
+2025y-06m-25d-12h-15m-26s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.499542236328125 0.9047216176986694
+2025y-06m-25d-12h-15m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.2006943225860596 -1.2044622898101807
+2025y-06m-25d-12h-15m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 0.00019073777366429567 -0.0159209743142128
+2025y-06m-25d-12h-15m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 0.00019073777366429567 0.3319460451602936
+2025y-06m-25d-12h-15m-26s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 0.00019073777366429567 0.3319460451602936
+2025y-06m-25d-12h-15m-26s WARNING: 🦾❌ Failed to set right arm positions: 
+<class 'ValueError'>:
+right arm joints mismatch
+No error
+2025y-06m-25d-12h-15m-26s DEBUG: 🦾 Setting left arm positions: [Array(-1.000905, dtype=float32), Array(1.3003037, dtype=float32), Array(0.91813546, dtype=float32), Array(-1.1688577, dtype=float32), Array(-0.00696559, dtype=float32), Array(0.5633622, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-15m-28s DEBUG: RealSenseCamera(230422273017) read took: 2004.2ms
+2025y-06m-25d-12h-15m-28s DEBUG: RealSenseCamera(218622278376) read took: 2005.1ms
+2025y-06m-25d-12h-15m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-15m-28s DEBUG: RealSenseCamera(230422273017) read took: 1.0ms
+2025y-06m-25d-12h-15m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 -0.008201723918318748 -0.006965594831854105
+2025y-06m-25d-12h-15m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-28s DEBUG: pose_idx: 1/64
+2025y-06m-25d-12h-15m-28s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-15m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0007442, dtype=float32), 'left.joint_1.pos': Array(1.3098856, dtype=float32), 'left.joint_2.pos': Array(0.8762222, dtype=float32), 'left.joint_3.pos': Array(-1.1182876, dtype=float32), 'left.joint_4.pos': Array(-0.0068263, dtype=float32), 'left.joint_5.pos': Array(0.5635261, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107784, dtype=float32), 'right.joint_1.pos': Array(1.2521924, dtype=float32), 'right.joint_2.pos': Array(0.90235174, dtype=float32), 'right.joint_3.pos': Array(-1.2017953, dtype=float32), 'right.joint_4.pos': Array(-0.01592975, dtype=float32), 'right.joint_5.pos': Array(0.33193454, dtype=float32), 'right.gripper.pos': Array(-0.0008107, dtype=float32)}
+2025y-06m-25d-12h-15m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.9107784, dtype=float32), Array(1.2521924, dtype=float32), Array(0.90235174, dtype=float32), Array(-1.2017953, dtype=float32), Array(-0.01592975, dtype=float32), Array(0.33193454, dtype=float32), Array(-0.0008107, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-15m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9050507545471191 0.9023517370223999
+2025y-06m-25d-12h-15m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.2045090198516846 -1.2017953395843506
+2025y-06m-25d-12h-15m-28s DEBUG: 🦾 Setting left arm positions: [Array(-1.0007442, dtype=float32), Array(1.3098856, dtype=float32), Array(0.8762222, dtype=float32), Array(-1.1182876, dtype=float32), Array(-0.0068263, dtype=float32), Array(0.5635261, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 2005.1ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 2006.1ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-30s DEBUG: pose_idx: 2/64
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.999997, dtype=float32), 'left.joint_1.pos': Array(1.308833, dtype=float32), 'left.joint_2.pos': Array(0.8754607, dtype=float32), 'left.joint_3.pos': Array(-1.1185925, dtype=float32), 'left.joint_4.pos': Array(-0.00685339, dtype=float32), 'left.joint_5.pos': Array(0.56425285, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107676, dtype=float32), 'right.joint_1.pos': Array(1.2525322, dtype=float32), 'right.joint_2.pos': Array(0.8999865, dtype=float32), 'right.joint_3.pos': Array(-1.1991253, dtype=float32), 'right.joint_4.pos': Array(-0.01593862, dtype=float32), 'right.joint_5.pos': Array(0.33192316, dtype=float32), 'right.gripper.pos': Array(-0.00081071, dtype=float32)}
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9107676, dtype=float32), Array(1.2525322, dtype=float32), Array(0.8999865, dtype=float32), Array(-1.1991253, dtype=float32), Array(-0.01593862, dtype=float32), Array(0.33192316, dtype=float32), Array(-0.00081071, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9027618765830994 0.8999865055084229
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.201838731765747 -1.1991252899169922
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.999997, dtype=float32), Array(1.308833, dtype=float32), Array(0.8754607, dtype=float32), Array(-1.1185925, dtype=float32), Array(-0.00685339, dtype=float32), Array(0.56425285, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 105.4ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 106.2ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-30s DEBUG: pose_idx: 3/64
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9996228, dtype=float32), 'left.joint_1.pos': Array(1.3083066, dtype=float32), 'left.joint_2.pos': Array(0.8750807, dtype=float32), 'left.joint_3.pos': Array(-1.1187459, dtype=float32), 'left.joint_4.pos': Array(-0.00686708, dtype=float32), 'left.joint_5.pos': Array(0.56461704, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107562, dtype=float32), 'right.joint_1.pos': Array(1.2528801, dtype=float32), 'right.joint_2.pos': Array(0.89762557, dtype=float32), 'right.joint_3.pos': Array(-1.1964517, dtype=float32), 'right.joint_4.pos': Array(-0.01594742, dtype=float32), 'right.joint_5.pos': Array(0.3319115, dtype=float32), 'right.gripper.pos': Array(-0.00081073, dtype=float32)}
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9107562, dtype=float32), Array(1.2528801, dtype=float32), Array(0.89762557, dtype=float32), Array(-1.1964517, dtype=float32), Array(-0.01594742, dtype=float32), Array(0.3319115, dtype=float32), Array(-0.00081073, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8997100591659546 0.8976255655288696
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.200312852859497 -1.1964516639709473
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.9996228, dtype=float32), Array(1.3083066, dtype=float32), Array(0.8750807, dtype=float32), Array(-1.1187459, dtype=float32), Array(-0.00686708, dtype=float32), Array(0.56461704, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 106.1ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 107.1ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3097963333129883 1.3083065748214722
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-30s DEBUG: pose_idx: 4/64
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9994763, dtype=float32), 'left.joint_1.pos': Array(1.306906, dtype=float32), 'left.joint_2.pos': Array(0.87407124, dtype=float32), 'left.joint_3.pos': Array(-1.1191554, dtype=float32), 'left.joint_4.pos': Array(-0.00688261, dtype=float32), 'left.joint_5.pos': Array(0.5647551, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107451, dtype=float32), 'right.joint_1.pos': Array(1.2532355, dtype=float32), 'right.joint_2.pos': Array(0.8952691, dtype=float32), 'right.joint_3.pos': Array(-1.1937749, dtype=float32), 'right.joint_4.pos': Array(-0.0159562, dtype=float32), 'right.joint_5.pos': Array(0.3318998, dtype=float32), 'right.gripper.pos': Array(-0.00081074, dtype=float32)}
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 4.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9107451, dtype=float32), Array(1.2532355, dtype=float32), Array(0.8952691, dtype=float32), Array(-1.1937749, dtype=float32), Array(-0.0159562, dtype=float32), Array(0.3318998, dtype=float32), Array(-0.00081074, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2521934509277344 1.2532354593276978
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8981841802597046 0.8952690958976746
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1957350969314575 -1.193774938583374
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.9994763, dtype=float32), Array(1.306906, dtype=float32), Array(0.87407124, dtype=float32), Array(-1.1191554, dtype=float32), Array(-0.00688261, dtype=float32), Array(0.5647551, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 106.3ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 103.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3082703351974487 1.30690598487854
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-30s DEBUG: pose_idx: 5/64
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.99910223, dtype=float32), 'left.joint_1.pos': Array(1.3063797, dtype=float32), 'left.joint_2.pos': Array(0.8736921, dtype=float32), 'left.joint_3.pos': Array(-1.1193097, dtype=float32), 'left.joint_4.pos': Array(-0.00689688, dtype=float32), 'left.joint_5.pos': Array(0.56511873, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108467, dtype=float32), 'right.joint_1.pos': Array(1.2535084, dtype=float32), 'right.joint_2.pos': Array(0.8928645, dtype=float32), 'right.joint_3.pos': Array(-1.1910899, dtype=float32), 'right.joint_4.pos': Array(-0.0159072, dtype=float32), 'right.joint_5.pos': Array(0.332016, dtype=float32), 'right.gripper.pos': Array(-0.00080996, dtype=float32)}
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9108467, dtype=float32), Array(1.2535084, dtype=float32), Array(0.8928645, dtype=float32), Array(-1.1910899, dtype=float32), Array(-0.0159072, dtype=float32), Array(0.332016, dtype=float32), Array(-0.00080996, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8955138325691223 0.8928645253181458
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1942092180252075 -1.1910898685455322
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.99910223, dtype=float32), Array(1.3063797, dtype=float32), Array(0.8736921, dtype=float32), Array(-1.1193097, dtype=float32), Array(-0.00689688, dtype=float32), Array(0.56511873, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 105.2ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 105.4ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-30s DEBUG: pose_idx: 6/64
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9989535, dtype=float32), 'left.joint_1.pos': Array(1.3049781, dtype=float32), 'left.joint_2.pos': Array(0.8726842, dtype=float32), 'left.joint_3.pos': Array(-1.1197214, dtype=float32), 'left.joint_4.pos': Array(-0.0069122, dtype=float32), 'left.joint_5.pos': Array(0.5652595, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910723, dtype=float32), 'right.joint_1.pos': Array(1.2539686, dtype=float32), 'right.joint_2.pos': Array(0.89056927, dtype=float32), 'right.joint_3.pos': Array(-1.1884118, dtype=float32), 'right.joint_4.pos': Array(-0.01597385, dtype=float32), 'right.joint_5.pos': Array(0.3318765, dtype=float32), 'right.gripper.pos': Array(-0.00081078, dtype=float32)}
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.910723, dtype=float32), Array(1.2539686, dtype=float32), Array(0.89056927, dtype=float32), Array(-1.1884118, dtype=float32), Array(-0.01597385, dtype=float32), Array(0.3318765, dtype=float32), Array(-0.00081078, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2529563903808594 1.253968596458435
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.892080545425415 0.890569269657135
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.191157341003418 -1.188411831855774
