diff --git "a/logs/episode_000006.txt" "b/logs/episode_000006.txt" new file mode 100644--- /dev/null +++ "b/logs/episode_000006.txt" @@ -0,0 +1,891 @@ +2025y-06m-25d-12h-15m-43s DEBUG: 🤖 sending arms to rest pose +2025y-06m-25d-12h-15m-43s 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-43s 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-43s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.9106203317642212 1.0 +2025y-06m-25d-12h-15m-43s ERROR: 🦾❌ Right arm position mismatch: right.joint_0 1.9106203317642212 1.0 +2025y-06m-25d-12h-15m-43s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2514305114746094 0.10000000149011612 +2025y-06m-25d-12h-15m-43s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 1.2514305114746094 0.10000000149011612 +2025y-06m-25d-12h-15m-43s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9046692848205566 0.5 +2025y-06m-25d-12h-15m-43s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.9046692848205566 0.5 +2025y-06m-25d-12h-15m-43s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.204890489578247 -1.2000000476837158 +2025y-06m-25d-12h-15m-43s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.016212711110711098 0.0 +2025y-06m-25d-12h-15m-43s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 0.33169299364089966 0.0 +2025y-06m-25d-12h-15m-43s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 0.33169299364089966 0.0 +2025y-06m-25d-12h-15m-43s WARNING: 🦾❌ Failed to set right arm positions: +: +right arm joints mismatch +No error +2025y-06m-25d-12h-15m-43s 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-45s DEBUG: RealSenseCamera(218622278376) read took: 2031.8ms +2025y-06m-25d-12h-15m-45s DEBUG: RealSenseCamera(230422273017) read took: 2029.0ms +2025y-06m-25d-12h-15m-45s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 0.0 +2025y-06m-25d-12h-15m-45s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-45s INFO: 🤖 recording path 6 of 15 +2025y-06m-25d-12h-15m-45s DEBUG: pose_idx: 0/64 +2025y-06m-25d-12h-15m-45s DEBUG: None Tatbot read state: 0.2ms +2025y-06m-25d-12h-15m-45s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-45s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-45s DEBUG: RealSenseCamera(218622278376) read took: 0.8ms +2025y-06m-25d-12h-15m-45s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-45s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107896, dtype=float32), 'left.joint_1.pos': Array(1.2518598, dtype=float32), 'left.joint_2.pos': Array(0.9047215, dtype=float32), 'left.joint_3.pos': Array(-1.2044624, dtype=float32), 'left.joint_4.pos': Array(0.015921, dtype=float32), 'left.joint_5.pos': Array(-0.33194628, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0169816, dtype=float32), 'right.joint_1.pos': Array(1.27972, dtype=float32), 'right.joint_2.pos': Array(0.903657, dtype=float32), 'right.joint_3.pos': Array(-1.1752667, dtype=float32), 'right.joint_4.pos': Array(0.00675635, dtype=float32), 'right.joint_5.pos': Array(-0.5475685, dtype=float32), 'right.gripper.pos': Array(0.04454225, dtype=float32)} +2025y-06m-25d-12h-15m-45s DEBUG: 🦾 Setting right arm positions: [Array(1.0169816, dtype=float32), Array(1.27972, dtype=float32), Array(0.903657, dtype=float32), Array(-1.1752667, dtype=float32), Array(0.00675635, dtype=float32), Array(-0.5475685, dtype=float32), Array(0.04454225, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-45s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.0000381469726562 1.016981601715088 +2025y-06m-25d-12h-15m-45s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 0.09937438368797302 1.2797199487686157 +2025y-06m-25d-12h-15m-45s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 0.09937438368797302 1.2797199487686157 +2025y-06m-25d-12h-15m-45s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.499542236328125 0.9036570191383362 +2025y-06m-25d-12h-15m-45s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.499542236328125 0.9036570191383362 +2025y-06m-25d-12h-15m-45s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.200312852859497 -1.1752667427062988 +2025y-06m-25d-12h-15m-45s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 0.00019073777366429567 0.006756345741450787 +2025y-06m-25d-12h-15m-45s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.000572213320992887 -0.5475685000419617 +2025y-06m-25d-12h-15m-45s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 -0.000572213320992887 -0.5475685000419617 +2025y-06m-25d-12h-15m-45s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 8.845515549182892e-05 0.04454224556684494 +2025y-06m-25d-12h-15m-45s WARNING: 🦾❌ Failed to set right arm positions: +: +right arm joints mismatch +No error +2025y-06m-25d-12h-15m-45s DEBUG: RealSenseCamera(230422273017) read took: 5.4ms +2025y-06m-25d-12h-15m-45s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107896, dtype=float32), Array(1.2518598, dtype=float32), Array(0.9047215, dtype=float32), Array(-1.2044624, dtype=float32), Array(0.015921, dtype=float32), Array(-0.33194628, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-47s DEBUG: RealSenseCamera(230422273017) read took: 2000.3ms +2025y-06m-25d-12h-15m-47s DEBUG: RealSenseCamera(230422273017) read took: 0.6ms +2025y-06m-25d-12h-15m-47s DEBUG: RealSenseCamera(218622278376) read took: 2006.3ms +2025y-06m-25d-12h-15m-47s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.016975661739706993 0.01592099666595459 +2025y-06m-25d-12h-15m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-47s DEBUG: pose_idx: 1/64 +2025y-06m-25d-12h-15m-47s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-47s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-47s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-47s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108948, dtype=float32), 'left.joint_1.pos': Array(1.2521008, dtype=float32), 'left.joint_2.pos': Array(0.9022987, dtype=float32), 'left.joint_3.pos': Array(-1.2017905, dtype=float32), 'left.joint_4.pos': Array(0.01587006, dtype=float32), 'left.joint_5.pos': Array(-0.33206677, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0168111, dtype=float32), 'right.joint_1.pos': Array(1.288997, dtype=float32), 'right.joint_2.pos': Array(0.86136234, dtype=float32), 'right.joint_3.pos': Array(-1.1245813, dtype=float32), 'right.joint_4.pos': Array(0.00661053, dtype=float32), 'right.joint_5.pos': Array(-0.5477443, dtype=float32), 'right.gripper.pos': Array(0.04454448, dtype=float32)} +2025y-06m-25d-12h-15m-47s DEBUG: 🦾 Setting right arm positions: [Array(1.0168111, dtype=float32), Array(1.288997, dtype=float32), Array(0.86136234, dtype=float32), Array(-1.1245813, dtype=float32), Array(0.00661053, dtype=float32), Array(-0.5477443, dtype=float32), Array(0.04454448, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.280041217803955 1.2889970541000366 +2025y-06m-25d-12h-15m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9035248160362244 0.8613623380661011 +2025y-06m-25d-12h-15m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1751353740692139 -1.1245813369750977 +2025y-06m-25d-12h-15m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5487525463104248 -0.5477442741394043 +2025y-06m-25d-12h-15m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.04004324972629547 0.04454447701573372 +2025y-06m-25d-12h-15m-47s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108948, dtype=float32), Array(1.2521008, dtype=float32), Array(0.9022987, dtype=float32), Array(-1.2017905, dtype=float32), Array(0.01587006, dtype=float32), Array(-0.33206677, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(218622278376) read took: 2005.7ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(230422273017) read took: 2006.2ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.7ms +2025y-06m-25d-12h-15m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-49s DEBUG: pose_idx: 2/64 +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107674, dtype=float32), 'left.joint_1.pos': Array(1.2525325, dtype=float32), 'left.joint_2.pos': Array(0.8999865, dtype=float32), 'left.joint_3.pos': Array(-1.1991253, dtype=float32), 'left.joint_4.pos': Array(0.01593836, dtype=float32), 'left.joint_5.pos': Array(-0.33192316, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0171821, dtype=float32), 'right.joint_1.pos': Array(1.2895329, dtype=float32), 'right.joint_2.pos': Array(0.86173975, dtype=float32), 'right.joint_3.pos': Array(-1.1244161, dtype=float32), 'right.joint_4.pos': Array(0.0065965, dtype=float32), 'right.joint_5.pos': Array(-0.5473837, dtype=float32), 'right.gripper.pos': Array(0.04454401, dtype=float32)} +2025y-06m-25d-12h-15m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.0171821, dtype=float32), Array(1.2895329, dtype=float32), Array(0.86173975, dtype=float32), Array(-1.1244161, dtype=float32), Array(0.0065965, dtype=float32), Array(-0.5473837, dtype=float32), Array(0.04454401, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454400762915611 +2025y-06m-25d-12h-15m-49s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107674, dtype=float32), Array(1.2525325, dtype=float32), Array(0.8999865, dtype=float32), Array(-1.1991253, dtype=float32), Array(0.01593836, dtype=float32), Array(-0.33192316, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(218622278376) read took: 105.4ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(230422273017) read took: 105.9ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-49s DEBUG: pose_idx: 3/64 +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108708, dtype=float32), 'left.joint_1.pos': Array(1.25279, dtype=float32), 'left.joint_2.pos': Array(0.89757293, dtype=float32), 'left.joint_3.pos': Array(-1.1964464, dtype=float32), 'left.joint_4.pos': Array(0.01588854, dtype=float32), 'left.joint_5.pos': Array(-0.33204144, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0171831, dtype=float32), 'right.joint_1.pos': Array(1.2895334, dtype=float32), 'right.joint_2.pos': Array(0.8617398, dtype=float32), 'right.joint_3.pos': Array(-1.1244159, dtype=float32), 'right.joint_4.pos': Array(0.00659689, dtype=float32), 'right.joint_5.pos': Array(-0.54738265, dtype=float32), 'right.gripper.pos': Array(0.04454402, dtype=float32)} +2025y-06m-25d-12h-15m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.0171831, dtype=float32), Array(1.2895334, dtype=float32), Array(0.8617398, dtype=float32), Array(-1.1244159, dtype=float32), Array(0.00659689, dtype=float32), Array(-0.54738265, dtype=float32), Array(0.04454402, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454401507973671 +2025y-06m-25d-12h-15m-49s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108708, dtype=float32), Array(1.25279, dtype=float32), Array(0.89757293, dtype=float32), Array(-1.1964464, dtype=float32), Array(0.01588854, dtype=float32), Array(-0.33204144, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(230422273017) read took: 109.9ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms +2025y-06m-25d-12h-15m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-49s DEBUG: pose_idx: 4/64 +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108586, dtype=float32), 'left.joint_1.pos': Array(1.2531453, dtype=float32), 'left.joint_2.pos': Array(0.8952166, dtype=float32), 'left.joint_3.pos': Array(-1.1937699, dtype=float32), 'left.joint_4.pos': Array(0.01589792, dtype=float32), 'left.joint_5.pos': Array(-0.33202866, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0175539, dtype=float32), 'right.joint_1.pos': Array(1.2900699, dtype=float32), 'right.joint_2.pos': Array(0.8621175, dtype=float32), 'right.joint_3.pos': Array(-1.1242502, dtype=float32), 'right.joint_4.pos': Array(0.00658313, dtype=float32), 'right.joint_5.pos': Array(-0.5470219, dtype=float32), 'right.gripper.pos': Array(0.04454356, dtype=float32)} +2025y-06m-25d-12h-15m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.0175539, dtype=float32), Array(1.2900699, dtype=float32), Array(0.8621175, dtype=float32), Array(-1.1242502, dtype=float32), Array(0.00658313, dtype=float32), Array(-0.5470219, dtype=float32), Array(0.04454356, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454355686903 +2025y-06m-25d-12h-15m-49s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108586, dtype=float32), Array(1.2531453, dtype=float32), Array(0.8952166, dtype=float32), Array(-1.1937699, dtype=float32), Array(0.01589792, dtype=float32), Array(-0.33202866, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(218622278376) read