diff --git "a/logs/episode_000007.txt" "b/logs/episode_000007.txt"
new file mode 100644--- /dev/null
+++ "b/logs/episode_000007.txt"
@@ -0,0 +1,932 @@
+2025y-06m-25d-12h-16m-02s DEBUG: 🤖 sending arms to rest pose
+2025y-06m-25d-12h-16m-02s 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-16m-02s 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-16m-02s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.028648853302002 1.0
+2025y-06m-25d-12h-16m-02s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2964446544647217 0.10000000149011612
+2025y-06m-25d-12h-16m-02s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 1.2964446544647217 0.10000000149011612
+2025y-06m-25d-12h-16m-02s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9157320261001587 0.5
+2025y-06m-25d-12h-16m-02s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.9157320261001587 0.5
+2025y-06m-25d-12h-16m-02s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1701762676239014 -1.2000000476837158
+2025y-06m-25d-12h-16m-02s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 0.006294346414506435 0.0
+2025y-06m-25d-12h-16m-02s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5365453362464905 0.0
+2025y-06m-25d-12h-16m-02s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 -0.5365453362464905 0.0
+2025y-06m-25d-12h-16m-02s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0
+2025y-06m-25d-12h-16m-02s WARNING: 🦾❌ Failed to set right arm positions: 
+<class 'ValueError'>:
+right arm joints mismatch
+No error
+2025y-06m-25d-12h-16m-02s 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-16m-02s DEBUG: RealSenseCamera(218622278376) read took: 33.9ms
+2025y-06m-25d-12h-16m-04s DEBUG: RealSenseCamera(230422273017) read took: 2030.6ms
+2025y-06m-25d-12h-16m-04s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 0.0
+2025y-06m-25d-12h-16m-04s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-04s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-04s INFO: 🤖 recording path 7 of 15
+2025y-06m-25d-12h-16m-04s DEBUG: pose_idx: 0/64
+2025y-06m-25d-12h-16m-04s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-16m-04s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-04s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-04s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.99132204, dtype=float32), 'left.joint_1.pos': Array(1.3058072, dtype=float32), 'left.joint_2.pos': Array(0.92207086, dtype=float32), 'left.joint_3.pos': Array(-1.1672068, dtype=float32), 'left.joint_4.pos': Array(-0.0071443, dtype=float32), 'left.joint_5.pos': Array(0.5727518, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107894, dtype=float32), 'right.joint_1.pos': Array(1.2518599, dtype=float32), 'right.joint_2.pos': Array(0.9047216, dtype=float32), 'right.joint_3.pos': Array(-1.2044623, dtype=float32), 'right.joint_4.pos': Array(-0.01592097, dtype=float32), 'right.joint_5.pos': Array(0.33194605, dtype=float32), 'right.gripper.pos': Array(-0.00081068, dtype=float32)}
+2025y-06m-25d-12h-16m-04s DEBUG: 🦾 Setting right arm positions: [Array(1.9107894, dtype=float32), Array(1.2518599, dtype=float32), Array(0.9047216, dtype=float32), Array(-1.2044623, dtype=float32), Array(-0.01592097, dtype=float32), Array(0.33194605, dtype=float32), Array(-0.00081068, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-04s DEBUG: RealSenseCamera(230422273017) read took: 2.0ms
+2025y-06m-25d-12h-16m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.0000381469726562 1.9107893705368042
+2025y-06m-25d-12h-16m-04s ERROR: 🦾❌ Right arm position mismatch: right.joint_0 1.0000381469726562 1.9107893705368042
+2025y-06m-25d-12h-16m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 0.09937438368797302 1.2518599033355713
+2025y-06m-25d-12h-16m-04s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 0.09937438368797302 1.2518599033355713
+2025y-06m-25d-12h-16m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.4991607666015625 0.9047216176986694
+2025y-06m-25d-12h-16m-04s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.4991607666015625 0.9047216176986694
+2025y-06m-25d-12h-16m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.200312852859497 -1.2044622898101807
+2025y-06m-25d-12h-16m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 0.00019073777366429567 -0.0159209743142128
+2025y-06m-25d-12h-16m-04s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 0.00019073777366429567 0.3319460451602936
+2025y-06m-25d-12h-16m-04s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 0.00019073777366429567 0.3319460451602936
+2025y-06m-25d-12h-16m-04s WARNING: 🦾❌ Failed to set right arm positions: 
+<class 'ValueError'>:
+right arm joints mismatch
+No error
+2025y-06m-25d-12h-16m-04s DEBUG: 🦾 Setting left arm positions: [Array(-0.99132204, dtype=float32), Array(1.3058072, dtype=float32), Array(0.92207086, dtype=float32), Array(-1.1672068, dtype=float32), Array(-0.0071443, dtype=float32), Array(0.5727518, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-06s DEBUG: RealSenseCamera(230422273017) read took: 2003.5ms
+2025y-06m-25d-12h-16m-06s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-06s DEBUG: RealSenseCamera(218622278376) read took: 2006.8ms
+2025y-06m-25d-12h-16m-06s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-06s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-06s DEBUG: pose_idx: 1/64
+2025y-06m-25d-12h-16m-06s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-16m-06s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-06s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-06s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9911666, dtype=float32), 'left.joint_1.pos': Array(1.3154676, dtype=float32), 'left.joint_2.pos': Array(0.8802603, dtype=float32), 'left.joint_3.pos': Array(-1.1166719, dtype=float32), 'left.joint_4.pos': Array(-0.00700942, dtype=float32), 'left.joint_5.pos': Array(0.57290983, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107784, dtype=float32), 'right.joint_1.pos': Array(1.2521924, dtype=float32), 'right.joint_2.pos': Array(0.90235174, dtype=float32), 'right.joint_3.pos': Array(-1.2017953, dtype=float32), 'right.joint_4.pos': Array(-0.01592975, dtype=float32), 'right.joint_5.pos': Array(0.33193454, dtype=float32), 'right.gripper.pos': Array(-0.0008107, dtype=float32)}
+2025y-06m-25d-12h-16m-06s DEBUG: 🦾 Setting right arm positions: [Array(1.9107784, dtype=float32), Array(1.2521924, dtype=float32), Array(0.90235174, dtype=float32), Array(-1.2017953, dtype=float32), Array(-0.01592975, dtype=float32), Array(0.33193454, dtype=float32), Array(-0.0008107, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-06s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9050507545471191 0.9023517370223999
+2025y-06m-25d-12h-16m-06s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.2045090198516846 -1.2017953395843506