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.9989535, dtype=float32), Array(1.3049781, dtype=float32), Array(0.8726842, dtype=float32), Array(-1.1197214, dtype=float32), Array(-0.0069122, dtype=float32), Array(0.5652595, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 104.7ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 104.8ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3059815168380737 1.3049781322479248
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-30s DEBUG: pose_idx: 7/64
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9991826, dtype=float32), 'left.joint_1.pos': Array(1.3041024, dtype=float32), 'left.joint_2.pos': Array(0.8720565, dtype=float32), 'left.joint_3.pos': Array(-1.1199806, dtype=float32), 'left.joint_4.pos': Array(-0.00691432, dtype=float32), 'left.joint_5.pos': Array(0.5650325, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107119, dtype=float32), 'right.joint_1.pos': Array(1.2543468, dtype=float32), 'right.joint_2.pos': Array(0.8882263, dtype=float32), 'right.joint_3.pos': Array(-1.1857259, dtype=float32), 'right.joint_4.pos': Array(-0.01598262, dtype=float32), 'right.joint_5.pos': Array(0.33186522, dtype=float32), 'right.gripper.pos': Array(-0.0008108, dtype=float32)}
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9107119, dtype=float32), Array(1.2543468, dtype=float32), Array(0.8882263, dtype=float32), Array(-1.1857259, dtype=float32), Array(-0.01598262, dtype=float32), Array(0.33186522, dtype=float32), Array(-0.0008108, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2533378601074219 1.2543468475341797
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8901731967926025 0.8882262706756592
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1884870529174805 -1.1857259273529053
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.9991826, dtype=float32), Array(1.3041024, dtype=float32), Array(0.8720565, dtype=float32), Array(-1.1199806, dtype=float32), Array(-0.00691432, dtype=float32), Array(0.5650325, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 107.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 107.6ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-30s DEBUG: pose_idx: 8/64
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.99941164, dtype=float32), 'left.joint_1.pos': Array(1.3032267, dtype=float32), 'left.joint_2.pos': Array(0.8714292, dtype=float32), 'left.joint_3.pos': Array(-1.1202404, dtype=float32), 'left.joint_4.pos': Array(-0.00691628, dtype=float32), 'left.joint_5.pos': Array(0.5648055, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107008, dtype=float32), 'right.joint_1.pos': Array(1.2547324, dtype=float32), 'right.joint_2.pos': Array(0.8858871, dtype=float32), 'right.joint_3.pos': Array(-1.1830359, dtype=float32), 'right.joint_4.pos': Array(-0.0159914, dtype=float32), 'right.joint_5.pos': Array(0.33185327, dtype=float32), 'right.gripper.pos': Array(-0.00081082, dtype=float32)}
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9107008, dtype=float32), Array(1.2547324, dtype=float32), Array(0.8858871, dtype=float32), Array(-1.1830359, dtype=float32), Array(-0.0159914, dtype=float32), Array(0.33185327, dtype=float32), Array(-0.00081082, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2537193298339844 1.254732370376587
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8878843188285828 0.885887086391449
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.185816764831543 -1.1830358505249023
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.99941164, dtype=float32), Array(1.3032267, dtype=float32), Array(0.8714292, dtype=float32), Array(-1.1202404, dtype=float32), Array(-0.00691628, dtype=float32), Array(0.5648055, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 106.7ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 107.4ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 1.1ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8703364729881287 0.8714292049407959
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-30s DEBUG: pose_idx: 9/64
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: RealSenseCamera(230422273017) read took: 4.0ms
+2025y-06m-25d-12h-15m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9996426, dtype=float32), 'left.joint_1.pos': Array(1.3023514, dtype=float32), 'left.joint_2.pos': Array(0.8708026, dtype=float32), 'left.joint_3.pos': Array(-1.1205006, dtype=float32), 'left.joint_4.pos': Array(-0.00691883, dtype=float32), 'left.joint_5.pos': Array(0.5645761, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107988, dtype=float32), 'right.joint_1.pos': Array(1.2550377, dtype=float32), 'right.joint_2.pos': Array(0.88350093, dtype=float32), 'right.joint_3.pos': Array(-1.1803377, dtype=float32), 'right.joint_4.pos': Array(-0.01594412, dtype=float32), 'right.joint_5.pos': Array(0.33196527, dtype=float32), 'right.gripper.pos': Array(-0.00081006, dtype=float32)}
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9107988, dtype=float32), Array(1.2550377, dtype=float32), Array(0.88350093, dtype=float32), Array(-1.1803377, dtype=float32), Array(-0.01594412, dtype=float32), Array(0.33196527, dtype=float32), Array(-0.00081006, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8852140307426453 0.8835009336471558
+2025y-06m-25d-12h-15m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.183146357536316 -1.18033766746521
+2025y-06m-25d-12h-15m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.9996426, dtype=float32), Array(1.3023514, dtype=float32), Array(0.8708026, dtype=float32), Array(-1.1205006, dtype=float32), Array(-0.00691883, dtype=float32), Array(0.5645761, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 107.1ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-31s DEBUG: pose_idx: 10/64
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.99987155, dtype=float32), 'left.joint_1.pos': Array(1.3014747, dtype=float32), 'left.joint_2.pos': Array(0.87017626, dtype=float32), 'left.joint_3.pos': Array(-1.120762, dtype=float32), 'left.joint_4.pos': Array(-0.00692035, dtype=float32), 'left.joint_5.pos': Array(0.5643494, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106784, dtype=float32), 'right.joint_1.pos': Array(1.2555268, dtype=float32), 'right.joint_2.pos': Array(0.8812228, dtype=float32), 'right.joint_3.pos': Array(-1.1776468, dtype=float32), 'right.joint_4.pos': Array(-0.01600935, dtype=float32), 'right.joint_5.pos': Array(0.33182967, dtype=float32), 'right.gripper.pos': Array(-0.00081087, dtype=float32)}
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.9106784, dtype=float32), Array(1.2555268, dtype=float32), Array(0.8812228, dtype=float32), Array(-1.1776468, dtype=float32), Array(-0.01600935, dtype=float32), Array(0.33182967, dtype=float32), Array(-0.00081087, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.883306622505188 0.8812227845191956
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.180857539176941 -1.1776467561721802
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting left arm positions: [Array(-0.99987155, dtype=float32), Array(1.3014747, dtype=float32), Array(0.87017626, dtype=float32), Array(-1.120762, dtype=float32), Array(-0.00692035, dtype=float32), Array(0.5643494, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 110.4ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 110.2ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-31s DEBUG: pose_idx: 11/64
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0007118, dtype=float32), 'left.joint_1.pos': Array(1.3002498, dtype=float32), 'left.joint_2.pos': Array(0.8693031, dtype=float32), 'left.joint_3.pos': Array(-1.1211295, dtype=float32), 'left.joint_4.pos': Array(-0.006911, dtype=float32), 'left.joint_5.pos': Array(0.5635233, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107748, dtype=float32), 'right.joint_1.pos': Array(1.2558485, dtype=float32), 'right.joint_2.pos': Array(0.8788455, dtype=float32), 'right.joint_3.pos': Array(-1.1749417, dtype=float32), 'right.joint_4.pos': Array(-0.01596265, dtype=float32), 'right.joint_5.pos': Array(0.33193985, dtype=float32), 'right.gripper.pos': Array(-0.00081012, dtype=float32)}
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.9107748, dtype=float32), Array(1.2558485, dtype=float32), Array(0.8788455, dtype=float32), Array(-1.1749417, dtype=float32), Array(-0.01596265, dtype=float32), Array(0.33193985, dtype=float32), Array(-0.00081012, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8821622133255005 0.8788455128669739
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1774243116378784 -1.1749416589736938
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.0007118, dtype=float32), Array(1.3002498, dtype=float32), Array(0.8693031, dtype=float32), Array(-1.1211295, dtype=float32), Array(-0.006911, dtype=float32), Array(0.5635233, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 111.5ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.9ms
+2025y-06m-25d-12h-15m-31s DEBUG: pose_idx: 12/64
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 5.3ms
+2025y-06m-25d-12h-15m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0009423, dtype=float32), 'left.joint_1.pos': Array(1.2993733, dtype=float32), 'left.joint_2.pos': Array(0.8686779, dtype=float32), 'left.joint_3.pos': Array(-1.1213921, dtype=float32), 'left.joint_4.pos': Array(-0.00691244, dtype=float32), 'left.joint_5.pos': Array(0.563295, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910656, dtype=float32), 'right.joint_1.pos': Array(1.2563524, dtype=float32), 'right.joint_2.pos': Array(0.8765762, dtype=float32), 'right.joint_3.pos': Array(-1.1722444, dtype=float32), 'right.joint_4.pos': Array(-0.01602681, dtype=float32), 'right.joint_5.pos': Array(0.3318059, dtype=float32), 'right.gripper.pos': Array(-0.00081092, dtype=float32)}
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.910656, dtype=float32), Array(1.2563524, dtype=float32), Array(0.8765762, dtype=float32), Array(-1.1722444, dtype=float32), Array(-0.01602681, dtype=float32), Array(0.3318059, dtype=float32), Array(-0.00081092, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8783474564552307 0.8765761852264404
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1751353740692139 -1.1722444295883179
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.0009423, dtype=float32), Array(1.2993733, dtype=float32), Array(0.8686779, dtype=float32), Array(-1.1213921, dtype=float32), Array(-0.00691244, dtype=float32), Array(0.563295, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 104.7ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 108.2ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-31s DEBUG: pose_idx: 13/64
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0011748, dtype=float32), 'left.joint_1.pos': Array(1.2984958, dtype=float32), 'left.joint_2.pos': Array(0.86805373, dtype=float32), 'left.joint_3.pos': Array(-1.1216565, dtype=float32), 'left.joint_4.pos': Array(-0.00691448, dtype=float32), 'left.joint_5.pos': Array(0.563065, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106447, dtype=float32), 'right.joint_1.pos': Array(1.2567767, dtype=float32), 'right.joint_2.pos': Array(0.8742597, dtype=float32), 'right.joint_3.pos': Array(-1.1695381, dtype=float32), 'right.joint_4.pos': Array(-0.01603584, dtype=float32), 'right.joint_5.pos': Array(0.3317941, dtype=float32), 'right.gripper.pos': Array(-0.00081094, dtype=float32)}
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.9106447, dtype=float32), Array(1.2567767, dtype=float32), Array(0.8742597, dtype=float32), Array(-1.1695381, dtype=float32), Array(-0.01603584, dtype=float32), Array(0.3317941, dtype=float32), Array(-0.00081094, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8760585784912109 0.8742597103118896