took: 6.6ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(230422273017) read took: 105.9ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms +2025y-06m-25d-12h-15m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-49s DEBUG: pose_idx: 5/64 +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(230422273017) read took: 3.0ms +2025y-06m-25d-12h-15m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108468, dtype=float32), 'left.joint_1.pos': Array(1.253509, dtype=float32), 'left.joint_2.pos': Array(0.89286435, dtype=float32), 'left.joint_3.pos': Array(-1.1910893, dtype=float32), 'left.joint_4.pos': Array(0.01590712, dtype=float32), 'left.joint_5.pos': Array(-0.33201605, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0175539, dtype=float32), 'right.joint_1.pos': Array(1.2900699, dtype=float32), 'right.joint_2.pos': Array(0.8621175, dtype=float32), 'right.joint_3.pos': Array(-1.1242502, dtype=float32), 'right.joint_4.pos': Array(0.00658313, dtype=float32), 'right.joint_5.pos': Array(-0.5470219, dtype=float32), 'right.gripper.pos': Array(0.04454356, dtype=float32)} +2025y-06m-25d-12h-15m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.0175539, dtype=float32), Array(1.2900699, dtype=float32), Array(0.8621175, dtype=float32), Array(-1.1242502, dtype=float32), Array(0.00658313, dtype=float32), Array(-0.5470219, dtype=float32), Array(0.04454356, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454355686903 +2025y-06m-25d-12h-15m-49s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108468, dtype=float32), Array(1.253509, dtype=float32), Array(0.89286435, dtype=float32), Array(-1.1910893, dtype=float32), Array(0.01590712, dtype=float32), Array(-0.33201605, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(230422273017) read took: 106.1ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms +2025y-06m-25d-12h-15m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-49s DEBUG: pose_idx: 6/64 +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107232, dtype=float32), 'left.joint_1.pos': Array(1.2539686, dtype=float32), 'left.joint_2.pos': Array(0.89056945, dtype=float32), 'left.joint_3.pos': Array(-1.1884121, dtype=float32), 'left.joint_4.pos': Array(0.0159736, dtype=float32), 'left.joint_5.pos': Array(-0.33187667, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.017924, dtype=float32), 'right.joint_1.pos': Array(1.2906066, dtype=float32), 'right.joint_2.pos': Array(0.86249554, dtype=float32), 'right.joint_3.pos': Array(-1.1240846, dtype=float32), 'right.joint_4.pos': Array(0.00656932, dtype=float32), 'right.joint_5.pos': Array(-0.5466623, dtype=float32), 'right.gripper.pos': Array(0.04454309, dtype=float32)} +2025y-06m-25d-12h-15m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.017924, dtype=float32), Array(1.2906066, dtype=float32), Array(0.86249554, dtype=float32), Array(-1.1240846, dtype=float32), Array(0.00656932, dtype=float32), Array(-0.5466623, dtype=float32), Array(0.04454309, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454309120774269 +2025y-06m-25d-12h-15m-49s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107232, dtype=float32), Array(1.2539686, dtype=float32), Array(0.89056945, dtype=float32), Array(-1.1884121, dtype=float32), Array(0.0159736, dtype=float32), Array(-0.33187667, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 109.6ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 110.9ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2529563903808594 1.253968596458435 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-50s DEBUG: pose_idx: 7/64 +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107119, dtype=float32), 'left.joint_1.pos': Array(1.2543468, dtype=float32), 'left.joint_2.pos': Array(0.8882263, dtype=float32), 'left.joint_3.pos': Array(-1.1857257, dtype=float32), 'left.joint_4.pos': Array(0.01598262, dtype=float32), 'left.joint_5.pos': Array(-0.3318648, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.017924, dtype=float32), 'right.joint_1.pos': Array(1.2906066, dtype=float32), 'right.joint_2.pos': Array(0.86249554, dtype=float32), 'right.joint_3.pos': Array(-1.1240846, dtype=float32), 'right.joint_4.pos': Array(0.00656932, dtype=float32), 'right.joint_5.pos': Array(-0.5466623, dtype=float32), 'right.gripper.pos': Array(0.04454309, dtype=float32)} +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.017924, dtype=float32), Array(1.2906066, dtype=float32), Array(0.86249554, dtype=float32), Array(-1.1240846, dtype=float32), Array(0.00656932, dtype=float32), Array(-0.5466623, dtype=float32), Array(0.04454309, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454309120774269 +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107119, dtype=float32), Array(1.2543468, dtype=float32), Array(0.8882263, dtype=float32), Array(-1.1857257, dtype=float32), Array(0.01598262, dtype=float32), Array(-0.3318648, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 110.5ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.9ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.7ms +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-50s DEBUG: pose_idx: 8/64 +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 2.7ms +2025y-06m-25d-12h-15m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107008, dtype=float32), 'left.joint_1.pos': Array(1.2547327, dtype=float32), 'left.joint_2.pos': Array(0.88588727, dtype=float32), 'left.joint_3.pos': Array(-1.1830357, dtype=float32), 'left.joint_4.pos': Array(0.01599139, dtype=float32), 'left.joint_5.pos': Array(-0.33185327, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0182942, dtype=float32), 'right.joint_1.pos': Array(1.2911428, dtype=float32), 'right.joint_2.pos': Array(0.8628744, dtype=float32), 'right.joint_3.pos': Array(-1.1239203, dtype=float32), 'right.joint_4.pos': Array(0.00655526, dtype=float32), 'right.joint_5.pos': Array(-0.5463022, dtype=float32), 'right.gripper.pos': Array(0.04454263, dtype=float32)} +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.0182942, dtype=float32), Array(1.2911428, dtype=float32), Array(0.8628744, dtype=float32), Array(-1.1239203, dtype=float32), Array(0.00655526, dtype=float32), Array(-0.5463022, dtype=float32), Array(0.04454263, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8615625500679016 0.8628743886947632 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454262927174568 +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107008, dtype=float32), Array(1.2547327, dtype=float32), Array(0.88588727, dtype=float32), Array(-1.1830357, dtype=float32), Array(0.01599139, dtype=float32), Array(-0.33185327, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 107.1ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-50s DEBUG: pose_idx: 9/64 +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106898, dtype=float32), 'left.joint_1.pos': Array(1.2551256, dtype=float32), 'left.joint_2.pos': Array(0.88355273, dtype=float32), 'left.joint_3.pos': Array(-1.1803429, dtype=float32), 'left.joint_4.pos': Array(0.01600028, dtype=float32), 'left.joint_5.pos': Array(-0.33184147, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0182942, dtype=float32), 'right.joint_1.pos': Array(1.2911428, dtype=float32), 'right.joint_2.pos': Array(0.8628744, dtype=float32), 'right.joint_3.pos': Array(-1.1239203, dtype=float32), 'right.joint_4.pos': Array(0.00655526, dtype=float32), 'right.joint_5.pos': Array(-0.5463022, dtype=float32), 'right.gripper.pos': Array(0.04454263, dtype=float32)} +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.0182942, dtype=float32), Array(1.2911428, dtype=float32), Array(0.8628744, dtype=float32), Array(-1.1239203, dtype=float32), Array(0.00655526, dtype=float32), Array(-0.5463022, dtype=float32), Array(0.04454263, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8615625500679016 0.8628743886947632 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454262927174568 +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106898, dtype=float32), Array(1.2551256, dtype=float32), Array(0.88355273, dtype=float32), Array(-1.1803429, dtype=float32), Array(0.01600028, dtype=float32), Array(-0.33184147, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 111.1ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 110.3ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-50s DEBUG: pose_idx: 10/64 +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910787, dtype=float32), 'left.joint_1.pos': Array(1.2554392, dtype=float32), 'left.joint_2.pos': Array(0.88117105, dtype=float32), 'left.joint_3.pos': Array(-1.1776415, dtype=float32), 'left.joint_4.pos': Array(0.01595336, dtype=float32), 'left.joint_5.pos': Array(-0.33195257, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0186647, dtype=float32), 'right.joint_1.pos': Array(1.2916797, dtype=float32), 'right.joint_2.pos': Array(0.86325324, dtype=float32), 'right.joint_3.pos': Array(-1.1237553, dtype=float32), 'right.joint_4.pos': Array(0.00654209, dtype=float32), 'right.joint_5.pos': Array(-0.5459416, dtype=float32), 'right.gripper.pos': Array(0.04454218, dtype=float32)} +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.0186647, dtype=float32), Array(1.2916797, dtype=float32), Array(0.86325324, dtype=float32), Array(-1.1237553, dtype=float32), Array(0.00654209, dtype=float32), Array(-0.5459416, dtype=float32), Array(0.04454218, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8615625500679016 0.8632532358169556 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044542182236909866 +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.910787, dtype=float32), Array(1.2554392, dtype=float32), Array(0.88117105, dtype=float32), Array(-1.1776415, dtype=float32), Array(0.01595336, dtype=float32), Array(-0.33195257, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 111.1ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 111.4ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-50s DEBUG: pose_idx: 11/64 +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 2.2ms +2025y-06m-25d-12h-15m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106671, dtype=float32), 'left.joint_1.pos': Array(1.2559355, dtype=float32), 'left.joint_2.pos': Array(0.8788974, dtype=float32), 'left.joint_3.pos': Array(-1.1749476, dtype=float32), 'left.joint_4.pos': Array(0.01601808, dtype=float32), 'left.joint_5.pos': Array(-0.3318178, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.018664, dtype=float32), 'right.joint_1.pos': Array(1.2916795, dtype=float32), 'right.joint_2.pos': Array(0.8632532, dtype=float32), 'right.joint_3.pos': Array(-1.1237556, dtype=float32), 'right.joint_4.pos': Array(0.00654183, dtype=float32), 'right.joint_5.pos': Array(-0.54594254, dtype=float32), 'right.gripper.pos': Array(0.04454217, dtype=float32)} +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.018664, dtype=float32), Array(1.2916795, dtype=float32), Array(0.8632532, dtype=float32), Array(-1.1237556, dtype=float32), Array(0.00654183, dtype=float32), Array(-0.54594254, dtype=float32), Array(0.04454217, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8615625500679016 0.8632531762123108 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454217478632927 +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106671, dtype=float32), Array(1.2559355, dtype=float32), Array(0.8788974, dtype=float32), Array(-1.1749476, dtype=float32), Array(0.01601808, dtype=float32), Array(-0.3318178, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 106.3ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 108.8ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-50s DEBUG: pose_idx: 12/64 +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106559, dtype=float32), 'left.joint_1.pos': Array(1.2563523, dtype=float32), 'left.joint_2.pos': Array(0.8765761, dtype=float32), 'left.joint_3.pos': Array(-1.1722442, dtype=float32), 'left.joint_4.pos': Array(0.01602688, dtype=float32), 'left.joint_5.pos': Array(-0.33180583, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0190336, dtype=float32), 'right.joint_1.pos': Array(1.2922162, dtype=float32), 'right.joint_2.pos': Array(0.8636321, dtype=float32), 