+2025y-06m-25d-12h-16m-06s DEBUG: 🦾 Setting left arm positions: [Array(-0.9911666, dtype=float32), Array(1.3154676, dtype=float32), Array(0.8802603, dtype=float32), Array(-1.1166719, dtype=float32), Array(-0.00700942, dtype=float32), Array(0.57290983, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-08s DEBUG: RealSenseCamera(218622278376) read took: 2005.2ms
+2025y-06m-25d-12h-16m-08s DEBUG: RealSenseCamera(230422273017) read took: 2005.7ms
+2025y-06m-25d-12h-16m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-16m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-08s DEBUG: pose_idx: 2/64
+2025y-06m-25d-12h-16m-08s DEBUG: None Tatbot read state: 0.1ms
+2025y-06m-25d-12h-16m-08s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-08s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-08s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9900346, dtype=float32), 'left.joint_1.pos': Array(1.3139025, dtype=float32), 'left.joint_2.pos': Array(0.87912035, dtype=float32), 'left.joint_3.pos': Array(-1.1171182, dtype=float32), 'left.joint_4.pos': Array(-0.0070502, dtype=float32), 'left.joint_5.pos': Array(0.5740112, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107676, dtype=float32), 'right.joint_1.pos': Array(1.2525322, dtype=float32), 'right.joint_2.pos': Array(0.8999865, dtype=float32), 'right.joint_3.pos': Array(-1.1991253, dtype=float32), 'right.joint_4.pos': Array(-0.01593862, dtype=float32), 'right.joint_5.pos': Array(0.33192316, dtype=float32), 'right.gripper.pos': Array(-0.00081071, dtype=float32)}
+2025y-06m-25d-12h-16m-08s DEBUG: 🦾 Setting right arm positions: [Array(1.9107676, dtype=float32), Array(1.2525322, dtype=float32), Array(0.8999865, dtype=float32), Array(-1.1991253, dtype=float32), Array(-0.01593862, dtype=float32), Array(0.33192316, dtype=float32), Array(-0.00081071, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9027618765830994 0.8999865055084229
+2025y-06m-25d-12h-16m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.201838731765747 -1.1991252899169922
+2025y-06m-25d-12h-16m-08s DEBUG: 🦾 Setting left arm positions: [Array(-0.9900346, dtype=float32), Array(1.3139025, dtype=float32), Array(0.87912035, dtype=float32), Array(-1.1171182, dtype=float32), Array(-0.0070502, dtype=float32), Array(0.5740112, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-08s DEBUG: RealSenseCamera(218622278376) read took: 105.2ms
+2025y-06m-25d-12h-16m-08s DEBUG: RealSenseCamera(230422273017) read took: 105.2ms
+2025y-06m-25d-12h-16m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3155183792114258 1.313902497291565
+2025y-06m-25d-12h-16m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-08s DEBUG: pose_idx: 3/64
+2025y-06m-25d-12h-16m-08s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-16m-08s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-08s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-08s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9894973, dtype=float32), 'left.joint_1.pos': Array(1.3119855, dtype=float32), 'left.joint_2.pos': Array(0.87772804, dtype=float32), 'left.joint_3.pos': Array(-1.1176684, dtype=float32), 'left.joint_4.pos': Array(-0.00708068, dtype=float32), 'left.joint_5.pos': Array(0.5745292, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108707, dtype=float32), 'right.joint_1.pos': Array(1.25279, dtype=float32), 'right.joint_2.pos': Array(0.8975727, dtype=float32), 'right.joint_3.pos': Array(-1.1964461, dtype=float32), 'right.joint_4.pos': Array(-0.0158887, dtype=float32), 'right.joint_5.pos': Array(0.33204126, dtype=float32), 'right.gripper.pos': Array(-0.00080991, dtype=float32)}
+2025y-06m-25d-12h-16m-08s DEBUG: 🦾 Setting right arm positions: [Array(1.9108707, dtype=float32), Array(1.25279, dtype=float32), Array(0.8975727, dtype=float32), Array(-1.1964461, dtype=float32), Array(-0.0158887, dtype=float32), Array(0.33204126, dtype=float32), Array(-0.00080991, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8997100591659546 0.8975726962089539
+2025y-06m-25d-12h-16m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.200312852859497 -1.1964460611343384
+2025y-06m-25d-12h-16m-08s DEBUG: 🦾 Setting left arm positions: [Array(-0.9894973, dtype=float32), Array(1.3119855, dtype=float32), Array(0.87772804, dtype=float32), Array(-1.1176684, dtype=float32), Array(-0.00708068, dtype=float32), Array(0.5745292, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 105.2ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 105.5ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.5ms
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3136110305786133 1.3119854927062988
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5731670260429382 0.5745291709899902
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-09s DEBUG: pose_idx: 4/64
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.98797697, dtype=float32), 'left.joint_1.pos': Array(1.3098981, dtype=float32), 'left.joint_2.pos': Array(0.8762155, dtype=float32), 'left.joint_3.pos': Array(-1.118271, dtype=float32), 'left.joint_4.pos': Array(-0.00713532, dtype=float32), 'left.joint_5.pos': Array(0.5760083, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107451, dtype=float32), 'right.joint_1.pos': Array(1.2532355, dtype=float32), 'right.joint_2.pos': Array(0.8952691, dtype=float32), 'right.joint_3.pos': Array(-1.1937749, dtype=float32), 'right.joint_4.pos': Array(-0.0159562, dtype=float32), 'right.joint_5.pos': Array(0.3318998, dtype=float32), 'right.gripper.pos': Array(-0.00081074, dtype=float32)}
+2025y-06m-25d-12h-16m-09s DEBUG: �� Setting right arm positions: [Array(1.9107451, dtype=float32), Array(1.2532355, dtype=float32), Array(0.8952691, dtype=float32), Array(-1.1937749, dtype=float32), Array(-0.0159562, dtype=float32), Array(0.3318998, dtype=float32), Array(-0.00081074, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2521934509277344 1.2532354593276978
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8981841802597046 0.8952690958976746
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1957350969314575 -1.193774938583374
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting left arm positions: [Array(-0.98797697, dtype=float32), Array(1.3098981, dtype=float32), Array(0.8762155, dtype=float32), Array(-1.118271, dtype=float32), Array(-0.00713532, dtype=float32), Array(0.5760083, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 106.8ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 106.9ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3113222122192383 1.3098981380462646
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-09s DEBUG: pose_idx: 5/64
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 2.6ms