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1717021465301514 -1.169538140296936
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.0011748, dtype=float32), Array(1.2984958, dtype=float32), Array(0.86805373, dtype=float32), Array(-1.1216565, dtype=float32), Array(-0.00691448, dtype=float32), Array(0.563065, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 111.1ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-31s DEBUG: pose_idx: 14/64
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0020194, dtype=float32), 'left.joint_1.pos': Array(1.2972702, dtype=float32), 'left.joint_2.pos': Array(0.8671832, dtype=float32), 'left.joint_3.pos': Array(-1.1220272, dtype=float32), 'left.joint_4.pos': Array(-0.00690494, dtype=float32), 'left.joint_5.pos': Array(0.5622345, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.910739, dtype=float32), 'right.joint_1.pos': Array(1.2571224, dtype=float32), 'right.joint_2.pos': Array(0.87189627, dtype=float32), 'right.joint_3.pos': Array(-1.166823, dtype=float32), 'right.joint_4.pos': Array(-0.01599036, dtype=float32), 'right.joint_5.pos': Array(0.33190176, dtype=float32), 'right.gripper.pos': Array(-0.00081021, dtype=float32)}
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.910739, dtype=float32), Array(1.2571224, dtype=float32), Array(0.87189627, dtype=float32), Array(-1.166823, dtype=float32), Array(-0.01599036, dtype=float32), Array(0.33190176, dtype=float32), Array(-0.00081021, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8737697601318359 0.8718962669372559
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1697947978973389 -1.1668230295181274
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.0020194, dtype=float32), Array(1.2972702, dtype=float32), Array(0.8671832, dtype=float32), Array(-1.1220272, dtype=float32), Array(-0.00690494, dtype=float32), Array(0.5622345, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 110.4ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 1.5ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-31s DEBUG: pose_idx: 15/64
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 2.7ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0026289, dtype=float32), 'left.joint_1.pos': Array(1.2969223, dtype=float32), 'left.joint_2.pos': Array(0.866937, dtype=float32), 'left.joint_3.pos': Array(-1.122133, dtype=float32), 'left.joint_4.pos': Array(-0.00689233, dtype=float32), 'left.joint_5.pos': Array(0.5616376, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910622, dtype=float32), 'right.joint_1.pos': Array(1.2576491, dtype=float32), 'right.joint_2.pos': Array(0.86963975, dtype=float32), 'right.joint_3.pos': Array(-1.1641154, dtype=float32), 'right.joint_4.pos': Array(-0.01605369, dtype=float32), 'right.joint_5.pos': Array(0.33177, dtype=float32), 'right.gripper.pos': Array(-0.00081099, dtype=float32)}
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 5.6ms
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.910622, dtype=float32), Array(1.2576491, dtype=float32), Array(0.86963975, dtype=float32), Array(-1.1641154, dtype=float32), Array(-0.01605369, dtype=float32), Array(0.33177, dtype=float32), Array(-0.00081099, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8714808821678162 0.8696397542953491
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1663614511489868 -1.1641154289245605
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.0026289, dtype=float32), Array(1.2969223, dtype=float32), Array(0.866937, dtype=float32), Array(-1.122133, dtype=float32), Array(-0.00689233, dtype=float32), Array(0.5616376, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 102.7ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 1.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 108.2ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-31s DEBUG: pose_idx: 16/64
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0038528, dtype=float32), 'left.joint_1.pos': Array(1.2962267, dtype=float32), 'left.joint_2.pos': Array(0.8664456, dtype=float32), 'left.joint_3.pos': Array(-1.122346, dtype=float32), 'left.joint_4.pos': Array(-0.00686831, dtype=float32), 'left.joint_5.pos': Array(0.5604386, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106106, dtype=float32), 'right.joint_1.pos': Array(1.2580973, dtype=float32), 'right.joint_2.pos': Array(0.86733675, dtype=float32), 'right.joint_3.pos': Array(-1.1613991, dtype=float32), 'right.joint_4.pos': Array(-0.01606267, dtype=float32), 'right.joint_5.pos': Array(0.33175793, dtype=float32), 'right.gripper.pos': Array(-0.00081102, dtype=float32)}
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.9106106, dtype=float32), Array(1.2580973, dtype=float32), Array(0.86733675, dtype=float32), Array(-1.1613991, dtype=float32), Array(-0.01606267, dtype=float32), Array(0.33175793, dtype=float32), Array(-0.00081102, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8691920638084412 0.8673367500305176
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1636911630630493 -1.1613991260528564
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.0038528, dtype=float32), Array(1.2962267, dtype=float32), Array(0.8664456, dtype=float32), Array(-1.122346, dtype=float32), Array(-0.00686831, dtype=float32), Array(0.5604386, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-31s DEBUG: pose_idx: 17/64
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0044668, dtype=float32), 'left.joint_1.pos': Array(1.2958798, dtype=float32), 'left.joint_2.pos': Array(0.8662003, dtype=float32), 'left.joint_3.pos': Array(-1.122452, dtype=float32), 'left.joint_4.pos': Array(-0.0068567, dtype=float32), 'left.joint_5.pos': Array(0.55983675, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107028, dtype=float32), 'right.joint_1.pos': Array(1.2584674, dtype=float32), 'right.joint_2.pos': Array(0.86498666, dtype=float32), 'right.joint_3.pos': Array(-1.1586729, dtype=float32), 'right.joint_4.pos': Array(-0.01601834, dtype=float32), 'right.joint_5.pos': Array(0.33186334, dtype=float32), 'right.gripper.pos': Array(-0.00081031, dtype=float32)}
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.9107028, dtype=float32), Array(1.2584674, dtype=float32), Array(0.86498666, dtype=float32), Array(-1.1586729, dtype=float32), Array(-0.01601834, dtype=float32), Array(0.33186334, dtype=float32), Array(-0.00081031, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8672846555709839 0.8649866580963135
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1617838144302368 -1.1586729288101196
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.0044668, dtype=float32), Array(1.2958798, dtype=float32), Array(0.8662003, dtype=float32), Array(-1.122452, dtype=float32), Array(-0.0068567, dtype=float32), Array(0.55983675, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 109.1ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-31s DEBUG: pose_idx: 18/64
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(218622278376) read took: 3.7ms
+2025y-06m-25d-12h-15m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0056921, dtype=float32), 'left.joint_1.pos': Array(1.2951864, dtype=float32), 'left.joint_2.pos': Array(0.8657104, dtype=float32), 'left.joint_3.pos': Array(-1.1226642, dtype=float32), 'left.joint_4.pos': Array(-0.006832, dtype=float32), 'left.joint_5.pos': Array(0.5586368, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105877, dtype=float32), 'right.joint_1.pos': Array(1.2590169, dtype=float32), 'right.joint_2.pos': Array(0.8627436, dtype=float32), 'right.joint_3.pos': Array(-1.1559553, dtype=float32), 'right.joint_4.pos': Array(-0.01608064, dtype=float32), 'right.joint_5.pos': Array(0.33173394, dtype=float32), 'right.gripper.pos': Array(-0.00081108, dtype=float32)}
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.9105877, dtype=float32), Array(1.2590169, dtype=float32), Array(0.8627436, dtype=float32), Array(-1.1559553, dtype=float32), Array(-0.01608064, dtype=float32), Array(0.33173394, dtype=float32), Array(-0.00081108, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-31s DEBUG: RealSenseCamera(230422273017) read took: 7.7ms
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2579156160354614 1.2590168714523315
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8653773069381714 0.862743616104126
+2025y-06m-25d-12h-15m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1583504676818848 -1.1559553146362305
+2025y-06m-25d-12h-15m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.0056921, dtype=float32), Array(1.2951864, dtype=float32), Array(0.8657104, dtype=float32), Array(-1.1226642, dtype=float32), Array(-0.006832, dtype=float32), Array(0.5586368, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 102.5ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 105.9ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-32s DEBUG: pose_idx: 19/64
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0069201, dtype=float32), 'left.joint_1.pos': Array(1.2944939, dtype=float32), 'left.joint_2.pos': Array(0.8652219, dtype=float32), 'left.joint_3.pos': Array(-1.1228765, dtype=float32), 'left.joint_4.pos': Array(-0.00680775, dtype=float32), 'left.joint_5.pos': Array(0.5574338, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105762, dtype=float32), 'right.joint_1.pos': Array(1.2594888, dtype=float32), 'right.joint_2.pos': Array(0.860454, dtype=float32), 'right.joint_3.pos': Array(-1.1532286, dtype=float32), 'right.joint_4.pos': Array(-0.01608971, dtype=float32), 'right.joint_5.pos': Array(0.33172187, dtype=float32), 'right.gripper.pos': Array(-0.00081111, dtype=float32)}
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9105762, dtype=float32), Array(1.2594888, dtype=float32), Array(0.860454, dtype=float32), Array(-1.1532286, dtype=float32), Array(-0.01608971, dtype=float32), Array(0.33172187, dtype=float32), Array(-0.00081111, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8627069592475891 0.8604540228843689
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1560616493225098 -1.1532286405563354
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.0069201, dtype=float32), Array(1.2944939, dtype=float32), Array(0.8652219, dtype=float32), Array(-1.1228765, dtype=float32), Array(-0.00680775, dtype=float32), Array(0.5574338, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 111.7ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 110.7ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-32s DEBUG: pose_idx: 20/64
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0079108, dtype=float32), 'left.joint_1.pos': Array(1.2946807, dtype=float32), 'left.joint_2.pos': Array(0.8653557, dtype=float32), 'left.joint_3.pos': Array(-1.1228211, dtype=float32), 'left.joint_4.pos': Array(-0.0067823, dtype=float32), 'left.joint_5.pos': Array(0.55646545, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.910667, dtype=float32), 'right.joint_1.pos': Array(1.259883, dtype=float32), 'right.joint_2.pos': Array(0.85811776, dtype=float32), 'right.joint_3.pos': Array(-1.1504928, dtype=float32), 'right.joint_4.pos': Array(-0.01604608, dtype=float32), 'right.joint_5.pos': Array(0.33182496, dtype=float32), 'right.gripper.pos': Array(-0.00081041, dtype=float32)}
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.910667, dtype=float32), Array(1.259883, dtype=float32), Array(0.85811776, dtype=float32), Array(-1.1504928, dtype=float32), Array(-0.01604608, dtype=float32), Array(0.33182496, dtype=float32), Array(-0.00081041, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8600366115570068 0.8581177592277527