'right.joint_3.pos': Array(-1.1235911, dtype=float32), 'right.joint_4.pos': Array(0.00652818, dtype=float32), 'right.joint_5.pos': Array(-0.5455832, dtype=float32), 'right.gripper.pos': Array(0.04454172, dtype=float32)} +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.0190336, dtype=float32), Array(1.2922162, dtype=float32), Array(0.8636321, dtype=float32), Array(-1.1235911, dtype=float32), Array(0.00652818, dtype=float32), Array(-0.5455832, dtype=float32), Array(0.04454172, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8615625500679016 0.863632082939148 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454171657562256 +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106559, dtype=float32), Array(1.2563523, dtype=float32), Array(0.8765761, dtype=float32), Array(-1.1722442, dtype=float32), Array(0.01602688, dtype=float32), Array(-0.33180583, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 108.5ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 108.8ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-50s DEBUG: pose_idx: 13/64 +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106444, dtype=float32), 'left.joint_1.pos': Array(1.256777, dtype=float32), 'left.joint_2.pos': Array(0.87425953, dtype=float32), 'left.joint_3.pos': Array(-1.169538, dtype=float32), 'left.joint_4.pos': Array(0.01603587, dtype=float32), 'left.joint_5.pos': Array(-0.3317938, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0190336, dtype=float32), 'right.joint_1.pos': Array(1.2922162, dtype=float32), 'right.joint_2.pos': Array(0.8636321, dtype=float32), 'right.joint_3.pos': Array(-1.1235911, dtype=float32), 'right.joint_4.pos': Array(0.00652818, dtype=float32), 'right.joint_5.pos': Array(-0.5455832, dtype=float32), 'right.gripper.pos': Array(0.04454172, dtype=float32)} +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.0190336, dtype=float32), Array(1.2922162, dtype=float32), Array(0.8636321, dtype=float32), Array(-1.1235911, dtype=float32), Array(0.00652818, dtype=float32), Array(-0.5455832, dtype=float32), Array(0.04454172, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8619440197944641 0.863632082939148 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454171657562256 +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106444, dtype=float32), Array(1.256777, dtype=float32), Array(0.87425953, dtype=float32), Array(-1.169538, dtype=float32), Array(0.01603587, dtype=float32), Array(-0.3317938, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 2.3ms +2025y-06m-25d-12h-15m-50s DEBUG: pose_idx: 14/64 +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106332, dtype=float32), 'left.joint_1.pos': Array(1.257209, dtype=float32), 'left.joint_2.pos': Array(0.87194777, dtype=float32), 'left.joint_3.pos': Array(-1.1668288, dtype=float32), 'left.joint_4.pos': Array(0.01604481, dtype=float32), 'left.joint_5.pos': Array(-0.331782, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0194026, dtype=float32), 'right.joint_1.pos': Array(1.2927526, dtype=float32), 'right.joint_2.pos': Array(0.86401165, dtype=float32), 'right.joint_3.pos': Array(-1.1234272, dtype=float32), 'right.joint_4.pos': Array(0.00651465, dtype=float32), 'right.joint_5.pos': Array(-0.5452243, dtype=float32), 'right.gripper.pos': Array(0.04454126, dtype=float32)} +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.0194026, dtype=float32), Array(1.2927526, dtype=float32), Array(0.86401165, dtype=float32), Array(-1.1234272, dtype=float32), Array(0.00651465, dtype=float32), Array(-0.5452243, dtype=float32), Array(0.04454126, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 5.6ms +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8619440197944641 0.8640116453170776 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04454125836491585 +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106332, dtype=float32), Array(1.257209, dtype=float32), Array(0.87194777, dtype=float32), Array(-1.1668288, dtype=float32), Array(0.01604481, dtype=float32), Array(-0.331782, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 105.9ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 102.9ms +2025y-06m-25d-12h-15m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-50s DEBUG: pose_idx: 15/64 +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910622, dtype=float32), 'left.joint_1.pos': Array(1.2576491, dtype=float32), 'left.joint_2.pos': Array(0.8696396, dtype=float32), 'left.joint_3.pos': Array(-1.1641151, dtype=float32), 'left.joint_4.pos': Array(0.01605381, dtype=float32), 'left.joint_5.pos': Array(-0.33177006, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0194026, dtype=float32), 'right.joint_1.pos': Array(1.2927526, dtype=float32), 'right.joint_2.pos': Array(0.86401165, dtype=float32), 'right.joint_3.pos': Array(-1.1234272, dtype=float32), 'right.joint_4.pos': Array(0.00651465, dtype=float32), 'right.joint_5.pos': Array(-0.5452243, dtype=float32), 'right.gripper.pos': Array(0.04454126, dtype=float32)} +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.0194026, dtype=float32), Array(1.2927526, dtype=float32), Array(0.86401165, dtype=float32), Array(-1.1234272, dtype=float32), Array(0.00651465, dtype=float32), Array(-0.5452243, dtype=float32), Array(0.04454126, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-50s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454125836491585 +2025y-06m-25d-12h-15m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.910622, dtype=float32), Array(1.2576491, dtype=float32), Array(0.8696396, dtype=float32), Array(-1.1641151, dtype=float32), Array(0.01605381, dtype=float32), Array(-0.33177006, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 105.3ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 104.9ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-51s DEBUG: pose_idx: 16/64 +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106104, dtype=float32), 'left.joint_1.pos': Array(1.258097, dtype=float32), 'left.joint_2.pos': Array(0.8673368, dtype=float32), 'left.joint_3.pos': Array(-1.1613992, dtype=float32), 'left.joint_4.pos': Array(0.01606267, dtype=float32), 'left.joint_5.pos': Array(-0.33175805, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0197711, dtype=float32), 'right.joint_1.pos': Array(1.2932893, dtype=float32), 'right.joint_2.pos': Array(0.864391, dtype=float32), 'right.joint_3.pos': Array(-1.123263, dtype=float32), 'right.joint_4.pos': Array(0.00650101, dtype=float32), 'right.joint_5.pos': Array(-0.54486597, dtype=float32), 'right.gripper.pos': Array(0.0445408, dtype=float32)} +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.0197711, dtype=float32), Array(1.2932893, dtype=float32), Array(0.864391, dtype=float32), Array(-1.123263, dtype=float32), Array(0.00650101, dtype=float32), Array(-0.54486597, dtype=float32), Array(0.0445408, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044540803879499435 +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106104, dtype=float32), Array(1.258097, dtype=float32), Array(0.8673368, dtype=float32), Array(-1.1613992, dtype=float32), Array(0.01606267, dtype=float32), Array(-0.33175805, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-51s DEBUG: pose_idx: 17/64 +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910599, dtype=float32), 'left.joint_1.pos': Array(1.2585531, dtype=float32), 'left.joint_2.pos': Array(0.86503786, dtype=float32), 'left.joint_3.pos': Array(-1.1586788, dtype=float32), 'left.joint_4.pos': Array(0.01607183, dtype=float32), 'left.joint_5.pos': Array(-0.3317459, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0197711, dtype=float32), 'right.joint_1.pos': Array(1.2932893, dtype=float32), 'right.joint_2.pos': Array(0.864391, dtype=float32), 'right.joint_3.pos': Array(-1.123263, dtype=float32), 'right.joint_4.pos': Array(0.00650101, dtype=float32), 'right.joint_5.pos': Array(-0.54486597, dtype=float32), 'right.gripper.pos': Array(0.0445408, dtype=float32)} +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.0197711, dtype=float32), Array(1.2932893, dtype=float32), Array(0.864391, dtype=float32), Array(-1.123263, dtype=float32), Array(0.00650101, dtype=float32), Array(-0.54486597, dtype=float32), Array(0.0445408, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044540803879499435 +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.910599, dtype=float32), Array(1.2585531, dtype=float32), Array(0.86503786, dtype=float32), Array(-1.1586788, dtype=float32), Array(0.01607183, dtype=float32), Array(-0.3317459, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 110.2ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 1.0ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-51s DEBUG: pose_idx: 18/64 +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read state: 0.2ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105875, dtype=float32), 'left.joint_1.pos': Array(1.259017, dtype=float32), 'left.joint_2.pos': Array(0.8627438, dtype=float32), 'left.joint_3.pos': Array(-1.1559556, dtype=float32), 'left.joint_4.pos': Array(0.01608067, dtype=float32), 'left.joint_5.pos': Array(-0.33173388, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0201393, dtype=float32), 'right.joint_1.pos': Array(1.2938261, dtype=float32), 'right.joint_2.pos': Array(0.86477095, dtype=float32), 'right.joint_3.pos': Array(-1.1230991, dtype=float32), 'right.joint_4.pos': Array(0.0064875, dtype=float32), 'right.joint_5.pos': Array(-0.5445077, dtype=float32), 'right.gripper.pos': Array(0.04454035, dtype=float32)} +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.0201393, dtype=float32), Array(1.2938261, dtype=float32), Array(0.86477095, dtype=float32), Array(-1.1230991, dtype=float32), Array(0.0064875, dtype=float32), Array(-0.5445077, dtype=float32), Array(0.04454035, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 2.9ms +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454034939408302 +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105875, dtype=float32), Array(1.259017, dtype=float32), Array(0.8627438, dtype=float32), Array(-1.1559556, dtype=float32), Array(0.01608067, dtype=float32), Array(-0.33173388, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 105.4ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 102.7ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-51s DEBUG: pose_idx: 19/64 +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105762, dtype=float32), 'left.joint_1.pos': Array(1.2594888, dtype=float32), 'left.joint_2.pos': Array(0.8604541, dtype=float32), 'left.joint_3.pos': Array(-1.1532286, dtype=float32), 'left.joint_4.pos': Array(0.01608971, dtype=float32), 'left.joint_5.pos': Array(-0.33172178, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0201393, dtype=float32), 'right.joint_1.pos': Array(1.2938261, dtype=float32), 'right.joint_2.pos': Array(0.86477095, dtype=float32), 'right.joint_3.pos': Array(-1.1230991, dtype=float32), 'right.joint_4.pos': Array(0.0064875, dtype=float32), 'right.joint_5.pos': Array(-0.5445077, dtype=float32), 'right.gripper.pos': Array(0.04454035, dtype=float32)} +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.0201393, dtype=float32), Array(1.2938261, dtype=float32), Array(0.86477095, dtype=float32), Array(-1.1230991, dtype=float32), Array(0.0064875, dtype=float32), Array(-0.5445077, dtype=float32), Array(0.04454035, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454034939408302 +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105762, dtype=float32), Array(1.2594888, dtype=float32), Array(0.8604541, dtype=float32), Array(-1.1532286, dtype=float32), Array(0.01608971, dtype=float32), Array(-0.33172178, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 105.7ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 104.9ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-51s DEBUG: pose_idx: 20/64 +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read state: 0.2ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910667, dtype=float32), 'left.joint_1.pos': Array(1.2598833, dtype=float32), 'left.joint_2.pos': Array(0.8581178, dtype=float32), 'left.joint_3.pos': Array(-1.1504927, dtype=float32), 'left.joint_4.pos': Array(0.01604609, dtype=float32), 'left.joint_5.pos': Array(-0.3318248, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0205077, dtype=float32), 