+2025y-06m-25d-12h-16m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9874316, dtype=float32), 'left.joint_1.pos': Array(1.3079787, dtype=float32), 'left.joint_2.pos': Array(0.8748291, dtype=float32), 'left.joint_3.pos': Array(-1.1188291, dtype=float32), 'left.joint_4.pos': Array(-0.00716561, dtype=float32), 'left.joint_5.pos': Array(0.5765347, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107342, dtype=float32), 'right.joint_1.pos': Array(1.2535982, dtype=float32), 'right.joint_2.pos': Array(0.89291686, dtype=float32), 'right.joint_3.pos': Array(-1.1910949, dtype=float32), 'right.joint_4.pos': Array(-0.01596499, dtype=float32), 'right.joint_5.pos': Array(0.3318881, dtype=float32), 'right.gripper.pos': Array(-0.00081076, dtype=float32)}
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting right arm positions: [Array(1.9107342, dtype=float32), Array(1.2535982, dtype=float32), Array(0.89291686, dtype=float32), Array(-1.1910949, dtype=float32), Array(-0.01596499, dtype=float32), Array(0.3318881, dtype=float32), Array(-0.00081076, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8955138325691223 0.8929168581962585
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1942092180252075 -1.1910948753356934
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting left arm positions: [Array(-0.9874316, dtype=float32), Array(1.3079787, dtype=float32), Array(0.8748291, dtype=float32), Array(-1.1188291, dtype=float32), Array(-0.00716561, dtype=float32), Array(0.5765347, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 107.4ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.5ms
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3090333938598633 1.3079787492752075
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-09s DEBUG: pose_idx: 6/64
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.98748404, dtype=float32), 'left.joint_1.pos': Array(1.305703, dtype=float32), 'left.joint_2.pos': Array(0.8731913, dtype=float32), 'left.joint_3.pos': Array(-1.1194963, dtype=float32), 'left.joint_4.pos': Array(-0.00718483, dtype=float32), 'left.joint_5.pos': Array(0.5764752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910723, dtype=float32), 'right.joint_1.pos': Array(1.2539686, dtype=float32), 'right.joint_2.pos': Array(0.89056927, dtype=float32), 'right.joint_3.pos': Array(-1.1884118, dtype=float32), 'right.joint_4.pos': Array(-0.01597385, dtype=float32), 'right.joint_5.pos': Array(0.3318765, dtype=float32), 'right.gripper.pos': Array(-0.00081078, dtype=float32)}
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting right arm positions: [Array(1.910723, dtype=float32), Array(1.2539686, dtype=float32), Array(0.89056927, dtype=float32), Array(-1.1884118, dtype=float32), Array(-0.01597385, dtype=float32), Array(0.3318765, dtype=float32), Array(-0.00081078, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.892080545425415 0.890569269657135
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1907758712768555 -1.188411831855774
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting left arm positions: [Array(-0.98748404, dtype=float32), Array(1.305703, dtype=float32), Array(0.8731913, dtype=float32), Array(-1.1194963, dtype=float32), Array(-0.00718483, dtype=float32), Array(0.5764752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 108.5ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3067444562911987 1.305703043937683
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-09s DEBUG: pose_idx: 7/64
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9873211, dtype=float32), 'left.joint_1.pos': Array(1.3043035, dtype=float32), 'left.joint_2.pos': Array(0.8721863, dtype=float32), 'left.joint_3.pos': Array(-1.1199095, dtype=float32), 'left.joint_4.pos': Array(-0.00720224, dtype=float32), 'left.joint_5.pos': Array(0.576629, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108227, dtype=float32), 'right.joint_1.pos': Array(1.2542583, dtype=float32), 'right.joint_2.pos': Array(0.88817394, dtype=float32), 'right.joint_3.pos': Array(-1.18572, dtype=float32), 'right.joint_4.pos': Array(-0.01592564, dtype=float32), 'right.joint_5.pos': Array(0.3319906, dtype=float32), 'right.gripper.pos': Array(-0.00081001, dtype=float32)}
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting right arm positions: [Array(1.9108227, dtype=float32), Array(1.2542583, dtype=float32), Array(0.88817394, dtype=float32), Array(-1.18572, dtype=float32), Array(-0.01592564, dtype=float32), Array(0.3319906, dtype=float32), Array(-0.00081001, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.88979172706604 0.8881739377975464
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1884870529174805 -1.1857199668884277
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting left arm positions: [Array(-0.9873211, dtype=float32), Array(1.3043035, dtype=float32), Array(0.8721863, dtype=float32), Array(-1.1199095, dtype=float32), Array(-0.00720224, dtype=float32), Array(0.576629, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 110.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.8ms
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-09s DEBUG: pose_idx: 8/64
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 4.3ms
+2025y-06m-25d-12h-16m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.98797524, dtype=float32), 'left.joint_1.pos': Array(1.3016694, dtype=float32), 'left.joint_2.pos': Array(0.8703005, dtype=float32), 'left.joint_3.pos': Array(-1.1206917, dtype=float32), 'left.joint_4.pos': Array(-0.00720919, dtype=float32), 'left.joint_5.pos': Array(0.57598037, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107008, dtype=float32), 'right.joint_1.pos': Array(1.2547324, dtype=float32), 'right.joint_2.pos': Array(0.8858871, dtype=float32), 'right.joint_3.pos': Array(-1.1830359, dtype=float32), 'right.joint_4.pos': Array(-0.0159914, dtype=float32), 'right.joint_5.pos': Array(0.33185327, dtype=float32), 'right.gripper.pos': Array(-0.00081082, dtype=float32)}
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting right arm positions: [Array(1.9107008, dtype=float32), Array(1.2547324, dtype=float32), Array(0.8858871, dtype=float32), Array(-1.1830359, dtype=float32), Array(-0.0159914, dtype=float32), Array(0.33185327, dtype=float32), Array(-0.00081082, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2537193298339844 1.254732370376587
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8878843188285828 0.885887086391449
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1854352951049805 -1.1830358505249023
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting left arm positions: [Array(-0.98797524, dtype=float32), Array(1.3016694, dtype=float32), Array(0.8703005, dtype=float32), Array(-1.1206917, dtype=float32), Array(-0.00720919, dtype=float32), Array(0.57598037, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 106.4ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.9ms
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-09s DEBUG: pose_idx: 9/64