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1530098915100098 -1.150492787361145
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.0079108, dtype=float32), Array(1.2946807, dtype=float32), Array(0.8653557, dtype=float32), Array(-1.1228211, dtype=float32), Array(-0.0067823, dtype=float32), Array(0.55646545, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-32s DEBUG: pose_idx: 21/64
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0091416, dtype=float32), 'left.joint_1.pos': Array(1.2939907, dtype=float32), 'left.joint_2.pos': Array(0.86486936, dtype=float32), 'left.joint_3.pos': Array(-1.1230333, dtype=float32), 'left.joint_4.pos': Array(-0.00675789, dtype=float32), 'left.joint_5.pos': Array(0.55526, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 5.5ms
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 6.9ms
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8577477931976318 0.8558371663093567
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1507209539413452 -1.147758960723877
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.0091416, dtype=float32), Array(1.2939907, dtype=float32), Array(0.86486936, dtype=float32), Array(-1.1230333, dtype=float32), Array(-0.00675789, dtype=float32), Array(0.55526, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 101.9ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 103.2ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-32s DEBUG: pose_idx: 22/64
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0101314, dtype=float32), 'left.joint_1.pos': Array(1.2941791, dtype=float32), 'left.joint_2.pos': Array(0.86500424, dtype=float32), 'left.joint_3.pos': Array(-1.1229773, dtype=float32), 'left.joint_4.pos': Array(-0.00673185, dtype=float32), 'left.joint_5.pos': Array(0.55429304, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.0101314, dtype=float32), Array(1.2941791, dtype=float32), Array(0.86500424, dtype=float32), Array(-1.1229773, dtype=float32), Array(-0.00673185, dtype=float32), Array(0.55429304, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 107.9ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 108.6ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-32s DEBUG: pose_idx: 23/64
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0111197, dtype=float32), 'left.joint_1.pos': Array(1.2943683, dtype=float32), 'left.joint_2.pos': Array(0.8651397, dtype=float32), 'left.joint_3.pos': Array(-1.1229206, dtype=float32), 'left.joint_4.pos': Array(-0.00670543, dtype=float32), 'left.joint_5.pos': Array(0.5533276, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.0111197, dtype=float32), Array(1.2943683, dtype=float32), Array(0.8651397, dtype=float32), Array(-1.1229206, dtype=float32), Array(-0.00670543, dtype=float32), Array(0.5533276, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 109.3ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 111.1ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-32s DEBUG: pose_idx: 24/64
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0121095, dtype=float32), 'left.joint_1.pos': Array(1.2945585, dtype=float32), 'left.joint_2.pos': Array(0.865276, dtype=float32), 'left.joint_3.pos': Array(-1.1228642, dtype=float32), 'left.joint_4.pos': Array(-0.00667971, dtype=float32), 'left.joint_5.pos': Array(0.5523605, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 7.1ms
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.0121095, dtype=float32), Array(1.2945585, dtype=float32), Array(0.865276, dtype=float32), Array(-1.1228642, dtype=float32), Array(-0.00667971, dtype=float32), Array(0.5523605, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 101.9ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 111.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 1.0ms
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-32s DEBUG: pose_idx: 25/64
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0130974, dtype=float32), 'left.joint_1.pos': Array(1.2947496, dtype=float32), 'left.joint_2.pos': Array(0.86541295, dtype=float32), 'left.joint_3.pos': Array(-1.1228075, dtype=float32), 'left.joint_4.pos': Array(-0.00665332, dtype=float32), 'left.joint_5.pos': Array(0.5513955, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.0130974, dtype=float32), Array(1.2947496, dtype=float32), Array(0.86541295, dtype=float32), Array(-1.1228075, dtype=float32), Array(-0.00665332, dtype=float32), Array(0.5513955, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-32s DEBUG: pose_idx: 26/64
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read state: 1.5ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0150739, dtype=float32), 'left.joint_1.pos': Array(1.2951345, dtype=float32), 'left.joint_2.pos': Array(0.8656886, dtype=float32), 'left.joint_3.pos': Array(-1.1226931, dtype=float32), 'left.joint_4.pos': Array(-0.00660182, dtype=float32), 'left.joint_5.pos': Array(0.5494643, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.0150739, dtype=float32), Array(1.2951345, dtype=float32), Array(0.8656886, dtype=float32), Array(-1.1226931, dtype=float32), Array(-0.00660182, dtype=float32), Array(0.5494643, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 111.4ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 111.3ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2937743663787842 1.2951345443725586
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8646143078804016 0.8656886219978333
+2025y-06m-25d-12h-15m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-32s DEBUG: pose_idx: 27/64
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0160601, dtype=float32), 'left.joint_1.pos': Array(1.2953289, dtype=float32), 'left.joint_2.pos': Array(0.8658275, dtype=float32), 'left.joint_3.pos': Array(-1.1226346, dtype=float32), 'left.joint_4.pos': Array(-0.00657563, dtype=float32), 'left.joint_5.pos': Array(0.548501, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.0160601, dtype=float32), Array(1.2953289, dtype=float32), Array(0.8658275, dtype=float32), Array(-1.1226346, dtype=float32), Array(-0.00657563, dtype=float32), Array(0.548501, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 108.9ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 108.9ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2941558361053467 1.2953288555145264
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8646143078804016 0.8658275008201599
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 1.2ms
+2025y-06m-25d-12h-15m-33s DEBUG: pose_idx: 28/64
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0164297, dtype=float32), 'left.joint_1.pos': Array(1.2958635, dtype=float32), 'left.joint_2.pos': Array(0.86620706, dtype=float32), 'left.joint_3.pos': Array(-1.1224729, dtype=float32), 'left.joint_4.pos': Array(-0.00656193, dtype=float32), 'left.joint_5.pos': Array(0.54814154, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.0164297, dtype=float32), Array(1.2958635, dtype=float32), Array(0.86620706, dtype=float32), Array(-1.1224729, dtype=float32), Array(-0.00656193, dtype=float32), Array(0.54814154, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 107.5ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.7ms
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2941558361053467 1.2958635091781616
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8646143078804016 0.8662070631980896
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-33s DEBUG: pose_idx: 29/64
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0177844, dtype=float32), 'left.joint_1.pos': Array(1.2965935, dtype=float32), 'left.joint_2.pos': Array(0.86672753, dtype=float32), 'left.joint_3.pos': Array(-1.1222534, dtype=float32), 'left.joint_4.pos': Array(-0.00652271, dtype=float32), 'left.joint_5.pos': Array(0.54681975, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.0177844, dtype=float32), Array(1.2965935, dtype=float32), Array(0.86672753, dtype=float32), Array(-1.1222534, dtype=float32), Array(-0.00652271, dtype=float32), Array(0.54681975, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 109.5ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2953002452850342 1.2965935468673706
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8649957776069641 0.8667275309562683
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-33s DEBUG: pose_idx: 30/64
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0187702, dtype=float32), 'left.joint_1.pos': Array(1.2967899, dtype=float32), 'left.joint_2.pos': Array(0.86686826, dtype=float32), 'left.joint_3.pos': Array(-1.1221951, dtype=float32), 'left.joint_4.pos': Array(-0.00649717, dtype=float32), 'left.joint_5.pos': Array(0.5458563, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.0187702, dtype=float32), Array(1.2967899, dtype=float32), Array(0.86686826, dtype=float32), Array(-1.1221951, dtype=float32), Array(-0.00649717, dtype=float32), Array(0.5458563, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 110.6ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2956817150115967 1.2967898845672607
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8649957776069641 0.866868257522583
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-33s DEBUG: pose_idx: 31/64
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 3.3ms
+2025y-06m-25d-12h-15m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0195049, dtype=float32), 'left.joint_1.pos': Array(1.2978607, dtype=float32), 'left.joint_2.pos': Array(0.8676306, dtype=float32), 'left.joint_3.pos': Array(-1.1218729, dtype=float32), 'left.joint_4.pos': Array(-0.00647014, dtype=float32), 'left.joint_5.pos': Array(0.5451418, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.0195049, dtype=float32), Array(1.2978607, dtype=float32), Array(0.8676306, dtype=float32), Array(-1.1218729, dtype=float32), Array(-0.00647014, dtype=float32), Array(0.5451418, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 106.3ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 103.2ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2960631847381592 1.2978607416152954
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8665217161178589 0.8676306009292603
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-33s DEBUG: pose_idx: 32/64
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0198708, dtype=float32), 'left.joint_1.pos': Array(1.2983966, dtype=float32), 'left.joint_2.pos': Array(0.8680123, dtype=float32), 'left.joint_3.pos': Array(-1.1217117, dtype=float32), 'left.joint_4.pos': Array(-0.00645651, dtype=float32), 'left.joint_5.pos': Array(0.5447861, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.0198708, dtype=float32), Array(1.2983966, dtype=float32), Array(0.8680123, dtype=float32), Array(-1.1217117, dtype=float32), Array(-0.00645651, dtype=float32), Array(0.5447861, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 108.4ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.5ms
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2972075939178467 1.2983965873718262
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8669031858444214 0.8680123090744019
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-33s DEBUG: pose_idx: 33/64