'right.joint_1.pos': Array(1.2943631, dtype=float32), 'right.joint_2.pos': Array(0.86515146, dtype=float32), 'right.joint_3.pos': Array(-1.1229357, dtype=float32), 'right.joint_4.pos': Array(0.00647438, dtype=float32), 'right.joint_5.pos': Array(-0.5441489, dtype=float32), 'right.gripper.pos': Array(0.0445399, dtype=float32)} +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.0205077, dtype=float32), Array(1.2943631, dtype=float32), Array(0.86515146, dtype=float32), Array(-1.1229357, dtype=float32), Array(0.00647438, dtype=float32), Array(-0.5441489, dtype=float32), Array(0.0445399, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8638513684272766 0.8651514649391174 +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453990235924721 +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.910667, dtype=float32), Array(1.2598833, dtype=float32), Array(0.8581178, dtype=float32), Array(-1.1504927, dtype=float32), Array(0.01604609, dtype=float32), Array(-0.3318248, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 104.7ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 105.0ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-51s DEBUG: pose_idx: 21/64 +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0205077, dtype=float32), 'right.joint_1.pos': Array(1.2943631, dtype=float32), 'right.joint_2.pos': Array(0.86515146, dtype=float32), 'right.joint_3.pos': Array(-1.1229357, dtype=float32), 'right.joint_4.pos': Array(0.00647438, dtype=float32), 'right.joint_5.pos': Array(-0.5441489, dtype=float32), 'right.gripper.pos': Array(0.0445399, dtype=float32)} +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.0205077, dtype=float32), Array(1.2943631, dtype=float32), Array(0.86515146, dtype=float32), Array(-1.1229357, dtype=float32), Array(0.00647438, dtype=float32), Array(-0.5441489, dtype=float32), Array(0.0445399, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453990235924721 +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.9ms +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-51s DEBUG: pose_idx: 22/64 +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 4.0ms +2025y-06m-25d-12h-15m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0208752, dtype=float32), 'right.joint_1.pos': Array(1.2948998, dtype=float32), 'right.joint_2.pos': Array(0.86553204, dtype=float32), 'right.joint_3.pos': Array(-1.1227729, dtype=float32), 'right.joint_4.pos': Array(0.00646087, dtype=float32), 'right.joint_5.pos': Array(-0.5437919, dtype=float32), 'right.gripper.pos': Array(0.04453945, dtype=float32)} +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.0208752, dtype=float32), Array(1.2948998, dtype=float32), Array(0.86553204, dtype=float32), Array(-1.1227729, dtype=float32), Array(0.00646087, dtype=float32), Array(-0.5437919, dtype=float32), Array(0.04453945, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 8.0ms +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044539447873830795 +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 105.6ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 101.7ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-51s DEBUG: pose_idx: 23/64 +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0212421, dtype=float32), 'right.joint_1.pos': Array(1.295436, dtype=float32), 'right.joint_2.pos': Array(0.86591274, dtype=float32), 'right.joint_3.pos': Array(-1.1226103, dtype=float32), 'right.joint_4.pos': Array(0.00644734, dtype=float32), 'right.joint_5.pos': Array(-0.54343486, dtype=float32), 'right.gripper.pos': Array(0.044539, dtype=float32)} +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.0212421, dtype=float32), Array(1.295436, dtype=float32), Array(0.86591274, dtype=float32), Array(-1.1226103, dtype=float32), Array(0.00644734, dtype=float32), Array(-0.54343486, dtype=float32), Array(0.044539, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453899711370468 +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 106.8ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 106.1ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-51s DEBUG: pose_idx: 24/64 +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0212421, dtype=float32), 'right.joint_1.pos': Array(1.295436, dtype=float32), 'right.joint_2.pos': Array(0.86591274, dtype=float32), 'right.joint_3.pos': Array(-1.1226103, dtype=float32), 'right.joint_4.pos': Array(0.00644734, dtype=float32), 'right.joint_5.pos': Array(-0.54343486, dtype=float32), 'right.gripper.pos': Array(0.044539, dtype=float32)} +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.0212421, dtype=float32), Array(1.295436, dtype=float32), Array(0.86591274, dtype=float32), Array(-1.1226103, dtype=float32), Array(0.00644734, dtype=float32), Array(-0.54343486, dtype=float32), Array(0.044539, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453899711370468 +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 108.9ms +2025y-06m-25d-12h-15m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-51s DEBUG: pose_idx: 25/64 +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read state: 1.2ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0216081, dtype=float32), 'right.joint_1.pos': Array(1.2959728, dtype=float32), 'right.joint_2.pos': Array(0.8662936, dtype=float32), 'right.joint_3.pos': Array(-1.1224476, dtype=float32), 'right.joint_4.pos': Array(0.00643366, dtype=float32), 'right.joint_5.pos': Array(-0.5430792, dtype=float32), 'right.gripper.pos': Array(0.04453854, dtype=float32)} +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.0216081, dtype=float32), Array(1.2959728, dtype=float32), Array(0.8662936, dtype=float32), Array(-1.1224476, dtype=float32), Array(0.00643366, dtype=float32), Array(-0.5430792, dtype=float32), Array(0.04453854, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-51s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453853517770767 +2025y-06m-25d-12h-15m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 109.5ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 110.4ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.7ms +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-52s DEBUG: pose_idx: 26/64 +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 3.6ms +2025y-06m-25d-12h-15m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0216081, dtype=float32), 'right.joint_1.pos': Array(1.2959728, dtype=float32), 'right.joint_2.pos': Array(0.8662936, dtype=float32), 'right.joint_3.pos': Array(-1.1224476, dtype=float32), 'right.joint_4.pos': Array(0.00643366, dtype=float32), 'right.joint_5.pos': Array(-0.5430792, dtype=float32), 'right.gripper.pos': Array(0.04453854, dtype=float32)} +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.0216081, dtype=float32), Array(1.2959728, dtype=float32), Array(0.8662936, dtype=float32), Array(-1.1224476, dtype=float32), Array(0.00643366, dtype=float32), Array(-0.5430792, dtype=float32), Array(0.04453854, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453853517770767 +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 106.9ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-52s DEBUG: pose_idx: 27/64 +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0219742, dtype=float32), 'right.joint_1.pos': Array(1.2965095, dtype=float32), 'right.joint_2.pos': Array(0.86667526, dtype=float32), 'right.joint_3.pos': Array(-1.1222856, dtype=float32), 'right.joint_4.pos': Array(0.00642029, dtype=float32), 'right.joint_5.pos': Array(-0.5427231, dtype=float32), 'right.gripper.pos': Array(0.04453808, dtype=float32)} +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.0219742, dtype=float32), Array(1.2965095, dtype=float32), Array(0.86667526, dtype=float32), Array(-1.1222856, dtype=float32), Array(0.00642029, dtype=float32), Array(-0.5427231, dtype=float32), Array(0.04453808, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453808441758156 +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 110.2ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 109.3ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-52s DEBUG: pose_idx: 28/64 +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0219742, dtype=float32), 'right.joint_1.pos': Array(1.2965095, dtype=float32), 'right.joint_2.pos': Array(0.86667526, dtype=float32), 'right.joint_3.pos': Array(-1.1222856, dtype=float32), 'right.joint_4.pos': Array(0.00642029, dtype=float32), 'right.joint_5.pos': Array(-0.5427231, dtype=float32), 'right.gripper.pos': Array(0.04453808, dtype=float32)} +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.0219742, dtype=float32), Array(1.2965095, dtype=float32), Array(0.86667526, dtype=float32), Array(-1.1222856, dtype=float32), Array(0.00642029, dtype=float32), Array(-0.5427231, dtype=float32), Array(0.04453808, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453808441758156 +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 108.6ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 1.2ms +2025y-06m-25d-12h-15m-52s DEBUG: pose_idx: 29/64 +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105532, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.8558878, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610767, dtype=float32), 'left.joint_5.pos': Array(-0.33169764, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0223398, dtype=float32), 'right.joint_1.pos': Array(1.2970467, dtype=float32), 'right.joint_2.pos': Array(0.8670567, dtype=float32), 'right.joint_3.pos': Array(-1.1221226, dtype=float32), 'right.joint_4.pos': Array(0.00640702, dtype=float32), 'right.joint_5.pos': Array(-0.5423673, dtype=float32), 'right.gripper.pos': Array(0.04453763, dtype=float32)} +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 5.2ms +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.0223398, dtype=float32), Array(1.2970467, dtype=float32), Array(0.8670567, dtype=float32), Array(-1.1221226, dtype=float32), Array(0.00640702, dtype=float32), Array(-0.5423673, dtype=float32), Array(0.04453763, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044537633657455444 +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105532, dtype=float32), Array(1.2604566, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610767, dtype=float32), Array(-0.33169764, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 102.2ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 106.8ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-15m-52s DEBUG: pose_idx: 30/64 +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105532, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.8558878, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610767, dtype=float32), 'left.joint_5.pos': Array(-0.33169764, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0223398, dtype=float32), 'right.joint_1.pos': Array(1.2970467, dtype=float32), 'right.joint_2.pos': Array(0.8670567, dtype=float32), 'right.joint_3.pos': Array(-1.1221226, dtype=float32), 'right.joint_4.pos': Array(0.00640702, dtype=float32), 'right.joint_5.pos': Array(-0.5423673, dtype=float32), 'right.gripper.pos': Array(0.04453763, dtype=float32)} +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.0223398, dtype=float32), Array(1.2970467, dtype=float32), Array(0.8670567, dtype=float32), Array(-1.1221226, dtype=float32), Array(0.00640702, dtype=float32), Array(-0.5423673, dtype=float32), Array(0.04453763, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044537633657455444 +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105532, dtype=float32), Array(1.2604566, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610767, dtype=float32), Array(-0.33169764, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 110.4ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 111.4ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-15m-52s DEBUG: pose_idx: 31/64 +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0227057, dtype=float32), 'right.joint_1.pos': Array(1.297583, dtype=float32), 'right.joint_2.pos': Array(0.86743885, dtype=float32), 'right.joint_3.pos': Array(-1.1219617, dtype=float32), 'right.joint_4.pos': Array(0.00639385, dtype=float32), 'right.joint_5.pos': Array(-0.5420115, dtype=float32), 