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.98841465, dtype=float32), 'left.joint_1.pos': Array(1.2999121, dtype=float32), 'left.joint_2.pos': Array(0.8690462, dtype=float32), 'left.joint_3.pos': Array(-1.1212173, dtype=float32), 'left.joint_4.pos': Array(-0.00721455, dtype=float32), 'left.joint_5.pos': Array(0.57554424, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106896, dtype=float32), 'right.joint_1.pos': Array(1.2551256, dtype=float32), 'right.joint_2.pos': Array(0.88355255, dtype=float32), 'right.joint_3.pos': Array(-1.1803427, dtype=float32), 'right.joint_4.pos': Array(-0.01600034, dtype=float32), 'right.joint_5.pos': Array(0.33184144, dtype=float32), 'right.gripper.pos': Array(-0.00081085, dtype=float32)}
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting right arm positions: [Array(1.9106896, dtype=float32), Array(1.2551256, dtype=float32), Array(0.88355255, dtype=float32), Array(-1.1803427, dtype=float32), Array(-0.01600034, dtype=float32), Array(0.33184144, dtype=float32), Array(-0.00081085, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8852140307426453 0.8835525512695312
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.183146357536316 -1.180342674255371
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting left arm positions: [Array(-0.98841465, dtype=float32), Array(1.2999121, dtype=float32), Array(0.8690462, dtype=float32), Array(-1.1212173, dtype=float32), Array(-0.00721455, dtype=float32), Array(0.57554424, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 109.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.7ms
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-09s DEBUG: pose_idx: 10/64
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9888559, dtype=float32), 'left.joint_1.pos': Array(1.2981528, dtype=float32), 'left.joint_2.pos': Array(0.86779416, dtype=float32), 'left.joint_3.pos': Array(-1.1217469, dtype=float32), 'left.joint_4.pos': Array(-0.00721956, dtype=float32), 'left.joint_5.pos': Array(0.5751066, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106784, dtype=float32), 'right.joint_1.pos': Array(1.2555268, dtype=float32), 'right.joint_2.pos': Array(0.8812228, dtype=float32), 'right.joint_3.pos': Array(-1.1776468, dtype=float32), 'right.joint_4.pos': Array(-0.01600935, dtype=float32), 'right.joint_5.pos': Array(0.33182967, dtype=float32), 'right.gripper.pos': Array(-0.00081087, dtype=float32)}
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting right arm positions: [Array(1.9106784, dtype=float32), Array(1.2555268, dtype=float32), Array(0.8812228, dtype=float32), Array(-1.1776468, dtype=float32), Array(-0.01600935, dtype=float32), Array(0.33182967, dtype=float32), Array(-0.00081087, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.883306622505188 0.8812227845191956
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.180857539176941 -1.1776467561721802
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting left arm positions: [Array(-0.9888559, dtype=float32), Array(1.2981528, dtype=float32), Array(0.86779416, dtype=float32), Array(-1.1217469, dtype=float32), Array(-0.00721956, dtype=float32), Array(0.5751066, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 110.2ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.576218843460083 0.5751066207885742
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 2.5ms
+2025y-06m-25d-12h-16m-09s DEBUG: pose_idx: 11/64
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9899078, dtype=float32), 'left.joint_1.pos': Array(1.2960378, dtype=float32), 'left.joint_2.pos': Array(0.8662935, dtype=float32), 'left.joint_3.pos': Array(-1.1223884, dtype=float32), 'left.joint_4.pos': Array(-0.00721387, dtype=float32), 'left.joint_5.pos': Array(0.5740703, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107748, dtype=float32), 'right.joint_1.pos': Array(1.2558485, dtype=float32), 'right.joint_2.pos': Array(0.8788455, dtype=float32), 'right.joint_3.pos': Array(-1.1749417, dtype=float32), 'right.joint_4.pos': Array(-0.01596265, dtype=float32), 'right.joint_5.pos': Array(0.33193985, dtype=float32), 'right.gripper.pos': Array(-0.00081012, dtype=float32)}
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 5.9ms
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting right arm positions: [Array(1.9107748, dtype=float32), Array(1.2558485, dtype=float32), Array(0.8788455, dtype=float32), Array(-1.1749417, dtype=float32), Array(-0.01596265, dtype=float32), Array(0.33193985, dtype=float32), Array(-0.00081012, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8821622133255005 0.8788455128669739
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1774243116378784 -1.1749416589736938
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting left arm positions: [Array(-0.9899078, dtype=float32), Array(1.2960378, dtype=float32), Array(0.8662935, dtype=float32), Array(-1.1223884, dtype=float32), Array(-0.00721387, dtype=float32), Array(0.5740703, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 104.2ms
+2025y-06m-25d-12h-16m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.7ms
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5758373141288757 0.5740702748298645
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-09s DEBUG: pose_idx: 12/64
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9909617, dtype=float32), 'left.joint_1.pos': Array(1.2939216, dtype=float32), 'left.joint_2.pos': Array(0.86479574, dtype=float32), 'left.joint_3.pos': Array(-1.1230334, dtype=float32), 'left.joint_4.pos': Array(-0.00720631, dtype=float32), 'left.joint_5.pos': Array(0.5730327, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910656, dtype=float32), 'right.joint_1.pos': Array(1.2563524, dtype=float32), 'right.joint_2.pos': Array(0.8765762, dtype=float32), 'right.joint_3.pos': Array(-1.1722444, dtype=float32), 'right.joint_4.pos': Array(-0.01602681, dtype=float32), 'right.joint_5.pos': Array(0.3318059, dtype=float32), 'right.gripper.pos': Array(-0.00081092, dtype=float32)}
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting right arm positions: [Array(1.910656, dtype=float32), Array(1.2563524, dtype=float32), Array(0.8765762, dtype=float32), Array(-1.1722444, dtype=float32), Array(-0.01602681, dtype=float32), Array(0.3318059, dtype=float32), Array(-0.00081092, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8783474564552307 0.8765761852264404
+2025y-06m-25d-12h-16m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1751353740692139 -1.1722444295883179
+2025y-06m-25d-12h-16m-09s DEBUG: 🦾 Setting left arm positions: [Array(-0.9909617, dtype=float32), Array(1.2939216, dtype=float32), Array(0.86479574, dtype=float32), Array(-1.1230334, dtype=float32), Array(-0.00720631, dtype=float32), Array(0.5730327, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 108.9ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-10s DEBUG: pose_idx: 13/64