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.020603, dtype=float32), 'left.joint_1.pos': Array(1.2994672, dtype=float32), 'left.joint_2.pos': Array(0.86877626, dtype=float32), 'left.joint_3.pos': Array(-1.121391, dtype=float32), 'left.joint_4.pos': Array(-0.00642979, dtype=float32), 'left.joint_5.pos': Array(0.5440742, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105532, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.85588783, dtype=float32), 'right.joint_3.pos': Array(-1.1477641, dtype=float32), 'right.joint_4.pos': Array(-0.01610778, dtype=float32), 'right.joint_5.pos': Array(0.3316976, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.9105532, dtype=float32), Array(1.2604564, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(-0.01610778, dtype=float32), Array(0.3316976, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.020603, dtype=float32), Array(1.2994672, dtype=float32), Array(0.86877626, dtype=float32), Array(-1.121391, dtype=float32), Array(-0.00642979, dtype=float32), Array(0.5440742, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 108.4ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 109.1ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.54264897108078 0.5440741777420044
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09
+2025y-06m-25d-12h-15m-33s DEBUG: pose_idx: 34/64
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0213338, dtype=float32), 'left.joint_1.pos': Array(1.3005388, dtype=float32), 'left.joint_2.pos': Array(0.8695411, dtype=float32), 'left.joint_3.pos': Array(-1.1210705, dtype=float32), 'left.joint_4.pos': Array(-0.0064035, dtype=float32), 'left.joint_5.pos': Array(0.5433628, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 7.9ms
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.0213338, dtype=float32), Array(1.3005388, dtype=float32), Array(0.8695411, dtype=float32), Array(-1.1210705, dtype=float32), Array(-0.0064035, dtype=float32), Array(0.5433628, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 101.9ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 110.2ms
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5422675013542175 0.5433627963066101
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-33s DEBUG: pose_idx: 35/64
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0216985, dtype=float32), 'left.joint_1.pos': Array(1.3010743, dtype=float32), 'left.joint_2.pos': Array(0.8699245, dtype=float32), 'left.joint_3.pos': Array(-1.1209115, dtype=float32), 'left.joint_4.pos': Array(-0.00639024, dtype=float32), 'left.joint_5.pos': Array(0.543008, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.0216985, dtype=float32), Array(1.3010743, dtype=float32), Array(0.8699245, dtype=float32), Array(-1.1209115, dtype=float32), Array(-0.00639024, dtype=float32), Array(0.543008, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 110.6ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: RealSenseCamera(230422273017) read took: 110.6ms
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8688105344772339 0.8699244856834412
+2025y-06m-25d-12h-15m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-33s DEBUG: pose_idx: 36/64
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0218118, dtype=float32), 'left.joint_1.pos': Array(1.3024818, dtype=float32), 'left.joint_2.pos': Array(0.8709307, dtype=float32), 'left.joint_3.pos': Array(-1.1204921, dtype=float32), 'left.joint_4.pos': Array(-0.00637601, dtype=float32), 'left.joint_5.pos': Array(0.5429023, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.0218118, dtype=float32), Array(1.3024818, dtype=float32), Array(0.8709307, dtype=float32), Array(-1.1204921, dtype=float32), Array(-0.00637601, dtype=float32), Array(0.5429023, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 110.4ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(230422273017) read took: 111.3ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-34s DEBUG: pose_idx: 37/64
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0215609, dtype=float32), 'left.joint_1.pos': Array(1.3033531, dtype=float32), 'left.joint_2.pos': Array(0.87155414, dtype=float32), 'left.joint_3.pos': Array(-1.1202327, dtype=float32), 'left.joint_4.pos': Array(-0.00637488, dtype=float32), 'left.joint_5.pos': Array(0.54315084, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.0215609, dtype=float32), Array(1.3033531, dtype=float32), Array(0.87155414, dtype=float32), Array(-1.1202327, dtype=float32), Array(-0.00637488, dtype=float32), Array(0.54315084, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 7.3ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(230422273017) read took: 107.7ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(230422273017) read took: 2.3ms
+2025y-06m-25d-12h-15m-34s DEBUG: pose_idx: 38/64
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0213121, dtype=float32), 'left.joint_1.pos': Array(1.3042244, dtype=float32), 'left.joint_2.pos': Array(0.87217844, dtype=float32), 'left.joint_3.pos': Array(-1.1199746, dtype=float32), 'left.joint_4.pos': Array(-0.00637419, dtype=float32), 'left.joint_5.pos': Array(0.54339683, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.0213121, dtype=float32), Array(1.3042244, dtype=float32), Array(0.87217844, dtype=float32), Array(-1.1199746, dtype=float32), Array(-0.00637419, dtype=float32), Array(0.54339683, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(230422273017) read took: 107.6ms
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5422675013542175 0.5433968305587769
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-34s DEBUG: pose_idx: 39/64
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0214248, dtype=float32), 'left.joint_1.pos': Array(1.3056296, dtype=float32), 'left.joint_2.pos': Array(0.87318724, dtype=float32), 'left.joint_3.pos': Array(-1.1195596, dtype=float32), 'left.joint_4.pos': Array(-0.00635996, dtype=float32), 'left.joint_5.pos': Array(0.54329145, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.0214248, dtype=float32), Array(1.3056296, dtype=float32), Array(0.87318724, dtype=float32), Array(-1.1195596, dtype=float32), Array(-0.00635996, dtype=float32), Array(0.54329145, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-34s DEBUG: pose_idx: 40/64
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 13.1ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(230422273017) read took: 125.4ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense2: 14.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0211768, dtype=float32), 'left.joint_1.pos': Array(1.3065001, dtype=float32), 'left.joint_2.pos': Array(0.87381315, dtype=float32), 'left.joint_3.pos': Array(-1.119304, dtype=float32), 'left.joint_4.pos': Array(-0.00635924, dtype=float32), 'left.joint_5.pos': Array(0.5435369, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.0211768, dtype=float32), Array(1.3065001, dtype=float32), Array(0.87381315, dtype=float32), Array(-1.119304, dtype=float32), Array(-0.00635924, dtype=float32), Array(0.5435369, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-34s DEBUG: pose_idx: 41/64
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 23.5ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense2: 23.7ms
+2025y-06m-25d-12h-15m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0209284, dtype=float32), 'left.joint_1.pos': Array(1.3073703, dtype=float32), 'left.joint_2.pos': Array(0.87443894, dtype=float32), 'left.joint_3.pos': Array(-1.1190482, dtype=float32), 'left.joint_4.pos': Array(-0.00635834, dtype=float32), 'left.joint_5.pos': Array(0.54378265, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.0209284, dtype=float32), Array(1.3073703, dtype=float32), Array(0.87443894, dtype=float32), Array(-1.1190482, dtype=float32), Array(-0.00635834, dtype=float32), Array(0.54378265, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(230422273017) read took: 107.3ms
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.54264897108078 0.543782651424408
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-34s DEBUG: pose_idx: 42/64
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0206797, dtype=float32), 'left.joint_1.pos': Array(1.3082402, dtype=float32), 'left.joint_2.pos': Array(0.8750655, dtype=float32), 'left.joint_3.pos': Array(-1.1187935, dtype=float32), 'left.joint_4.pos': Array(-0.00635715, dtype=float32), 'left.joint_5.pos': Array(0.5440291, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.0206797, dtype=float32), Array(1.3082402, dtype=float32), Array(0.8750655, dtype=float32), Array(-1.1187935, dtype=float32), Array(-0.00635715, dtype=float32), Array(0.5440291, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 111.2ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-34s DEBUG: pose_idx: 43/64
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 11.2ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(230422273017) read took: 125.5ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense2: 11.3ms
+2025y-06m-25d-12h-15m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0204325, dtype=float32), 'left.joint_1.pos': Array(1.3091096, dtype=float32), 'left.joint_2.pos': Array(0.8756927, dtype=float32), 'left.joint_3.pos': Array(-1.1185402, dtype=float32), 'left.joint_4.pos': Array(-0.00635609, dtype=float32), 'left.joint_5.pos': Array(0.54427373, dtype=float32), 'left.gripper.pos': Array(4.841438e-08, dtype=float32), 'right.joint_0.pos': Array(1.9105564, dtype=float32), 'right.joint_1.pos': Array(1.2604553, dtype=float32), 'right.joint_2.pos': Array(0.85588664, dtype=float32), 'right.joint_3.pos': Array(-1.1477634, dtype=float32), 'right.joint_4.pos': Array(-0.01610628, dtype=float32), 'right.joint_5.pos': Array(0.33170155, dtype=float32), 'right.gripper.pos': Array(-0.00081113, dtype=float32)}
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.9105564, dtype=float32), Array(1.2604553, dtype=float32), Array(0.85588664, dtype=float32), Array(-1.1477634, dtype=float32), Array(-0.01610628, dtype=float32), Array(0.33170155, dtype=float32), Array(-0.00081113, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.0204325, dtype=float32), Array(1.3091096, dtype=float32), Array(0.8756927, dtype=float32), Array(-1.1185402, dtype=float32), Array(-0.00635609, dtype=float32), Array(0.54427373, dtype=float32), Array(4.841438e-08, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.841437828417838e-08
+2025y-06m-25d-12h-15m-34s DEBUG: pose_idx: 44/64
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 23.3ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense2: 22.5ms
+2025y-06m-25d-12h-15m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0195775, dtype=float32), 'left.joint_1.pos': Array(1.3103154, dtype=float32), 'left.joint_2.pos': Array(0.8765626, dtype=float32), 'left.joint_3.pos': Array(-1.1181887, dtype=float32), 'left.joint_4.pos': Array(-0.00636756, dtype=float32), 'left.joint_5.pos': Array(0.5451135, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106675, dtype=float32), 'right.joint_1.pos': Array(1.259859, dtype=float32), 'right.joint_2.pos': Array(0.85823196, dtype=float32), 'right.joint_3.pos': Array(-1.1506293, dtype=float32), 'right.joint_4.pos': Array(-0.01604567, dtype=float32), 'right.joint_5.pos': Array(0.33182573, dtype=float32), 'right.gripper.pos': Array(-0.00081041, dtype=float32)}
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.9106675, dtype=float32), Array(1.259859, dtype=float32), Array(0.85823196, dtype=float32), Array(-1.1506293, dtype=float32), Array(-0.01604567, dtype=float32), Array(0.33182573, dtype=float32), Array(-0.00081041, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8554589152336121 0.8582319617271423
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1480506658554077 -1.1506292819976807