'right.gripper.pos': Array(0.04453719, dtype=float32)} +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.0227057, dtype=float32), Array(1.297583, dtype=float32), Array(0.86743885, dtype=float32), Array(-1.1219617, dtype=float32), Array(0.00639385, dtype=float32), Array(-0.5420115, dtype=float32), Array(0.04453719, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5430304408073425 -0.5420114994049072 +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453719034790993 +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 111.4ms +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-52s DEBUG: pose_idx: 32/64 +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0227057, dtype=float32), 'right.joint_1.pos': Array(1.297583, dtype=float32), 'right.joint_2.pos': Array(0.86743885, dtype=float32), 'right.joint_3.pos': Array(-1.1219617, dtype=float32), 'right.joint_4.pos': Array(0.00639385, dtype=float32), 'right.joint_5.pos': Array(-0.5420115, dtype=float32), 'right.gripper.pos': Array(0.04453719, dtype=float32)} +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 5.6ms +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.0227057, dtype=float32), Array(1.297583, dtype=float32), Array(0.86743885, dtype=float32), Array(-1.1219617, dtype=float32), Array(0.00639385, dtype=float32), Array(-0.5420115, dtype=float32), Array(0.04453719, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 7.2ms +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453719034790993 +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 102.9ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-52s DEBUG: pose_idx: 33/64 +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105532, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.8558878, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610767, dtype=float32), 'left.joint_5.pos': Array(-0.33169764, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0230702, dtype=float32), 'right.joint_1.pos': Array(1.2981195, dtype=float32), 'right.joint_2.pos': Array(0.86782104, dtype=float32), 'right.joint_3.pos': Array(-1.1218004, dtype=float32), 'right.joint_4.pos': Array(0.00638022, dtype=float32), 'right.joint_5.pos': Array(-0.54165703, dtype=float32), 'right.gripper.pos': Array(0.04453673, dtype=float32)} +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.0230702, dtype=float32), Array(1.2981195, dtype=float32), Array(0.86782104, dtype=float32), Array(-1.1218004, dtype=float32), Array(0.00638022, dtype=float32), Array(-0.54165703, dtype=float32), Array(0.04453673, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453673213720322 +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105532, dtype=float32), Array(1.2604566, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610767, dtype=float32), Array(-0.33169764, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 212.7ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 110.6ms +2025y-06m-25d-12h-15m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-15m-52s DEBUG: pose_idx: 34/64 +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105532, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.8558878, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610767, dtype=float32), 'left.joint_5.pos': Array(-0.33169764, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0230702, dtype=float32), 'right.joint_1.pos': Array(1.2981195, dtype=float32), 'right.joint_2.pos': Array(0.86782104, dtype=float32), 'right.joint_3.pos': Array(-1.1218004, dtype=float32), 'right.joint_4.pos': Array(0.00638022, dtype=float32), 'right.joint_5.pos': Array(-0.54165703, dtype=float32), 'right.gripper.pos': Array(0.04453673, dtype=float32)} +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.0230702, dtype=float32), Array(1.2981195, dtype=float32), Array(0.86782104, dtype=float32), Array(-1.1218004, dtype=float32), Array(0.00638022, dtype=float32), Array(-0.54165703, dtype=float32), Array(0.04453673, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453673213720322 +2025y-06m-25d-12h-15m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105532, dtype=float32), Array(1.2604566, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610767, dtype=float32), Array(-0.33169764, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(230422273017) read took: 110.2ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-15m-53s DEBUG: pose_idx: 35/64 +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105532, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.8558878, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610767, dtype=float32), 'left.joint_5.pos': Array(-0.33169764, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0234346, dtype=float32), 'right.joint_1.pos': Array(1.2986562, dtype=float32), 'right.joint_2.pos': Array(0.8682037, dtype=float32), 'right.joint_3.pos': Array(-1.1216394, dtype=float32), 'right.joint_4.pos': Array(0.00636709, dtype=float32), 'right.joint_5.pos': Array(-0.5413026, dtype=float32), 'right.gripper.pos': Array(0.04453628, dtype=float32)} +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.0234346, dtype=float32), Array(1.2986562, dtype=float32), Array(0.8682037, dtype=float32), Array(-1.1216394, dtype=float32), Array(0.00636709, dtype=float32), Array(-0.5413026, dtype=float32), Array(0.04453628, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 6.1ms +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0445362813770771 +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105532, dtype=float32), Array(1.2604566, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610767, dtype=float32), Array(-0.33169764, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 101.8ms +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-15m-53s DEBUG: pose_idx: 36/64 +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 31.2ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(230422273017) read took: 143.5ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense2: 31.3ms +2025y-06m-25d-12h-15m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105532, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.8558878, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610767, dtype=float32), 'left.joint_5.pos': Array(-0.33169764, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0234346, dtype=float32), 'right.joint_1.pos': Array(1.2986562, dtype=float32), 'right.joint_2.pos': Array(0.8682037, dtype=float32), 'right.joint_3.pos': Array(-1.1216394, dtype=float32), 'right.joint_4.pos': Array(0.00636709, dtype=float32), 'right.joint_5.pos': Array(-0.5413026, dtype=float32), 'right.gripper.pos': Array(0.04453628, dtype=float32)} +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.0234346, dtype=float32), Array(1.2986562, dtype=float32), Array(0.8682037, dtype=float32), Array(-1.1216394, dtype=float32), Array(0.00636709, dtype=float32), Array(-0.5413026, dtype=float32), Array(0.04453628, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0445362813770771 +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105532, dtype=float32), Array(1.2604566, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610767, dtype=float32), Array(-0.33169764, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 106.3ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(230422273017) read took: 103.5ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.8ms +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-15m-53s DEBUG: pose_idx: 37/64 +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read state: 1.3ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0237993, dtype=float32), 'right.joint_1.pos': Array(1.2991931, dtype=float32), 'right.joint_2.pos': Array(0.8685863, dtype=float32), 'right.joint_3.pos': Array(-1.1214783, dtype=float32), 'right.joint_4.pos': Array(0.00635406, dtype=float32), 'right.joint_5.pos': Array(-0.5409477, dtype=float32), 'right.gripper.pos': Array(0.04453584, dtype=float32)} +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.0237993, dtype=float32), Array(1.2991931, dtype=float32), Array(0.8685863, dtype=float32), Array(-1.1214783, dtype=float32), Array(0.00635406, dtype=float32), Array(-0.5409477, dtype=float32), Array(0.04453584, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044535841792821884 +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(230422273017) read took: 109.9ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 111.7ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.6ms +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-53s DEBUG: pose_idx: 38/64 +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0237993, dtype=float32), 'right.joint_1.pos': Array(1.2991931, dtype=float32), 'right.joint_2.pos': Array(0.8685863, dtype=float32), 'right.joint_3.pos': Array(-1.1214783, dtype=float32), 'right.joint_4.pos': Array(0.00635406, dtype=float32), 'right.joint_5.pos': Array(-0.5409477, dtype=float32), 'right.gripper.pos': Array(0.04453584, dtype=float32)} +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.0237993, dtype=float32), Array(1.2991931, dtype=float32), Array(0.8685863, dtype=float32), Array(-1.1214783, dtype=float32), Array(0.00635406, dtype=float32), Array(-0.5409477, dtype=float32), Array(0.04453584, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044535841792821884 +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(230422273017) read took: 110.4ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-53s DEBUG: pose_idx: 39/64 +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 2.5ms +2025y-06m-25d-12h-15m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0241629, dtype=float32), 'right.joint_1.pos': Array(1.2997298, dtype=float32), 'right.joint_2.pos': Array(0.8689698, dtype=float32), 'right.joint_3.pos': Array(-1.1213179, dtype=float32), 'right.joint_4.pos': Array(0.00634073, dtype=float32), 'right.joint_5.pos': Array(-0.5405942, dtype=float32), 'right.gripper.pos': Array(0.04453539, dtype=float32)} +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.0241629, dtype=float32), Array(1.2997298, dtype=float32), Array(0.8689698, dtype=float32), Array(-1.1213179, dtype=float32), Array(0.00634073, dtype=float32), Array(-0.5405942, dtype=float32), Array(0.04453539, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453539475798607 +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 106.7ms +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-53s DEBUG: pose_idx: 40/64 +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 26.1ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(230422273017) read took: 139.0ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense2: 26.7ms +2025y-06m-25d-12h-15m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0241629, dtype=float32), 'right.joint_1.pos': Array(1.2997298, dtype=float32), 'right.joint_2.pos': Array(0.8689698, dtype=float32), 'right.joint_3.pos': Array(-1.1213179, dtype=float32), 'right.joint_4.pos': Array(0.00634073, dtype=float32), 'right.joint_5.pos': Array(-0.5405942, dtype=float32), 'right.gripper.pos': Array(0.04453539, dtype=float32)} +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.0241629, dtype=float32), Array(1.2997298, dtype=float32), Array(0.8689698, dtype=float32), Array(-1.1213179, dtype=float32), Array(0.00634073, dtype=float32), Array(-0.5405942, dtype=float32), Array(0.04453539, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04453539475798607 +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 106.8ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(230422273017) read took: 103.9ms +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-53s DEBUG: pose_idx: 41/64 +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.024526, dtype=float32), 'right.joint_1.pos': Array(1.3002663, dtype=float32), 'right.joint_2.pos': Array(0.86935306, dtype=float32), 'right.joint_3.pos': Array(-1.1211575, dtype=float32), 'right.joint_4.pos': Array(0.00632758, dtype=float32), 'right.joint_5.pos': Array(-0.5402408, dtype=float32), 'right.gripper.pos': Array(0.04453495, dtype=float32)} +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.024526, dtype=float32), Array(1.3002663, dtype=float32), Array(0.86935306, dtype=float32), Array(-1.1211575, dtype=float32), Array(0.00632758, dtype=float32), Array(-0.5402408, dtype=float32), Array(0.04453495, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453494772315025 +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 106.0ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-53s