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9924069, dtype=float32), 'left.joint_1.pos': Array(1.2923318, dtype=float32), 'left.joint_2.pos': Array(0.8636745, dtype=float32), 'left.joint_3.pos': Array(-1.1235219, dtype=float32), 'left.joint_4.pos': Array(-0.00718518, dtype=float32), 'left.joint_5.pos': Array(0.57161385, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106447, dtype=float32), 'right.joint_1.pos': Array(1.2567767, dtype=float32), 'right.joint_2.pos': Array(0.8742597, dtype=float32), 'right.joint_3.pos': Array(-1.1695381, dtype=float32), 'right.joint_4.pos': Array(-0.01603584, dtype=float32), 'right.joint_5.pos': Array(0.3317941, dtype=float32), 'right.gripper.pos': Array(-0.00081094, dtype=float32)}
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting right arm positions: [Array(1.9106447, dtype=float32), Array(1.2567767, dtype=float32), Array(0.8742597, dtype=float32), Array(-1.1695381, dtype=float32), Array(-0.01603584, dtype=float32), Array(0.3317941, dtype=float32), Array(-0.00081094, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8760585784912109 0.8742597103118896
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1717021465301514 -1.169538140296936
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting left arm positions: [Array(-0.9924069, dtype=float32), Array(1.2923318, dtype=float32), Array(0.8636745, dtype=float32), Array(-1.1235219, dtype=float32), Array(-0.00718518, dtype=float32), Array(0.57161385, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-10s DEBUG: pose_idx: 14/64
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 3.2ms
+2025y-06m-25d-12h-16m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9938575, dtype=float32), 'left.joint_1.pos': Array(1.290742, dtype=float32), 'left.joint_2.pos': Array(0.8625559, dtype=float32), 'left.joint_3.pos': Array(-1.1240127, dtype=float32), 'left.joint_4.pos': Array(-0.0071638, dtype=float32), 'left.joint_5.pos': Array(0.57019, dtype=float32), 'left.gripper.pos': Array(8.543708e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106334, dtype=float32), 'right.joint_1.pos': Array(1.2572088, dtype=float32), 'right.joint_2.pos': Array(0.8719472, dtype=float32), 'right.joint_3.pos': Array(-1.1668284, dtype=float32), 'right.joint_4.pos': Array(-0.01604466, dtype=float32), 'right.joint_5.pos': Array(0.3317824, dtype=float32), 'right.gripper.pos': Array(-0.00081096, dtype=float32)}
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting right arm positions: [Array(1.9106334, dtype=float32), Array(1.2572088, dtype=float32), Array(0.8719472, dtype=float32), Array(-1.1668284, dtype=float32), Array(-0.01604466, dtype=float32), Array(0.3317824, dtype=float32), Array(-0.00081096, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 6.0ms
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8737697601318359 0.8719472289085388
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1694133281707764 -1.1668283939361572
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting left arm positions: [Array(-0.9938575, dtype=float32), Array(1.290742, dtype=float32), Array(0.8625559, dtype=float32), Array(-1.1240127, dtype=float32), Array(-0.0071638, dtype=float32), Array(0.57019, dtype=float32), Array(8.543708e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 106.5ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 102.6ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.568970799446106 0.5701900124549866
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 8.543707963326597e-09
+2025y-06m-25d-12h-16m-10s DEBUG: pose_idx: 15/64
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.99569803, dtype=float32), 'left.joint_1.pos': Array(1.2896824, dtype=float32), 'left.joint_2.pos': Array(0.861813, dtype=float32), 'left.joint_3.pos': Array(-1.1243426, dtype=float32), 'left.joint_4.pos': Array(-0.00712838, dtype=float32), 'left.joint_5.pos': Array(0.5683867, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107269, dtype=float32), 'right.joint_1.pos': Array(1.257563, dtype=float32), 'right.joint_2.pos': Array(0.86958855, dtype=float32), 'right.joint_3.pos': Array(-1.1641096, dtype=float32), 'right.joint_4.pos': Array(-0.01599974, dtype=float32), 'right.joint_5.pos': Array(0.33188885, dtype=float32), 'right.gripper.pos': Array(-0.00081024, dtype=float32)}
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting right arm positions: [Array(1.9107269, dtype=float32), Array(1.257563, dtype=float32), Array(0.86958855, dtype=float32), Array(-1.1641096, dtype=float32), Array(-0.01599974, dtype=float32), Array(0.33188885, dtype=float32), Array(-0.00081024, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8714808821678162 0.8695885539054871
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1667429208755493 -1.1641095876693726
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting left arm positions: [Array(-0.99569803, dtype=float32), Array(1.2896824, dtype=float32), Array(0.861813, dtype=float32), Array(-1.1243426, dtype=float32), Array(-0.00712838, dtype=float32), Array(0.5683867, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 111.5ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 111.3ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-10s DEBUG: pose_idx: 16/64
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.99715674, dtype=float32), 'left.joint_1.pos': Array(1.2880954, dtype=float32), 'left.joint_2.pos': Array(0.8607004, dtype=float32), 'left.joint_3.pos': Array(-1.1248367, dtype=float32), 'left.joint_4.pos': Array(-0.00710616, dtype=float32), 'left.joint_5.pos': Array(0.5669554, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106106, dtype=float32), 'right.joint_1.pos': Array(1.2580973, dtype=float32), 'right.joint_2.pos': Array(0.86733675, dtype=float32), 'right.joint_3.pos': Array(-1.1613991, dtype=float32), 'right.joint_4.pos': Array(-0.01606267, dtype=float32), 'right.joint_5.pos': Array(0.33175793, dtype=float32), 'right.gripper.pos': Array(-0.00081102, dtype=float32)}
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting right arm positions: [Array(1.9106106, dtype=float32), Array(1.2580973, dtype=float32), Array(0.86733675, dtype=float32), Array(-1.1613991, dtype=float32), Array(-0.01606267, dtype=float32), Array(0.33175793, dtype=float32), Array(-0.00081102, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8691920638084412 0.8673367500305176
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1636911630630493 -1.1613991260528564
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting left arm positions: [Array(-0.99715674, dtype=float32), Array(1.2880954, dtype=float32), Array(0.8607004, dtype=float32), Array(-1.1248367, dtype=float32), Array(-0.00710616, dtype=float32), Array(0.5669554, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 109.6ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 109.1ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-10s DEBUG: pose_idx: 17/64