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.0195775, dtype=float32), Array(1.3103154, dtype=float32), Array(0.8765626, dtype=float32), Array(-1.1181887, dtype=float32), Array(-0.00636756, dtype=float32), Array(0.5451135, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(230422273017) read took: 107.9ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 111.2ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-34s DEBUG: pose_idx: 45/64
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0189688, dtype=float32), 'left.joint_1.pos': Array(1.3106517, dtype=float32), 'left.joint_2.pos': Array(0.8768047, dtype=float32), 'left.joint_3.pos': Array(-1.1180902, dtype=float32), 'left.joint_4.pos': Array(-0.00637916, dtype=float32), 'left.joint_5.pos': Array(0.5457101, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105775, dtype=float32), 'right.joint_1.pos': Array(1.2594413, dtype=float32), 'right.joint_2.pos': Array(0.86068267, dtype=float32), 'right.joint_3.pos': Array(-1.1535014, dtype=float32), 'right.joint_4.pos': Array(-0.01608886, dtype=float32), 'right.joint_5.pos': Array(0.3317231, dtype=float32), 'right.gripper.pos': Array(-0.00081111, dtype=float32)}
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.9105775, dtype=float32), Array(1.2594413, dtype=float32), Array(0.86068267, dtype=float32), Array(-1.1535014, dtype=float32), Array(-0.01608886, dtype=float32), Array(0.3317231, dtype=float32), Array(-0.00081111, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8566033244132996 0.8606826663017273
+2025y-06m-25d-12h-15m-34s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1499580144882202 -1.1535013914108276
+2025y-06m-25d-12h-15m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.0189688, dtype=float32), Array(1.3106517, dtype=float32), Array(0.8768047, dtype=float32), Array(-1.1180902, dtype=float32), Array(-0.00637916, dtype=float32), Array(0.5457101, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(230422273017) read took: 108.9ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-35s DEBUG: pose_idx: 46/64
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0181164, dtype=float32), 'left.joint_1.pos': Array(1.3118576, dtype=float32), 'left.joint_2.pos': Array(0.8776765, dtype=float32), 'left.joint_3.pos': Array(-1.1177403, dtype=float32), 'left.joint_4.pos': Array(-0.00639013, dtype=float32), 'left.joint_5.pos': Array(0.54654765, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105892, dtype=float32), 'right.joint_1.pos': Array(1.2589469, dtype=float32), 'right.joint_2.pos': Array(0.86308753, dtype=float32), 'right.joint_3.pos': Array(-1.1563642, dtype=float32), 'right.joint_4.pos': Array(-0.0160794, dtype=float32), 'right.joint_5.pos': Array(0.33173555, dtype=float32), 'right.gripper.pos': Array(-0.00081108, dtype=float32)}
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting right arm positions: [Array(1.9105892, dtype=float32), Array(1.2589469, dtype=float32), Array(0.86308753, dtype=float32), Array(-1.1563642, dtype=float32), Array(-0.0160794, dtype=float32), Array(0.33173555, dtype=float32), Array(-0.00081108, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8592736721038818 0.86308753490448
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1530098915100098 -1.1563642024993896
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.0181164, dtype=float32), Array(1.3118576, dtype=float32), Array(0.8776765, dtype=float32), Array(-1.1177403, dtype=float32), Array(-0.00639013, dtype=float32), Array(0.54654765, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(230422273017) read took: 107.9ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 107.9ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-35s DEBUG: pose_idx: 47/64
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 2.1ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0175098, dtype=float32), 'left.joint_1.pos': Array(1.3121946, dtype=float32), 'left.joint_2.pos': Array(0.8779197, dtype=float32), 'left.joint_3.pos': Array(-1.1176422, dtype=float32), 'left.joint_4.pos': Array(-0.00640212, dtype=float32), 'left.joint_5.pos': Array(0.547142, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106013, dtype=float32), 'right.joint_1.pos': Array(1.2584615, dtype=float32), 'right.joint_2.pos': Array(0.86549723, dtype=float32), 'right.joint_3.pos': Array(-1.1592228, dtype=float32), 'right.joint_4.pos': Array(-0.01606989, dtype=float32), 'right.joint_5.pos': Array(0.33174825, dtype=float32), 'right.gripper.pos': Array(-0.00081104, dtype=float32)}
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(230422273017) read took: 6.2ms
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting right arm positions: [Array(1.9106013, dtype=float32), Array(1.2584615, dtype=float32), Array(0.86549723, dtype=float32), Array(-1.1592228, dtype=float32), Array(-0.01606989, dtype=float32), Array(0.33174825, dtype=float32), Array(-0.00081104, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8623254895210266 0.8654972314834595
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1568245887756348 -1.1592228412628174
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.0175098, dtype=float32), Array(1.3121946, dtype=float32), Array(0.8779197, dtype=float32), Array(-1.1176422, dtype=float32), Array(-0.00640212, dtype=float32), Array(0.547142, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 107.1ms
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-35s DEBUG: pose_idx: 48/64
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.016298, dtype=float32), 'left.joint_1.pos': Array(1.3128693, dtype=float32), 'left.joint_2.pos': Array(0.8784072, dtype=float32), 'left.joint_3.pos': Array(-1.1174463, dtype=float32), 'left.joint_4.pos': Array(-0.00642596, dtype=float32), 'left.joint_5.pos': Array(0.5483291, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106135, dtype=float32), 'right.joint_1.pos': Array(1.2579843, dtype=float32), 'right.joint_2.pos': Array(0.86791193, dtype=float32), 'right.joint_3.pos': Array(-1.1620783, dtype=float32), 'right.joint_4.pos': Array(-0.01606037, dtype=float32), 'right.joint_5.pos': Array(0.3317613, dtype=float32), 'right.gripper.pos': Array(-0.00081102, dtype=float32)}
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting right arm positions: [Array(1.9106135, dtype=float32), Array(1.2579843, dtype=float32), Array(0.86791193, dtype=float32), Array(-1.1620783, dtype=float32), Array(-0.01606037, dtype=float32), Array(0.3317613, dtype=float32), Array(-0.00081102, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8646143078804016 0.8679119348526001
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1591134071350098 -1.1620782613754272
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.016298, dtype=float32), Array(1.3128693, dtype=float32), Array(0.8784072, dtype=float32), Array(-1.1174463, dtype=float32), Array(-0.00642596, dtype=float32), Array(0.5483291, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-35s DEBUG: pose_idx: 49/64
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 14.2ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(230422273017) read took: 232.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense2: 15.1ms
+2025y-06m-25d-12h-15m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0156926, dtype=float32), 'left.joint_1.pos': Array(1.3132074, dtype=float32), 'left.joint_2.pos': Array(0.8786517, dtype=float32), 'left.joint_3.pos': Array(-1.1173484, dtype=float32), 'left.joint_4.pos': Array(-0.00643778, dtype=float32), 'left.joint_5.pos': Array(0.54892224, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106252, dtype=float32), 'right.joint_1.pos': Array(1.2575163, dtype=float32), 'right.joint_2.pos': Array(0.8703316, dtype=float32), 'right.joint_3.pos': Array(-1.1649295, dtype=float32), 'right.joint_4.pos': Array(-0.01605115, dtype=float32), 'right.joint_5.pos': Array(0.33177364, dtype=float32), 'right.gripper.pos': Array(-0.00081099, dtype=float32)}
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting right arm positions: [Array(1.9106252, dtype=float32), Array(1.2575163, dtype=float32), Array(0.8703316, dtype=float32), Array(-1.1649295, dtype=float32), Array(-0.01605115, dtype=float32), Array(0.33177364, dtype=float32), Array(-0.00081099, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8676661252975464 0.8703315854072571
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1629282236099243 -1.1649295091629028
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.0156926, dtype=float32), Array(1.3132074, dtype=float32), Array(0.8786517, dtype=float32), Array(-1.1173484, dtype=float32), Array(-0.00643778, dtype=float32), Array(0.54892224, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(230422273017) read took: 107.4ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 110.8ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(230422273017) read took: 0.5ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-35s DEBUG: pose_idx: 50/64
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0144842, dtype=float32), 'left.joint_1.pos': Array(1.313884, dtype=float32), 'left.joint_2.pos': Array(0.8791417, dtype=float32), 'left.joint_3.pos': Array(-1.1171532, dtype=float32), 'left.joint_4.pos': Array(-0.00646183, dtype=float32), 'left.joint_5.pos': Array(0.550106, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107431, dtype=float32), 'right.joint_1.pos': Array(1.2569703, dtype=float32), 'right.joint_2.pos': Array(0.8727048, dtype=float32), 'right.joint_3.pos': Array(-1.1677716, dtype=float32), 'right.joint_4.pos': Array(-0.01598727, dtype=float32), 'right.joint_5.pos': Array(0.33190608, dtype=float32), 'right.gripper.pos': Array(-0.0008102, dtype=float32)}
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting right arm positions: [Array(1.9107431, dtype=float32), Array(1.2569703, dtype=float32), Array(0.8727048, dtype=float32), Array(-1.1677716, dtype=float32), Array(-0.01598727, dtype=float32), Array(0.33190608, dtype=float32), Array(-0.0008102, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8695735335350037 0.872704803943634
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1652170419692993 -1.167771577835083
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.0144842, dtype=float32), Array(1.313884, dtype=float32), Array(0.8791417, dtype=float32), Array(-1.1171532, dtype=float32), Array(-0.00646183, dtype=float32), Array(0.550106, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 108.9ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(230422273017) read took: 109.4ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-15m-35s DEBUG: pose_idx: 51/64
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0138794, dtype=float32), 'left.joint_1.pos': Array(1.3142228, dtype=float32), 'left.joint_2.pos': Array(0.87938654, dtype=float32), 'left.joint_3.pos': Array(-1.1170548, dtype=float32), 'left.joint_4.pos': Array(-0.00647333, dtype=float32), 'left.joint_5.pos': Array(0.55069846, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106491, dtype=float32), 'right.joint_1.pos': Array(1.2566061, dtype=float32), 'right.joint_2.pos': Array(0.87518555, dtype=float32), 'right.joint_3.pos': Array(-1.1706208, dtype=float32), 'right.joint_4.pos': Array(-0.01603231, dtype=float32), 'right.joint_5.pos': Array(0.3317988, dtype=float32), 'right.gripper.pos': Array(-0.00081093, dtype=float32)}
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting right arm positions: [Array(1.9106491, dtype=float32), Array(1.2566061, dtype=float32), Array(0.87518555, dtype=float32), Array(-1.1706208, dtype=float32), Array(-0.01603231, dtype=float32), Array(0.3317988, dtype=float32), Array(-0.00081093, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8718623518943787 0.8751855492591858