DEBUG: pose_idx: 42/64 +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(218622278376) read took: 19.4ms +2025y-06m-25d-12h-15m-53s DEBUG: RealSenseCamera(230422273017) read took: 128.4ms +2025y-06m-25d-12h-15m-53s DEBUG: None Tatbot read realsense2: 20.0ms +2025y-06m-25d-12h-15m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0248891, dtype=float32), 'right.joint_1.pos': Array(1.3008034, dtype=float32), 'right.joint_2.pos': Array(0.8697368, dtype=float32), 'right.joint_3.pos': Array(-1.1209972, dtype=float32), 'right.joint_4.pos': Array(0.00631431, dtype=float32), 'right.joint_5.pos': Array(-0.5398878, dtype=float32), 'right.gripper.pos': Array(0.0445345, dtype=float32)} +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.0248891, dtype=float32), Array(1.3008034, dtype=float32), Array(0.8697368, dtype=float32), Array(-1.1209972, dtype=float32), Array(0.00631431, dtype=float32), Array(-0.5398878, dtype=float32), Array(0.0445345, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453450068831444 +2025y-06m-25d-12h-15m-53s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(230422273017) read took: 108.6ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 111.8ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-54s DEBUG: pose_idx: 43/64 +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0248891, dtype=float32), 'right.joint_1.pos': Array(1.3008034, dtype=float32), 'right.joint_2.pos': Array(0.8697368, dtype=float32), 'right.joint_3.pos': Array(-1.1209972, dtype=float32), 'right.joint_4.pos': Array(0.00631431, dtype=float32), 'right.joint_5.pos': Array(-0.5398878, dtype=float32), 'right.gripper.pos': Array(0.0445345, dtype=float32)} +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.0248891, dtype=float32), Array(1.3008034, dtype=float32), Array(0.8697368, dtype=float32), Array(-1.1209972, dtype=float32), Array(0.00631431, dtype=float32), Array(-0.5398878, dtype=float32), Array(0.0445345, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453450068831444 +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(230422273017) read took: 109.5ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-54s DEBUG: pose_idx: 44/64 +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read state: 0.2ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105654, dtype=float32), 'left.joint_1.pos': Array(1.2599446, dtype=float32), 'left.joint_2.pos': Array(0.85828286, dtype=float32), 'left.joint_3.pos': Array(-1.1506346, dtype=float32), 'left.joint_4.pos': Array(0.01609832, dtype=float32), 'left.joint_5.pos': Array(-0.33171046, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0252506, dtype=float32), 'right.joint_1.pos': Array(1.3013401, dtype=float32), 'right.joint_2.pos': Array(0.8701208, dtype=float32), 'right.joint_3.pos': Array(-1.1208379, dtype=float32), 'right.joint_4.pos': Array(0.00630096, dtype=float32), 'right.joint_5.pos': Array(-0.5395365, dtype=float32), 'right.gripper.pos': Array(0.04453405, dtype=float32)} +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.0252506, dtype=float32), Array(1.3013401, dtype=float32), Array(0.8701208, dtype=float32), Array(-1.1208379, dtype=float32), Array(0.00630096, dtype=float32), Array(-0.5395365, dtype=float32), Array(0.04453405, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.044534046202898026 +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105654, dtype=float32), Array(1.2599446, dtype=float32), Array(0.85828286, dtype=float32), Array(-1.1506346, dtype=float32), Array(0.01609832, dtype=float32), Array(-0.33171046, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(230422273017) read took: 108.8ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8566033244132996 0.8582828640937805 +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-54s DEBUG: pose_idx: 45/64 +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105773, dtype=float32), 'left.joint_1.pos': Array(1.2594413, dtype=float32), 'left.joint_2.pos': Array(0.8606828, dtype=float32), 'left.joint_3.pos': Array(-1.1535014, dtype=float32), 'left.joint_4.pos': Array(0.01608882, dtype=float32), 'left.joint_5.pos': Array(-0.33172303, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0252506, dtype=float32), 'right.joint_1.pos': Array(1.3013401, dtype=float32), 'right.joint_2.pos': Array(0.8701208, dtype=float32), 'right.joint_3.pos': Array(-1.1208379, dtype=float32), 'right.joint_4.pos': Array(0.00630096, dtype=float32), 'right.joint_5.pos': Array(-0.5395365, dtype=float32), 'right.gripper.pos': Array(0.04453405, dtype=float32)} +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.0252506, dtype=float32), Array(1.3013401, dtype=float32), Array(0.8701208, dtype=float32), Array(-1.1208379, dtype=float32), Array(0.00630096, dtype=float32), Array(-0.5395365, dtype=float32), Array(0.04453405, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044534046202898026 +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105773, dtype=float32), Array(1.2594413, dtype=float32), Array(0.8606828, dtype=float32), Array(-1.1535014, dtype=float32), Array(0.01608882, dtype=float32), Array(-0.33172303, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8596551418304443 0.8606827855110168 +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-54s DEBUG: pose_idx: 46/64 +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 23.8ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(230422273017) read took: 137.1ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense2: 25.1ms +2025y-06m-25d-12h-15m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105895, dtype=float32), 'left.joint_1.pos': Array(1.258947, dtype=float32), 'left.joint_2.pos': Array(0.8630875, dtype=float32), 'left.joint_3.pos': Array(-1.1563638, dtype=float32), 'left.joint_4.pos': Array(0.01607932, dtype=float32), 'left.joint_5.pos': Array(-0.3317357, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0256128, dtype=float32), 'right.joint_1.pos': Array(1.3018769, dtype=float32), 'right.joint_2.pos': Array(0.8705048, dtype=float32), 'right.joint_3.pos': Array(-1.1206777, dtype=float32), 'right.joint_4.pos': Array(0.00628795, dtype=float32), 'right.joint_5.pos': Array(-0.53918403, dtype=float32), 'right.gripper.pos': Array(0.0445336, dtype=float32)} +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.0256128, dtype=float32), Array(1.3018769, dtype=float32), Array(0.8705048, dtype=float32), Array(-1.1206777, dtype=float32), Array(0.00628795, dtype=float32), Array(-0.53918403, dtype=float32), Array(0.0445336, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453360289335251 +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105895, dtype=float32), Array(1.258947, dtype=float32), Array(0.8630875, dtype=float32), Array(-1.1563638, dtype=float32), Array(0.01607932, dtype=float32), Array(-0.3317357, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(230422273017) read took: 106.8ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8619440197944641 0.8630874752998352 +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-54s DEBUG: pose_idx: 47/64 +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106014, dtype=float32), 'left.joint_1.pos': Array(1.2584612, dtype=float32), 'left.joint_2.pos': Array(0.86549723, dtype=float32), 'left.joint_3.pos': Array(-1.1592231, dtype=float32), 'left.joint_4.pos': Array(0.01607002, dtype=float32), 'left.joint_5.pos': Array(-0.33174837, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0256128, dtype=float32), 'right.joint_1.pos': Array(1.3018769, dtype=float32), 'right.joint_2.pos': Array(0.8705048, dtype=float32), 'right.joint_3.pos': Array(-1.1206777, dtype=float32), 'right.joint_4.pos': Array(0.00628795, dtype=float32), 'right.joint_5.pos': Array(-0.53918403, dtype=float32), 'right.gripper.pos': Array(0.0445336, dtype=float32)} +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.0256128, dtype=float32), Array(1.3018769, dtype=float32), Array(0.8705048, dtype=float32), Array(-1.1206777, dtype=float32), Array(0.00628795, dtype=float32), Array(-0.53918403, dtype=float32), Array(0.0445336, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453360289335251 +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106014, dtype=float32), Array(1.2584612, dtype=float32), Array(0.86549723, dtype=float32), Array(-1.1592231, dtype=float32), Array(0.01607002, dtype=float32), Array(-0.33174837, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 107.2ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(230422273017) read took: 107.7ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-15m-54s DEBUG: pose_idx: 48/64 +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106133, dtype=float32), 'left.joint_1.pos': Array(1.2579844, dtype=float32), 'left.joint_2.pos': Array(0.86791205, dtype=float32), 'left.joint_3.pos': Array(-1.1620785, dtype=float32), 'left.joint_4.pos': Array(0.01606051, dtype=float32), 'left.joint_5.pos': Array(-0.33176106, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0259743, dtype=float32), 'right.joint_1.pos': Array(1.3024133, dtype=float32), 'right.joint_2.pos': Array(0.8708895, dtype=float32), 'right.joint_3.pos': Array(-1.1205192, dtype=float32), 'right.joint_4.pos': Array(0.0062747, dtype=float32), 'right.joint_5.pos': Array(-0.53883237, dtype=float32), 'right.gripper.pos': Array(0.04453316, dtype=float32)} +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.0259743, dtype=float32), Array(1.3024133, dtype=float32), Array(0.8708895, dtype=float32), Array(-1.1205192, dtype=float32), Array(0.0062747, dtype=float32), Array(-0.53883237, dtype=float32), Array(0.04453316, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453315958380699 +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106133, dtype=float32), Array(1.2579844, dtype=float32), Array(0.86791205, dtype=float32), Array(-1.1620785, dtype=float32), Array(0.01606051, dtype=float32), Array(-0.33176106, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(230422273017) read took: 109.0ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 1.0ms +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-54s DEBUG: pose_idx: 49/64 +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107304, dtype=float32), 'left.joint_1.pos': Array(1.25743, dtype=float32), 'left.joint_2.pos': Array(0.87028015, dtype=float32), 'left.joint_3.pos': Array(-1.1649237, dtype=float32), 'left.joint_4.pos': Array(0.01599704, dtype=float32), 'left.joint_5.pos': Array(-0.33189243, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.025975, dtype=float32), 'right.joint_1.pos': Array(1.3024132, dtype=float32), 'right.joint_2.pos': Array(0.8708898, dtype=float32), 'right.joint_3.pos': Array(-1.1205194, dtype=float32), 'right.joint_4.pos': Array(0.00627489, dtype=float32), 'right.joint_5.pos': Array(-0.53883165, dtype=float32), 'right.gripper.pos': Array(0.04453316, dtype=float32)} +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 5.3ms +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.025975, dtype=float32), Array(1.3024132, dtype=float32), Array(0.8708898, dtype=float32), Array(-1.1205194, dtype=float32), Array(0.00627489, dtype=float32), Array(-0.53883165, dtype=float32), Array(0.04453316, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453316330909729 +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107304, dtype=float32), Array(1.25743, dtype=float32), Array(0.87028015, dtype=float32), Array(-1.1649237, dtype=float32), Array(0.01599704, dtype=float32), Array(-0.33189243, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8691920638084412 0.8702801465988159 +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-54s DEBUG: pose_idx: 50/64 +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106373, dtype=float32), 'left.joint_1.pos': Array(1.2570568, dtype=float32), 'left.joint_2.pos': Array(0.8727563, dtype=float32), 'left.joint_3.pos': Array(-1.1677773, dtype=float32), 'left.joint_4.pos': Array(0.01604163, dtype=float32), 'left.joint_5.pos': Array(-0.33178633, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0263354, dtype=float32), 'right.joint_1.pos': Array(1.3029501, dtype=float32), 'right.joint_2.pos': Array(0.87127465, dtype=float32), 'right.joint_3.pos': Array(-1.1203603, dtype=float32), 'right.joint_4.pos': Array(0.00626157, dtype=float32), 