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 5.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9996235, dtype=float32), 'left.joint_1.pos': Array(1.2866887, dtype=float32), 'left.joint_2.pos': Array(0.85971785, dtype=float32), 'left.joint_3.pos': Array(-1.1252781, dtype=float32), 'left.joint_4.pos': Array(-0.00705807, dtype=float32), 'left.joint_5.pos': Array(0.5645384, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107028, dtype=float32), 'right.joint_1.pos': Array(1.2584674, dtype=float32), 'right.joint_2.pos': Array(0.86498666, dtype=float32), 'right.joint_3.pos': Array(-1.1586729, dtype=float32), 'right.joint_4.pos': Array(-0.01601834, dtype=float32), 'right.joint_5.pos': Array(0.33186334, dtype=float32), 'right.gripper.pos': Array(-0.00081031, dtype=float32)}
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting right arm positions: [Array(1.9107028, dtype=float32), Array(1.2584674, dtype=float32), Array(0.86498666, dtype=float32), Array(-1.1586729, dtype=float32), Array(-0.01601834, dtype=float32), Array(0.33186334, dtype=float32), Array(-0.00081031, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 8.0ms
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8672846555709839 0.8649866580963135
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1621652841567993 -1.1586729288101196
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting left arm positions: [Array(-0.9996235, dtype=float32), Array(1.2866887, dtype=float32), Array(0.85971785, dtype=float32), Array(-1.1252781, dtype=float32), Array(-0.00705807, dtype=float32), Array(0.5645384, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 102.3ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 106.2ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-10s DEBUG: pose_idx: 18/64
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0018578, dtype=float32), 'left.joint_1.pos': Array(1.2861685, dtype=float32), 'left.joint_2.pos': Array(0.85935664, dtype=float32), 'left.joint_3.pos': Array(-1.1254433, dtype=float32), 'left.joint_4.pos': Array(-0.00700646, dtype=float32), 'left.joint_5.pos': Array(0.5623527, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105877, dtype=float32), 'right.joint_1.pos': Array(1.2590169, dtype=float32), 'right.joint_2.pos': Array(0.8627436, dtype=float32), 'right.joint_3.pos': Array(-1.1559553, dtype=float32), 'right.joint_4.pos': Array(-0.01608064, dtype=float32), 'right.joint_5.pos': Array(0.33173394, dtype=float32), 'right.gripper.pos': Array(-0.00081108, dtype=float32)}
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting right arm positions: [Array(1.9105877, dtype=float32), Array(1.2590169, dtype=float32), Array(0.8627436, dtype=float32), Array(-1.1559553, dtype=float32), Array(-0.01608064, dtype=float32), Array(0.33173394, dtype=float32), Array(-0.00081108, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2579156160354614 1.2590168714523315
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8653773069381714 0.862743616104126
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1583504676818848 -1.1559553146362305
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.0018578, dtype=float32), Array(1.2861685, dtype=float32), Array(0.85935664, dtype=float32), Array(-1.1254433, dtype=float32), Array(-0.00700646, dtype=float32), Array(0.5623527, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 110.7ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5613412857055664 0.56235271692276
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-10s DEBUG: pose_idx: 19/64
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0037163, dtype=float32), 'left.joint_1.pos': Array(1.2851193, dtype=float32), 'left.joint_2.pos': Array(0.85862625, dtype=float32), 'left.joint_3.pos': Array(-1.1257746, dtype=float32), 'left.joint_4.pos': Array(-0.00696989, dtype=float32), 'left.joint_5.pos': Array(0.5605317, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.910679, dtype=float32), 'right.joint_1.pos': Array(1.2594033, dtype=float32), 'right.joint_2.pos': Array(0.86040294, dtype=float32), 'right.joint_3.pos': Array(-1.1532228, dtype=float32), 'right.joint_4.pos': Array(-0.01603673, dtype=float32), 'right.joint_5.pos': Array(0.33183792, dtype=float32), 'right.gripper.pos': Array(-0.00081037, dtype=float32)}
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting right arm positions: [Array(1.910679, dtype=float32), Array(1.2594033, dtype=float32), Array(0.86040294, dtype=float32), Array(-1.1532228, dtype=float32), Array(-0.01603673, dtype=float32), Array(0.33183792, dtype=float32), Array(-0.00081037, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8627069592475891 0.8604029417037964
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1556801795959473 -1.1532227993011475
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.0037163, dtype=float32), Array(1.2851193, dtype=float32), Array(0.85862625, dtype=float32), Array(-1.1257746, dtype=float32), Array(-0.00696989, dtype=float32), Array(0.5605317, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-10s DEBUG: pose_idx: 20/64
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.005958, dtype=float32), 'left.joint_1.pos': Array(1.2846066, dtype=float32), 'left.joint_2.pos': Array(0.8582716, dtype=float32), 'left.joint_3.pos': Array(-1.1259388, dtype=float32), 'left.joint_4.pos': Array(-0.00691865, dtype=float32), 'left.joint_5.pos': Array(0.5583385, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.910667, dtype=float32), 'right.joint_1.pos': Array(1.259883, dtype=float32), 'right.joint_2.pos': Array(0.85811776, dtype=float32), 'right.joint_3.pos': Array(-1.1504928, dtype=float32), 'right.joint_4.pos': Array(-0.01604608, dtype=float32), 'right.joint_5.pos': Array(0.33182496, dtype=float32), 'right.gripper.pos': Array(-0.00081041, dtype=float32)}
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 5.7ms
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting right arm positions: [Array(1.910667, dtype=float32), Array(1.259883, dtype=float32), Array(0.85811776, dtype=float32), Array(-1.1504928, dtype=float32), Array(-0.01604608, dtype=float32), Array(0.33182496, dtype=float32), Array(-0.00081041, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8600366115570068 0.8581177592277527
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 8.3ms
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1530098915100098 -1.150492787361145
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.005958, dtype=float32), Array(1.2846066, dtype=float32), Array(0.8582716, dtype=float32), Array(-1.1259388, dtype=float32), Array(-0.00691865, dtype=float32), Array(0.5583385, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 101.5ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 103.4ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-10s DEBUG: pose_idx: 21/64