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1678873300552368 -1.1706207990646362
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.0138794, dtype=float32), Array(1.3142228, dtype=float32), Array(0.87938654, dtype=float32), Array(-1.1170548, dtype=float32), Array(-0.00647333, dtype=float32), Array(0.55069846, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(230422273017) read took: 110.4ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 1.6ms
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-35s DEBUG: pose_idx: 52/64
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(230422273017) read took: 3.8ms
+2025y-06m-25d-12h-15m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0123078, dtype=float32), 'left.joint_1.pos': Array(1.3143717, dtype=float32), 'left.joint_2.pos': Array(0.879492, dtype=float32), 'left.joint_3.pos': Array(-1.1170099, dtype=float32), 'left.joint_4.pos': Array(-0.00650983, dtype=float32), 'left.joint_5.pos': Array(0.5522358, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910661, dtype=float32), 'right.joint_1.pos': Array(1.2561642, dtype=float32), 'right.joint_2.pos': Array(0.8776202, dtype=float32), 'right.joint_3.pos': Array(-1.173461, dtype=float32), 'right.joint_4.pos': Array(-0.01602288, dtype=float32), 'right.joint_5.pos': Array(0.33181128, dtype=float32), 'right.gripper.pos': Array(-0.00081091, dtype=float32)}
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting right arm positions: [Array(1.910661, dtype=float32), Array(1.2561642, dtype=float32), Array(0.8776202, dtype=float32), Array(-1.173461, dtype=float32), Array(-0.01602288, dtype=float32), Array(0.33181128, dtype=float32), Array(-0.00081091, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8749141693115234 0.8776202201843262
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1713206768035889 -1.1734609603881836
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.0123078, dtype=float32), Array(1.3143717, dtype=float32), Array(0.879492, dtype=float32), Array(-1.1170099, dtype=float32), Array(-0.00650983, dtype=float32), Array(0.5522358, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5510414242744446 0.5522357821464539
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-35s DEBUG: pose_idx: 53/64
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0113395, dtype=float32), 'left.joint_1.pos': Array(1.3141822, dtype=float32), 'left.joint_2.pos': Array(0.87935275, dtype=float32), 'left.joint_3.pos': Array(-1.1170627, dtype=float32), 'left.joint_4.pos': Array(-0.00653479, dtype=float32), 'left.joint_5.pos': Array(0.5531818, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106728, dtype=float32), 'right.joint_1.pos': Array(1.2557302, dtype=float32), 'right.joint_2.pos': Array(0.8800595, dtype=float32), 'right.joint_3.pos': Array(-1.1762975, dtype=float32), 'right.joint_4.pos': Array(-0.01601352, dtype=float32), 'right.joint_5.pos': Array(0.33182377, dtype=float32), 'right.gripper.pos': Array(-0.00081088, dtype=float32)}
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting right arm positions: [Array(1.9106728, dtype=float32), Array(1.2557302, dtype=float32), Array(0.8800595, dtype=float32), Array(-1.1762975, dtype=float32), Array(-0.01601352, dtype=float32), Array(0.33182377, dtype=float32), Array(-0.00081088, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8772030472755432 0.8800594806671143
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1739909648895264 -1.1762975454330444
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.0113395, dtype=float32), Array(1.3141822, dtype=float32), Array(0.87935275, dtype=float32), Array(-1.1170627, dtype=float32), Array(-0.00653479, dtype=float32), Array(0.5531818, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09
+2025y-06m-25d-12h-15m-35s DEBUG: pose_idx: 54/64
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(218622278376) read took: 124.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense1: 10.5ms
+2025y-06m-25d-12h-15m-35s DEBUG: RealSenseCamera(230422273017) read took: 233.2ms
+2025y-06m-25d-12h-15m-35s DEBUG: None Tatbot read realsense2: 3.0ms
+2025y-06m-25d-12h-15m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0097684, dtype=float32), 'left.joint_1.pos': Array(1.3143349, dtype=float32), 'left.joint_2.pos': Array(0.87946117, dtype=float32), 'left.joint_3.pos': Array(-1.1170168, dtype=float32), 'left.joint_4.pos': Array(-0.00657135, dtype=float32), 'left.joint_5.pos': Array(0.55471843, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106846, dtype=float32), 'right.joint_1.pos': Array(1.2553054, dtype=float32), 'right.joint_2.pos': Array(0.88250375, dtype=float32), 'right.joint_3.pos': Array(-1.17913, dtype=float32), 'right.joint_4.pos': Array(-0.01600421, dtype=float32), 'right.joint_5.pos': Array(0.33183604, dtype=float32), 'right.gripper.pos': Array(-0.00081086, dtype=float32)}
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting right arm positions: [Array(1.9106846, dtype=float32), Array(1.2553054, dtype=float32), Array(0.88250375, dtype=float32), Array(-1.17913, dtype=float32), Array(-0.01600421, dtype=float32), Array(0.33183604, dtype=float32), Array(-0.00081086, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8802548050880432 0.8825037479400635
+2025y-06m-25d-12h-15m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.176279902458191 -1.179129958152771
+2025y-06m-25d-12h-15m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.0097684, dtype=float32), Array(1.3143349, dtype=float32), Array(0.87946117, dtype=float32), Array(-1.1170168, dtype=float32), Array(-0.00657135, dtype=float32), Array(0.55471843, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-36s DEBUG: pose_idx: 55/64
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 22.1ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(230422273017) read took: 133.2ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense2: 22.4ms
+2025y-06m-25d-12h-15m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0087992, dtype=float32), 'left.joint_1.pos': Array(1.3141478, dtype=float32), 'left.joint_2.pos': Array(0.8793239, dtype=float32), 'left.joint_3.pos': Array(-1.1170691, dtype=float32), 'left.joint_4.pos': Array(-0.00659623, dtype=float32), 'left.joint_5.pos': Array(0.5556656, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106964, dtype=float32), 'right.joint_1.pos': Array(1.2548888, dtype=float32), 'right.joint_2.pos': Array(0.8849528, dtype=float32), 'right.joint_3.pos': Array(-1.1819592, dtype=float32), 'right.joint_4.pos': Array(-0.01599498, dtype=float32), 'right.joint_5.pos': Array(0.33184847, dtype=float32), 'right.gripper.pos': Array(-0.00081083, dtype=float32)}
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting right arm positions: [Array(1.9106964, dtype=float32), Array(1.2548888, dtype=float32), Array(0.8849528, dtype=float32), Array(-1.1819592, dtype=float32), Array(-0.01599498, dtype=float32), Array(0.33184847, dtype=float32), Array(-0.00081083, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8829251527786255 0.8849527835845947
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1797131299972534 -1.1819591522216797
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.0087992, dtype=float32), Array(1.3141478, dtype=float32), Array(0.8793239, dtype=float32), Array(-1.1170691, dtype=float32), Array(-0.00659623, dtype=float32), Array(0.5556656, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(230422273017) read took: 107.1ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 110.4ms
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-36s DEBUG: pose_idx: 56/64
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.00783, dtype=float32), 'left.joint_1.pos': Array(1.3139614, dtype=float32), 'left.joint_2.pos': Array(0.8791873, dtype=float32), 'left.joint_3.pos': Array(-1.1171216, dtype=float32), 'left.joint_4.pos': Array(-0.00662117, dtype=float32), 'left.joint_5.pos': Array(0.55661243, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107081, dtype=float32), 'right.joint_1.pos': Array(1.2544808, dtype=float32), 'right.joint_2.pos': Array(0.887407, dtype=float32), 'right.joint_3.pos': Array(-1.1847847, dtype=float32), 'right.joint_4.pos': Array(-0.01598578, dtype=float32), 'right.joint_5.pos': Array(0.33186084, dtype=float32), 'right.gripper.pos': Array(-0.00081081, dtype=float32)}
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting right arm positions: [Array(1.9107081, dtype=float32), Array(1.2544808, dtype=float32), Array(0.887407, dtype=float32), Array(-1.1847847, dtype=float32), Array(-0.01598578, dtype=float32), Array(0.33186084, dtype=float32), Array(-0.00081081, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8844510316848755 0.8874070048332214
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.182383418083191 -1.1847846508026123
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.00783, dtype=float32), Array(1.3139614, dtype=float32), Array(0.8791873, dtype=float32), Array(-1.1171216, dtype=float32), Array(-0.00662117, dtype=float32), Array(0.55661243, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 110.4ms
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-36s DEBUG: pose_idx: 57/64
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 11.8ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(230422273017) read took: 125.8ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense2: 12.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0068599, dtype=float32), 'left.joint_1.pos': Array(1.3137761, dtype=float32), 'left.joint_2.pos': Array(0.879051, dtype=float32), 'left.joint_3.pos': Array(-1.1171734, dtype=float32), 'left.joint_4.pos': Array(-0.00664607, dtype=float32), 'left.joint_5.pos': Array(0.5575602, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107199, dtype=float32), 'right.joint_1.pos': Array(1.2540814, dtype=float32), 'right.joint_2.pos': Array(0.88986576, dtype=float32), 'right.joint_3.pos': Array(-1.1876062, dtype=float32), 'right.joint_4.pos': Array(-0.0159763, dtype=float32), 'right.joint_5.pos': Array(0.33187315, dtype=float32), 'right.gripper.pos': Array(-0.00081079, dtype=float32)}
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting right arm positions: [Array(1.9107199, dtype=float32), Array(1.2540814, dtype=float32), Array(0.88986576, dtype=float32), Array(-1.1876062, dtype=float32), Array(-0.0159763, dtype=float32), Array(0.33187315, dtype=float32), Array(-0.00081079, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8875028491020203 0.8898657560348511
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.185053825378418 -1.1876062154769897
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.0068599, dtype=float32), Array(1.3137761, dtype=float32), Array(0.879051, dtype=float32), Array(-1.1171734, dtype=float32), Array(-0.00664607, dtype=float32), Array(0.5575602, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(230422273017) read took: 103.7ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 107.5ms
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-36s DEBUG: pose_idx: 58/64
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0058904, dtype=float32), 'left.joint_1.pos': Array(1.3135915, dtype=float32), 'left.joint_2.pos': Array(0.87891537, dtype=float32), 'left.joint_3.pos': Array(-1.117225, dtype=float32), 'left.joint_4.pos': Array(-0.00667114, dtype=float32), 'left.joint_5.pos': Array(0.5585077, dtype=float32), 'left.gripper.pos': Array(1.2910499e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107718, dtype=float32), 'right.joint_1.pos': Array(1.2536736, dtype=float32), 'right.joint_2.pos': Array(0.8923137, dtype=float32), 'right.joint_3.pos': Array(-1.1904145, dtype=float32), 'right.joint_4.pos': Array(-0.01594841, dtype=float32), 'right.joint_5.pos': Array(0.3319339, dtype=float32), 'right.gripper.pos': Array(-0.00081031, dtype=float32)}