'right.joint_5.pos': Array(-0.5384813, dtype=float32), 'right.gripper.pos': Array(0.04453271, dtype=float32)} +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.0263354, dtype=float32), Array(1.3029501, dtype=float32), Array(0.87127465, dtype=float32), Array(-1.1203603, dtype=float32), Array(0.00626157, dtype=float32), Array(-0.5384813, dtype=float32), Array(0.04453271, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044532712548971176 +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106373, dtype=float32), Array(1.2570568, dtype=float32), Array(0.8727563, dtype=float32), Array(-1.1677773, dtype=float32), Array(0.01604163, dtype=float32), Array(-0.33178633, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 214.4ms +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-54s DEBUG: pose_idx: 51/64 +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(218622278376) read took: 16.9ms +2025y-06m-25d-12h-15m-54s DEBUG: RealSenseCamera(230422273017) read took: 130.9ms +2025y-06m-25d-12h-15m-54s DEBUG: None Tatbot read realsense2: 17.4ms +2025y-06m-25d-12h-15m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106494, dtype=float32), 'left.joint_1.pos': Array(1.2566062, dtype=float32), 'left.joint_2.pos': Array(0.8751858, dtype=float32), 'left.joint_3.pos': Array(-1.1706212, dtype=float32), 'left.joint_4.pos': Array(0.01603216, dtype=float32), 'left.joint_5.pos': Array(-0.33179882, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0263354, dtype=float32), 'right.joint_1.pos': Array(1.3029501, dtype=float32), 'right.joint_2.pos': Array(0.87127465, dtype=float32), 'right.joint_3.pos': Array(-1.1203603, dtype=float32), 'right.joint_4.pos': Array(0.00626157, dtype=float32), 'right.joint_5.pos': Array(-0.5384813, dtype=float32), 'right.gripper.pos': Array(0.04453271, dtype=float32)} +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.0263354, dtype=float32), Array(1.3029501, dtype=float32), Array(0.87127465, dtype=float32), Array(-1.1203603, dtype=float32), Array(0.00626157, dtype=float32), Array(-0.5384813, dtype=float32), Array(0.04453271, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.044532712548971176 +2025y-06m-25d-12h-15m-54s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106494, dtype=float32), Array(1.2566062, dtype=float32), Array(0.8751858, dtype=float32), Array(-1.1706212, dtype=float32), Array(0.01603216, dtype=float32), Array(-0.33179882, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(230422273017) read took: 108.6ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 112.2ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-55s DEBUG: pose_idx: 52/64 +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910661, dtype=float32), 'left.joint_1.pos': Array(1.2561642, dtype=float32), 'left.joint_2.pos': Array(0.87762016, dtype=float32), 'left.joint_3.pos': Array(-1.1734607, dtype=float32), 'left.joint_4.pos': Array(0.0160228, dtype=float32), 'left.joint_5.pos': Array(-0.33181128, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.026696, dtype=float32), 'right.joint_1.pos': Array(1.3034872, dtype=float32), 'right.joint_2.pos': Array(0.8716597, dtype=float32), 'right.joint_3.pos': Array(-1.1202015, dtype=float32), 'right.joint_4.pos': Array(0.00624848, dtype=float32), 'right.joint_5.pos': Array(-0.53813046, dtype=float32), 'right.gripper.pos': Array(0.04453227, dtype=float32)} +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.026696, dtype=float32), Array(1.3034872, dtype=float32), Array(0.8716597, dtype=float32), Array(-1.1202015, dtype=float32), Array(0.00624848, dtype=float32), Array(-0.53813046, dtype=float32), Array(0.04453227, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453227296471596 +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting left arm positions: [Array(-1.910661, dtype=float32), Array(1.2561642, dtype=float32), Array(0.87762016, dtype=float32), Array(-1.1734607, dtype=float32), Array(0.0160228, dtype=float32), Array(-0.33181128, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 108.3ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-55s DEBUG: pose_idx: 53/64 +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106728, dtype=float32), 'left.joint_1.pos': Array(1.2557302, dtype=float32), 'left.joint_2.pos': Array(0.8800595, dtype=float32), 'left.joint_3.pos': Array(-1.1762975, dtype=float32), 'left.joint_4.pos': Array(0.01601342, dtype=float32), 'left.joint_5.pos': Array(-0.3318238, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.026696, dtype=float32), 'right.joint_1.pos': Array(1.3034872, dtype=float32), 'right.joint_2.pos': Array(0.8716597, dtype=float32), 'right.joint_3.pos': Array(-1.1202015, dtype=float32), 'right.joint_4.pos': Array(0.00624848, dtype=float32), 'right.joint_5.pos': Array(-0.53813046, dtype=float32), 'right.gripper.pos': Array(0.04453227, dtype=float32)} +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.026696, dtype=float32), Array(1.3034872, dtype=float32), Array(0.8716597, dtype=float32), Array(-1.1202015, dtype=float32), Array(0.00624848, dtype=float32), Array(-0.53813046, dtype=float32), Array(0.04453227, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04453227296471596 +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106728, dtype=float32), Array(1.2557302, dtype=float32), Array(0.8800595, dtype=float32), Array(-1.1762975, dtype=float32), Array(0.01601342, dtype=float32), Array(-0.3318238, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 108.3ms +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.1774243116378784 -1.1762975454330444 +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-15m-55s DEBUG: pose_idx: 54/64 +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 35.1ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(230422273017) read took: 147.8ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense2: 34.4ms +2025y-06m-25d-12h-15m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106843, dtype=float32), 'left.joint_1.pos': Array(1.2553053, dtype=float32), 'left.joint_2.pos': Array(0.88250405, dtype=float32), 'left.joint_3.pos': Array(-1.1791304, dtype=float32), 'left.joint_4.pos': Array(0.01600439, dtype=float32), 'left.joint_5.pos': Array(-0.33183613, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0270567, dtype=float32), 'right.joint_1.pos': Array(1.3040239, dtype=float32), 'right.joint_2.pos': Array(0.87204504, dtype=float32), 'right.joint_3.pos': Array(-1.1200432, dtype=float32), 'right.joint_4.pos': Array(0.00623559, dtype=float32), 'right.joint_5.pos': Array(-0.5377797, dtype=float32), 'right.gripper.pos': Array(0.04453183, dtype=float32)} +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.0270567, dtype=float32), Array(1.3040239, dtype=float32), Array(0.87204504, dtype=float32), Array(-1.1200432, dtype=float32), Array(0.00623559, dtype=float32), Array(-0.5377797, dtype=float32), Array(0.04453183, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3029297590255737 1.3040238618850708 +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04453182965517044 +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106843, dtype=float32), Array(1.2553053, dtype=float32), Array(0.88250405, dtype=float32), Array(-1.1791304, dtype=float32), Array(0.01600439, dtype=float32), Array(-0.33183613, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(230422273017) read took: 107.0ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 110.5ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-55s DEBUG: pose_idx: 55/64 +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106963, dtype=float32), 'left.joint_1.pos': Array(1.2548889, dtype=float32), 'left.joint_2.pos': Array(0.88495296, dtype=float32), 'left.joint_3.pos': Array(-1.181959, dtype=float32), 'left.joint_4.pos': Array(0.01599506, dtype=float32), 'left.joint_5.pos': Array(-0.33184847, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0270567, dtype=float32), 'right.joint_1.pos': Array(1.3040239, dtype=float32), 'right.joint_2.pos': Array(0.87204504, dtype=float32), 'right.joint_3.pos': Array(-1.1200432, dtype=float32), 'right.joint_4.pos': Array(0.00623559, dtype=float32), 'right.joint_5.pos': Array(-0.5377797, dtype=float32), 'right.gripper.pos': Array(0.04453183, dtype=float32)} +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.0270567, dtype=float32), Array(1.3040239, dtype=float32), Array(0.87204504, dtype=float32), Array(-1.1200432, dtype=float32), Array(0.00623559, dtype=float32), Array(-0.5377797, dtype=float32), Array(0.04453183, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453182965517044 +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106963, dtype=float32), Array(1.2548889, dtype=float32), Array(0.88495296, dtype=float32), Array(-1.181959, dtype=float32), Array(0.01599506, dtype=float32), Array(-0.33184847, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 106.3ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-55s DEBUG: pose_idx: 56/64 +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 14.0ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(230422273017) read took: 126.1ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense2: 15.2ms +2025y-06m-25d-12h-15m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108185, dtype=float32), 'left.joint_1.pos': Array(1.2543923, dtype=float32), 'left.joint_2.pos': Array(0.88735473, dtype=float32), 'left.joint_3.pos': Array(-1.1847792, dtype=float32), 'left.joint_4.pos': Array(0.01592896, dtype=float32), 'left.joint_5.pos': Array(-0.33198595, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0274173, dtype=float32), 'right.joint_1.pos': Array(1.3045611, dtype=float32), 'right.joint_2.pos': Array(0.8724312, dtype=float32), 'right.joint_3.pos': Array(-1.1198851, dtype=float32), 'right.joint_4.pos': Array(0.00622288, dtype=float32), 'right.joint_5.pos': Array(-0.53742874, dtype=float32), 'right.gripper.pos': Array(0.04453139, dtype=float32)} +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.0274173, dtype=float32), Array(1.3045611, dtype=float32), Array(0.8724312, dtype=float32), Array(-1.1198851, dtype=float32), Array(0.00622288, dtype=float32), Array(-0.53742874, dtype=float32), Array(0.04453139, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453139379620552 +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108185, dtype=float32), Array(1.2543923, dtype=float32), Array(0.88735473, dtype=float32), Array(-1.1847792, dtype=float32), Array(0.01592896, dtype=float32), Array(-0.33198595, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(230422273017) read took: 107.3ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 110.9ms +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.1861982345581055 -1.184779167175293 +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-55s DEBUG: pose_idx: 57/64 +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read state: 0.2ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108311, dtype=float32), 'left.joint_1.pos': Array(1.2539922, dtype=float32), 'left.joint_2.pos': Array(0.8898136, dtype=float32), 'left.joint_3.pos': Array(-1.1876011, dtype=float32), 'left.joint_4.pos': Array(0.01591917, dtype=float32), 'left.joint_5.pos': Array(-0.33199933, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0274173, dtype=float32), 'right.joint_1.pos': Array(1.3045611, dtype=float32), 'right.joint_2.pos': Array(0.8724312, dtype=float32), 'right.joint_3.pos': Array(-1.1198851, dtype=float32), 'right.joint_4.pos': Array(0.00622288, dtype=float32), 'right.joint_5.pos': Array(-0.53742874, dtype=float32), 'right.gripper.pos': Array(0.04453139, dtype=float32)} +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.0274173, dtype=float32), Array(1.3045611, dtype=float32), Array(0.8724312, dtype=float32), Array(-1.1198851, dtype=float32), Array(0.00622288, dtype=float32), Array(-0.53742874, dtype=float32), Array(0.04453139, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04453139379620552 +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108311, dtype=float32), Array(1.2539922, dtype=float32), Array(0.8898136, dtype=float32), Array(-1.1876011, dtype=float32), Array(0.01591917, dtype=float32), Array(-0.33199933, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.7ms +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-15m-55s