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0082017, dtype=float32), 'left.joint_1.pos': Array(1.2840986, dtype=float32), 'left.joint_2.pos': Array(0.85792035, dtype=float32), 'left.joint_3.pos': Array(-1.1261015, dtype=float32), 'left.joint_4.pos': Array(-0.00686709, dtype=float32), 'left.joint_5.pos': Array(0.55614346, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8577477931976318 0.8558371663093567
+2025y-06m-25d-12h-16m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1507209539413452 -1.147758960723877
+2025y-06m-25d-12h-16m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.0082017, dtype=float32), Array(1.2840986, dtype=float32), Array(0.85792035, dtype=float32), Array(-1.1261015, dtype=float32), Array(-0.00686709, dtype=float32), Array(0.55614346, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 109.1ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5571450591087341 0.5561434626579285
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-11s DEBUG: pose_idx: 22/64
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0108255, dtype=float32), 'left.joint_1.pos': Array(1.28413, dtype=float32), 'left.joint_2.pos': Array(0.85794604, dtype=float32), 'left.joint_3.pos': Array(-1.1260948, dtype=float32), 'left.joint_4.pos': Array(-0.00680155, dtype=float32), 'left.joint_5.pos': Array(0.55357856, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.0108255, dtype=float32), Array(1.28413, dtype=float32), Array(0.85794604, dtype=float32), Array(-1.1260948, dtype=float32), Array(-0.00680155, dtype=float32), Array(0.55357856, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 105.1ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 104.9ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-11s DEBUG: pose_idx: 23/64
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0134482, dtype=float32), 'left.joint_1.pos': Array(1.2841681, dtype=float32), 'left.joint_2.pos': Array(0.857977, dtype=float32), 'left.joint_3.pos': Array(-1.1260867, dtype=float32), 'left.joint_4.pos': Array(-0.00673553, dtype=float32), 'left.joint_5.pos': Array(0.5510148, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.0134482, dtype=float32), Array(1.2841681, dtype=float32), Array(0.857977, dtype=float32), Array(-1.1260867, dtype=float32), Array(-0.00673553, dtype=float32), Array(0.5510148, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 110.9ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 1.3ms
+2025y-06m-25d-12h-16m-11s DEBUG: pose_idx: 24/64
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0154456, dtype=float32), 'left.joint_1.pos': Array(1.2845548, dtype=float32), 'left.joint_2.pos': Array(0.85824996, dtype=float32), 'left.joint_3.pos': Array(-1.1259674, dtype=float32), 'left.joint_4.pos': Array(-0.00668217, dtype=float32), 'left.joint_5.pos': Array(0.54906374, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 5.9ms
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.0154456, dtype=float32), Array(1.2845548, dtype=float32), Array(0.85824996, dtype=float32), Array(-1.1259674, dtype=float32), Array(-0.00668217, dtype=float32), Array(0.54906374, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 102.5ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 107.8ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.6ms
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-11s DEBUG: pose_idx: 25/64
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0174425, dtype=float32), 'left.joint_1.pos': Array(1.2849454, dtype=float32), 'left.joint_2.pos': Array(0.85852593, dtype=float32), 'left.joint_3.pos': Array(-1.1258477, dtype=float32), 'left.joint_4.pos': Array(-0.00662921, dtype=float32), 'left.joint_5.pos': Array(0.54711294, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.0174425, dtype=float32), Array(1.2849454, dtype=float32), Array(0.85852593, dtype=float32), Array(-1.1258477, dtype=float32), Array(-0.00662921, dtype=float32), Array(0.54711294, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.28385591506958 1.2849453687667847
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8573662638664246 0.8585259318351746
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-11s DEBUG: pose_idx: 26/64
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0204328, dtype=float32), 'left.joint_1.pos': Array(1.2855375, dtype=float32), 'left.joint_2.pos': Array(0.85894465, dtype=float32), 'left.joint_3.pos': Array(-1.1256661, dtype=float32), 'left.joint_4.pos': Array(-0.00654943, dtype=float32), 'left.joint_5.pos': Array(0.5441917, dtype=float32), 'left.gripper.pos': Array(8.543708e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105535, dtype=float32), 'right.joint_1.pos': Array(1.2604563, dtype=float32), 'right.joint_2.pos': Array(0.8558878, dtype=float32), 'right.joint_3.pos': Array(-1.1477641, dtype=float32), 'right.joint_4.pos': Array(-0.01610768, dtype=float32), 'right.joint_5.pos': Array(0.33169788, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.9105535, dtype=float32), Array(1.2604563, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.1477641, dtype=float32), Array(-0.01610768, dtype=float32), Array(0.33169788, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.0204328, dtype=float32), Array(1.2855375, dtype=float32), Array(0.85894465, dtype=float32), Array(-1.1256661, dtype=float32), Array(-0.00654943, dtype=float32), Array(0.5441917, dtype=float32), Array(8.543708e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 110.7ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.28385591506958 1.2855374813079834
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8573662638664246 0.8589446544647217
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5430304408073425 0.5441917181015015
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 8.543707963326597e-09
+2025y-06m-25d-12h-16m-11s DEBUG: pose_idx: 27/64
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0221685, dtype=float32), 'left.joint_1.pos': Array(1.2868147, dtype=float32), 'left.joint_2.pos': Array(0.85984135, dtype=float32), 'left.joint_3.pos': Array(-1.1252693, dtype=float32), 'left.joint_4.pos': Array(-0.00649561, dtype=float32), 'left.joint_5.pos': Array(0.5424993, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 5.1ms
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.0221685, dtype=float32), Array(1.2868147, dtype=float32), Array(0.85984135, dtype=float32), Array(-1.1252693, dtype=float32), Array(-0.00649561, dtype=float32), Array(0.5424993, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 8.9ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 102.5ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2850003242492676 1.2868146896362305