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting right arm positions: [Array(1.9107718, dtype=float32), Array(1.2536736, dtype=float32), Array(0.8923137, dtype=float32), Array(-1.1904145, dtype=float32), Array(-0.01594841, dtype=float32), Array(0.3319339, dtype=float32), Array(-0.00081031, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.88979172706604 0.8923137187957764
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1884870529174805 -1.190414547920227
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.0058904, dtype=float32), Array(1.3135915, dtype=float32), Array(0.87891537, dtype=float32), Array(-1.117225, dtype=float32), Array(-0.00667114, dtype=float32), Array(0.5585077, dtype=float32), Array(1.2910499e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(230422273017) read took: 108.1ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 107.7ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.2910498981000273e-07
+2025y-06m-25d-12h-15m-36s DEBUG: pose_idx: 59/64
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0045495, dtype=float32), 'left.joint_1.pos': Array(1.3128811, dtype=float32), 'left.joint_2.pos': Array(0.8783972, dtype=float32), 'left.joint_3.pos': Array(-1.117427, dtype=float32), 'left.joint_4.pos': Array(-0.00670902, dtype=float32), 'left.joint_5.pos': Array(0.5598162, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107431, dtype=float32), 'right.joint_1.pos': Array(1.2533072, dtype=float32), 'right.joint_2.pos': Array(0.8947982, dtype=float32), 'right.joint_3.pos': Array(-1.1932392, dtype=float32), 'right.joint_4.pos': Array(-0.01595796, dtype=float32), 'right.joint_5.pos': Array(0.33189785, dtype=float32), 'right.gripper.pos': Array(-0.00081075, dtype=float32)}
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting right arm positions: [Array(1.9107431, dtype=float32), Array(1.2533072, dtype=float32), Array(0.8947982, dtype=float32), Array(-1.1932392, dtype=float32), Array(-0.01595796, dtype=float32), Array(0.33189785, dtype=float32), Array(-0.00081075, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.892080545425415 0.894798219203949
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.190394401550293 -1.1932392120361328
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.0045495, dtype=float32), Array(1.3128811, dtype=float32), Array(0.8783972, dtype=float32), Array(-1.117427, dtype=float32), Array(-0.00670902, dtype=float32), Array(0.5598162, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 105.6ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3139925003051758 1.3128811120986938
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8798733353614807 0.8783972263336182
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5586709380149841 0.5598161816596985
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-36s DEBUG: pose_idx: 60/64
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 11.3ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(230422273017) read took: 154.6ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense2: 46.4ms
+2025y-06m-25d-12h-15m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0035778, dtype=float32), 'left.joint_1.pos': Array(1.3126987, dtype=float32), 'left.joint_2.pos': Array(0.87826383, dtype=float32), 'left.joint_3.pos': Array(-1.1174783, dtype=float32), 'left.joint_4.pos': Array(-0.00673405, dtype=float32), 'left.joint_5.pos': Array(0.56076556, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107547, dtype=float32), 'right.joint_1.pos': Array(1.2529328, dtype=float32), 'right.joint_2.pos': Array(0.89727175, dtype=float32), 'right.joint_3.pos': Array(-1.1960505, dtype=float32), 'right.joint_4.pos': Array(-0.01594863, dtype=float32), 'right.joint_5.pos': Array(0.33190975, dtype=float32), 'right.gripper.pos': Array(-0.00081073, dtype=float32)}
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting right arm positions: [Array(1.9107547, dtype=float32), Array(1.2529328, dtype=float32), Array(0.89727175, dtype=float32), Array(-1.1960505, dtype=float32), Array(-0.01594863, dtype=float32), Array(0.33190975, dtype=float32), Array(-0.00081073, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8955138325691223 0.8972717523574829
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.193827748298645 -1.1960505247116089
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.0035778, dtype=float32), Array(1.3126987, dtype=float32), Array(0.87826383, dtype=float32), Array(-1.1174783, dtype=float32), Array(-0.00673405, dtype=float32), Array(0.56076556, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(230422273017) read took: 108.2ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3139925003051758 1.3126987218856812
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8794918656349182 0.8782638311386108
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-36s DEBUG: pose_idx: 61/64
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0032071, dtype=float32), 'left.joint_1.pos': Array(1.3121722, dtype=float32), 'left.joint_2.pos': Array(0.87788105, dtype=float32), 'left.joint_3.pos': Array(-1.1176292, dtype=float32), 'left.joint_4.pos': Array(-0.0067476, dtype=float32), 'left.joint_5.pos': Array(0.56112623, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107662, dtype=float32), 'right.joint_1.pos': Array(1.252567, dtype=float32), 'right.joint_2.pos': Array(0.8997503, dtype=float32), 'right.joint_3.pos': Array(-1.1988578, dtype=float32), 'right.joint_4.pos': Array(-0.0159395, dtype=float32), 'right.joint_5.pos': Array(0.3319219, dtype=float32), 'right.gripper.pos': Array(-0.00081071, dtype=float32)}
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting right arm positions: [Array(1.9107662, dtype=float32), Array(1.252567, dtype=float32), Array(0.8997503, dtype=float32), Array(-1.1988578, dtype=float32), Array(-0.0159395, dtype=float32), Array(0.3319219, dtype=float32), Array(-0.00081071, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8974212408065796 0.899750292301178
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1964980363845825 -1.1988577842712402
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.0032071, dtype=float32), Array(1.3121722, dtype=float32), Array(0.87788105, dtype=float32), Array(-1.1176292, dtype=float32), Array(-0.0067476, dtype=float32), Array(0.56112623, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(230422273017) read took: 110.3ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 111.8ms
+2025y-06m-25d-12h-15m-36s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3136110305786133 1.3121721744537354
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8791103959083557 0.8778810501098633
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-36s DEBUG: pose_idx: 62/64
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-36s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0018624, dtype=float32), 'left.joint_1.pos': Array(1.3114648, dtype=float32), 'left.joint_2.pos': Array(0.8773664, dtype=float32), 'left.joint_3.pos': Array(-1.1178317, dtype=float32), 'left.joint_4.pos': Array(-0.00678593, dtype=float32), 'left.joint_5.pos': Array(0.5624383, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107777, dtype=float32), 'right.joint_1.pos': Array(1.2522091, dtype=float32), 'right.joint_2.pos': Array(0.90223354, dtype=float32), 'right.joint_3.pos': Array(-1.2016622, dtype=float32), 'right.joint_4.pos': Array(-0.01593033, dtype=float32), 'right.joint_5.pos': Array(0.33193395, dtype=float32), 'right.gripper.pos': Array(-0.0008107, dtype=float32)}
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting right arm positions: [Array(1.9107777, dtype=float32), Array(1.2522091, dtype=float32), Array(0.90223354, dtype=float32), Array(-1.2016622, dtype=float32), Array(-0.01593033, dtype=float32), Array(0.33193395, dtype=float32), Array(-0.0008107, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8997100591659546 0.9022335410118103
+2025y-06m-25d-12h-15m-36s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1987868547439575 -1.2016621828079224
+2025y-06m-25d-12h-15m-36s DEBUG: 🦾 Setting left arm positions: [Array(-1.0018624, dtype=float32), Array(1.3114648, dtype=float32), Array(0.8773664, dtype=float32), Array(-1.1178317, dtype=float32), Array(-0.00678593, dtype=float32), Array(0.5624383, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-15m-38s DEBUG: RealSenseCamera(218622278376) read took: 2008.6ms
+2025y-06m-25d-12h-15m-38s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-15m-38s DEBUG: RealSenseCamera(230422273017) read took: 2010.5ms
+2025y-06m-25d-12h-15m-38s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms
+2025y-06m-25d-12h-15m-38s DEBUG: RealSenseCamera(218622278376) read took: 1.1ms
+2025y-06m-25d-12h-15m-38s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-38s DEBUG: pose_idx: 63/64
+2025y-06m-25d-12h-15m-38s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-15m-38s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-15m-38s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-15m-38s DEBUG: RealSenseCamera(230422273017) read took: 3.2ms
+2025y-06m-25d-12h-15m-38s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0020237, dtype=float32), 'left.joint_1.pos': Array(1.301861, dtype=float32), 'left.joint_2.pos': Array(0.91925126, dtype=float32), 'left.joint_3.pos': Array(-1.1683923, dtype=float32), 'left.joint_4.pos': Array(-0.00692584, dtype=float32), 'left.joint_5.pos': Array(0.5622743, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107894, dtype=float32), 'right.joint_1.pos': Array(1.2518599, dtype=float32), 'right.joint_2.pos': Array(0.9047216, dtype=float32), 'right.joint_3.pos': Array(-1.2044623, dtype=float32), 'right.joint_4.pos': Array(-0.01592097, dtype=float32), 'right.joint_5.pos': Array(0.33194605, dtype=float32), 'right.gripper.pos': Array(-0.00081068, dtype=float32)}
+2025y-06m-25d-12h-15m-38s DEBUG: 🦾 Setting right arm positions: [Array(1.9107894, dtype=float32), Array(1.2518599, dtype=float32), Array(0.9047216, dtype=float32), Array(-1.2044623, dtype=float32), Array(-0.01592097, dtype=float32), Array(0.33194605, dtype=float32), Array(-0.00081068, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-15m-38s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9027618765830994 0.9047216176986694
+2025y-06m-25d-12h-15m-38s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.2022202014923096 -1.2044622898101807
+2025y-06m-25d-12h-15m-38s DEBUG: 🦾 Setting left arm positions: [Array(-1.0020237, dtype=float32), Array(1.301861, dtype=float32), Array(0.91925126, dtype=float32), Array(-1.1683923, dtype=float32), Array(-0.00692584, dtype=float32), Array(0.5622743, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-15m-40s DEBUG: RealSenseCamera(218622278376) read took: 2009.3ms
+2025y-06m-25d-12h-15m-40s WARNING: Error reading frame in background thread for RealSenseCamera(230422273017): RealSenseCamera(230422273017) read failed (status=False).
+2025y-06m-25d-12h-15m-40s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-15m-40s INFO: 🤖🗃️ Writing episode log to /home/trossen-ai/tatbot/output/record/plan-bench-2025y-06m-25d-12h-13m-57s/logs/episode_000005.txt