DEBUG: pose_idx: 58/64 +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 12.3ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(230422273017) read took: 125.6ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense2: 13.1ms +2025y-06m-25d-12h-15m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107312, dtype=float32), 'left.joint_1.pos': Array(1.25369, dtype=float32), 'left.joint_2.pos': Array(0.8923296, dtype=float32), 'left.joint_3.pos': Array(-1.1904248, dtype=float32), 'left.joint_4.pos': Array(0.01596713, dtype=float32), 'left.joint_5.pos': Array(-0.33188513, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.027776, dtype=float32), 'right.joint_1.pos': Array(1.3050976, dtype=float32), 'right.joint_2.pos': Array(0.872817, dtype=float32), 'right.joint_3.pos': Array(-1.119727, dtype=float32), 'right.joint_4.pos': Array(0.00620968, dtype=float32), 'right.joint_5.pos': Array(-0.53708, dtype=float32), 'right.gripper.pos': Array(0.04453095, dtype=float32)} +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.027776, dtype=float32), Array(1.3050976, dtype=float32), Array(0.872817, dtype=float32), Array(-1.119727, dtype=float32), Array(0.00620968, dtype=float32), Array(-0.53708, dtype=float32), Array(0.04453095, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044530946761369705 +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107312, dtype=float32), Array(1.25369, dtype=float32), Array(0.8923296, dtype=float32), Array(-1.1904248, dtype=float32), Array(0.01596713, dtype=float32), Array(-0.33188513, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(230422273017) read took: 107.9ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 111.2ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-55s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-55s DEBUG: pose_idx: 59/64 +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-55s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-55s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107431, dtype=float32), 'left.joint_1.pos': Array(1.2533072, dtype=float32), 'left.joint_2.pos': Array(0.89479834, dtype=float32), 'left.joint_3.pos': Array(-1.1932392, dtype=float32), 'left.joint_4.pos': Array(0.01595789, dtype=float32), 'left.joint_5.pos': Array(-0.3318977, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.027776, dtype=float32), 'right.joint_1.pos': Array(1.3050976, dtype=float32), 'right.joint_2.pos': Array(0.872817, dtype=float32), 'right.joint_3.pos': Array(-1.119727, dtype=float32), 'right.joint_4.pos': Array(0.00620968, dtype=float32), 'right.joint_5.pos': Array(-0.53708, dtype=float32), 'right.gripper.pos': Array(0.04453095, dtype=float32)} +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting right arm positions: [Array(1.027776, dtype=float32), Array(1.3050976, dtype=float32), Array(0.872817, dtype=float32), Array(-1.119727, dtype=float32), Array(0.00620968, dtype=float32), Array(-0.53708, dtype=float32), Array(0.04453095, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-55s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.044530946761369705 +2025y-06m-25d-12h-15m-55s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107431, dtype=float32), Array(1.2533072, dtype=float32), Array(0.89479834, dtype=float32), Array(-1.1932392, dtype=float32), Array(0.01595789, dtype=float32), Array(-0.3318977, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-56s DEBUG: RealSenseCamera(230422273017) read took: 109.4ms +2025y-06m-25d-12h-15m-56s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms +2025y-06m-25d-12h-15m-56s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-15m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-15m-56s DEBUG: pose_idx: 60/64 +2025y-06m-25d-12h-15m-56s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-15m-56s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-56s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-56s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107547, dtype=float32), 'left.joint_1.pos': Array(1.2529329, dtype=float32), 'left.joint_2.pos': Array(0.89727175, dtype=float32), 'left.joint_3.pos': Array(-1.1960503, dtype=float32), 'left.joint_4.pos': Array(0.01594868, dtype=float32), 'left.joint_5.pos': Array(-0.33190972, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0281352, dtype=float32), 'right.joint_1.pos': Array(1.3056344, dtype=float32), 'right.joint_2.pos': Array(0.8732034, dtype=float32), 'right.joint_3.pos': Array(-1.1195697, dtype=float32), 'right.joint_4.pos': Array(0.00619651, dtype=float32), 'right.joint_5.pos': Array(-0.5367307, dtype=float32), 'right.gripper.pos': Array(0.0445305, dtype=float32)} +2025y-06m-25d-12h-15m-56s DEBUG: 🦾 Setting right arm positions: [Array(1.0281352, dtype=float32), Array(1.3056344, dtype=float32), Array(0.8732034, dtype=float32), Array(-1.1195697, dtype=float32), Array(0.00619651, dtype=float32), Array(-0.5367307, dtype=float32), Array(0.0445305, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453050345182419 +2025y-06m-25d-12h-15m-56s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107547, dtype=float32), Array(1.2529329, dtype=float32), Array(0.89727175, dtype=float32), Array(-1.1960503, dtype=float32), Array(0.01594868, dtype=float32), Array(-0.33190972, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-56s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms +2025y-06m-25d-12h-15m-56s DEBUG: RealSenseCamera(218622278376) read took: 0.9ms +2025y-06m-25d-12h-15m-56s DEBUG: RealSenseCamera(218622278376) read took: 0.5ms +2025y-06m-25d-12h-15m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-56s DEBUG: pose_idx: 61/64 +2025y-06m-25d-12h-15m-56s DEBUG: None Tatbot read state: 1.2ms +2025y-06m-25d-12h-15m-56s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-56s DEBUG: RealSenseCamera(218622278376) read took: 33.4ms +2025y-06m-25d-12h-15m-56s DEBUG: RealSenseCamera(230422273017) read took: 148.4ms +2025y-06m-25d-12h-15m-56s DEBUG: None Tatbot read realsense2: 34.2ms +2025y-06m-25d-12h-15m-56s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107661, dtype=float32), 'left.joint_1.pos': Array(1.2525668, dtype=float32), 'left.joint_2.pos': Array(0.89975023, dtype=float32), 'left.joint_3.pos': Array(-1.198858, dtype=float32), 'left.joint_4.pos': Array(0.01593957, dtype=float32), 'left.joint_5.pos': Array(-0.33192173, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0281352, dtype=float32), 'right.joint_1.pos': Array(1.3056344, dtype=float32), 'right.joint_2.pos': Array(0.8732034, dtype=float32), 'right.joint_3.pos': Array(-1.1195697, dtype=float32), 'right.joint_4.pos': Array(0.00619651, dtype=float32), 'right.joint_5.pos': Array(-0.5367307, dtype=float32), 'right.gripper.pos': Array(0.0445305, dtype=float32)} +2025y-06m-25d-12h-15m-56s DEBUG: 🦾 Setting right arm positions: [Array(1.0281352, dtype=float32), Array(1.3056344, dtype=float32), Array(0.8732034, dtype=float32), Array(-1.1195697, dtype=float32), Array(0.00619651, dtype=float32), Array(-0.5367307, dtype=float32), Array(0.0445305, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453050345182419 +2025y-06m-25d-12h-15m-56s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107661, dtype=float32), Array(1.2525668, dtype=float32), Array(0.89975023, dtype=float32), Array(-1.198858, dtype=float32), Array(0.01593957, dtype=float32), Array(-0.33192173, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-15m-56s DEBUG: RealSenseCamera(230422273017) read took: 107.0ms +2025y-06m-25d-12h-15m-56s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-15m-56s DEBUG: RealSenseCamera(218622278376) read took: 111.4ms +2025y-06m-25d-12h-15m-56s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-15m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-56s DEBUG: pose_idx: 62/64 +2025y-06m-25d-12h-15m-56s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-15m-56s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-56s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-56s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107779, dtype=float32), 'left.joint_1.pos': Array(1.2522092, dtype=float32), 'left.joint_2.pos': Array(0.90223366, dtype=float32), 'left.joint_3.pos': Array(-1.2016622, dtype=float32), 'left.joint_4.pos': Array(0.01593037, dtype=float32), 'left.joint_5.pos': Array(-0.33193398, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.028494, dtype=float32), 'right.joint_1.pos': Array(1.3061713, dtype=float32), 'right.joint_2.pos': Array(0.8735898, dtype=float32), 'right.joint_3.pos': Array(-1.1194121, dtype=float32), 'right.joint_4.pos': Array(0.0061838, dtype=float32), 'right.joint_5.pos': Array(-0.53638136, dtype=float32), 'right.gripper.pos': Array(0.04453006, dtype=float32)} +2025y-06m-25d-12h-15m-56s DEBUG: 🦾 Setting right arm positions: [Array(1.028494, dtype=float32), Array(1.3061713, dtype=float32), Array(0.8735898, dtype=float32), Array(-1.1194121, dtype=float32), Array(0.0061838, dtype=float32), Array(-0.53638136, dtype=float32), Array(0.04453006, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04453006386756897 +2025y-06m-25d-12h-15m-56s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107779, dtype=float32), Array(1.2522092, dtype=float32), Array(0.90223366, dtype=float32), Array(-1.2016622, dtype=float32), Array(0.01593037, dtype=float32), Array(-0.33193398, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-58s DEBUG: RealSenseCamera(218622278376) read took: 2009.5ms +2025y-06m-25d-12h-15m-58s DEBUG: RealSenseCamera(230422273017) read took: 2010.8ms +2025y-06m-25d-12h-15m-58s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-15m-58s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-15m-58s DEBUG: pose_idx: 63/64 +2025y-06m-25d-12h-15m-58s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-15m-58s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-15m-58s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-15m-58s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107896, dtype=float32), 'left.joint_1.pos': Array(1.2518598, dtype=float32), 'left.joint_2.pos': Array(0.9047215, dtype=float32), 'left.joint_3.pos': Array(-1.2044624, dtype=float32), 'left.joint_4.pos': Array(0.015921, dtype=float32), 'left.joint_5.pos': Array(-0.33194628, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0286697, dtype=float32), 'right.joint_1.pos': Array(1.2966478, dtype=float32), 'right.joint_2.pos': Array(0.91557604, dtype=float32), 'right.joint_3.pos': Array(-1.1700069, dtype=float32), 'right.joint_4.pos': Array(0.00633542, dtype=float32), 'right.joint_5.pos': Array(-0.5362022, dtype=float32), 'right.gripper.pos': Array(0.04452834, dtype=float32)} +2025y-06m-25d-12h-15m-58s DEBUG: 🦾 Setting right arm positions: [Array(1.0286697, dtype=float32), Array(1.2966478, dtype=float32), Array(0.91557604, dtype=float32), Array(-1.1700069, dtype=float32), Array(0.00633542, dtype=float32), Array(-0.5362022, dtype=float32), Array(0.04452834, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-15m-58s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3059815168380737 1.2966477870941162 +2025y-06m-25d-12h-15m-58s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8733882904052734 0.9155760407447815 +2025y-06m-25d-12h-15m-58s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.119439959526062 -1.1700068712234497 +2025y-06m-25d-12h-15m-58s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04452833905816078 +2025y-06m-25d-12h-15m-58s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107896, dtype=float32), Array(1.2518598, dtype=float32), Array(0.9047215, dtype=float32), Array(-1.2044624, dtype=float32), Array(0.015921, dtype=float32), Array(-0.33194628, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-16m-00s DEBUG: RealSenseCamera(218622278376) read took: 2010.5ms +2025y-06m-25d-12h-16m-00s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-16m-00s DEBUG: RealSenseCamera(218622278376) read took: 0.5ms +2025y-06m-25d-12h-16m-00s DEBUG: RealSenseCamera(230422273017) read took: 2011.8ms +2025y-06m-25d-12h-16m-00s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-00s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-00s INFO: 🤖🗃️ Writing episode log to /home/trossen-ai/tatbot/output/record/plan-bench-2025y-06m-25d-12h-13m-57s/logs/episode_000006.txt