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8573662638664246 0.8598413467407227
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-11s DEBUG: pose_idx: 28/64
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0241568, dtype=float32), 'left.joint_1.pos': Array(1.2872169, dtype=float32), 'left.joint_2.pos': Array(0.8601266, dtype=float32), 'left.joint_3.pos': Array(-1.1251469, dtype=float32), 'left.joint_4.pos': Array(-0.00644274, dtype=float32), 'left.joint_5.pos': Array(0.5405569, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.0241568, dtype=float32), Array(1.2872169, dtype=float32), Array(0.8601266, dtype=float32), Array(-1.1251469, dtype=float32), Array(-0.00644274, dtype=float32), Array(0.5405569, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 107.8ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 108.8ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2853819131851196 1.2872169017791748
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8577477931976318 0.8601266145706177
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-11s DEBUG: pose_idx: 29/64
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0258844, dtype=float32), 'left.joint_1.pos': Array(1.2884989, dtype=float32), 'left.joint_2.pos': Array(0.86102885, dtype=float32), 'left.joint_3.pos': Array(-1.1247504, dtype=float32), 'left.joint_4.pos': Array(-0.0063895, dtype=float32), 'left.joint_5.pos': Array(0.5388723, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.0258844, dtype=float32), Array(1.2884989, dtype=float32), Array(0.86102885, dtype=float32), Array(-1.1247504, dtype=float32), Array(-0.0063895, dtype=float32), Array(0.5388723, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 108.6ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.5ms
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2872892618179321 1.288498878479004
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8592736721038818 0.8610288500785828
+2025y-06m-25d-12h-16m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-11s DEBUG: pose_idx: 30/64
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0273468, dtype=float32), 'left.joint_1.pos': Array(1.2906586, dtype=float32), 'left.joint_2.pos': Array(0.86254925, dtype=float32), 'left.joint_3.pos': Array(-1.1240835, dtype=float32), 'left.joint_4.pos': Array(-0.00633543, dtype=float32), 'left.joint_5.pos': Array(0.53745, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.0273468, dtype=float32), Array(1.2906586, dtype=float32), Array(0.86254925, dtype=float32), Array(-1.1240835, dtype=float32), Array(-0.00633543, dtype=float32), Array(0.53745, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 110.5ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2895780801773071 1.2906585931777954
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8611810207366943 0.8625492453575134
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 1.5ms
+2025y-06m-25d-12h-16m-12s DEBUG: pose_idx: 31/64
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0290635, dtype=float32), 'left.joint_1.pos': Array(1.2919441, dtype=float32), 'left.joint_2.pos': Array(0.8634583, dtype=float32), 'left.joint_3.pos': Array(-1.1236907, dtype=float32), 'left.joint_4.pos': Array(-0.00628255, dtype=float32), 'left.joint_5.pos': Array(0.53577626, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.0290635, dtype=float32), Array(1.2919441, dtype=float32), Array(0.8634583, dtype=float32), Array(-1.1236907, dtype=float32), Array(-0.00628255, dtype=float32), Array(0.53577626, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 110.5ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 108.9ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8623254895210266 0.8634582757949829
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.534637987613678 0.5357762575149536
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-12s DEBUG: pose_idx: 32/64
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read state: 1.3ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0301523, dtype=float32), 'left.joint_1.pos': Array(1.2935646, dtype=float32), 'left.joint_2.pos': Array(0.8646044, dtype=float32), 'left.joint_3.pos': Array(-1.1231954, dtype=float32), 'left.joint_4.pos': Array(-0.00624282, dtype=float32), 'left.joint_5.pos': Array(0.5347171, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.0301523, dtype=float32), Array(1.2935646, dtype=float32), Array(0.8646044, dtype=float32), Array(-1.1231954, dtype=float32), Array(-0.00624282, dtype=float32), Array(0.5347171, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 109.5ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 110.6ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8630884289741516 0.8646044135093689
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-12s DEBUG: pose_idx: 33/64
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0312365, dtype=float32), 'left.joint_1.pos': Array(1.2951847, dtype=float32), 'left.joint_2.pos': Array(0.8657531, dtype=float32), 'left.joint_3.pos': Array(-1.122703, dtype=float32), 'left.joint_4.pos': Array(-0.00620297, dtype=float32), 'left.joint_5.pos': Array(0.5336629, dtype=float32), 'left.gripper.pos': Array(1.6138117e-08, dtype=float32), 'right.joint_0.pos': Array(1.9105539, dtype=float32), 'right.joint_1.pos': Array(1.2604562, dtype=float32), 'right.joint_2.pos': Array(0.8558876, dtype=float32), 'right.joint_3.pos': Array(-1.147764, dtype=float32), 'right.joint_4.pos': Array(-0.01610748, dtype=float32), 'right.joint_5.pos': Array(0.33169842, dtype=float32), 'right.gripper.pos': Array(-0.00081116, dtype=float32)}
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.9105539, dtype=float32), Array(1.2604562, dtype=float32), Array(0.8558876, dtype=float32), Array(-1.147764, dtype=float32), Array(-0.01610748, dtype=float32), Array(0.33169842, dtype=float32), Array(-0.00081116, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.0312365, dtype=float32), Array(1.2951847, dtype=float32), Array(0.8657531, dtype=float32), Array(-1.122703, dtype=float32), Array(-0.00620297, dtype=float32), Array(0.5336629, dtype=float32), Array(1.6138117e-08, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 108.6ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 108.6ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2941558361053467 1.2951847314834595
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8646143078804016 0.8657531142234802
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 1.1ms
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.6138116620822984e-08
+2025y-06m-25d-12h-16m-12s DEBUG: pose_idx: 34/64
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 5.2ms
+2025y-06m-25d-12h-16m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.032056, dtype=float32), 'left.joint_1.pos': Array(1.2976767, dtype=float32), 'left.joint_2.pos': Array(0.8675231, dtype=float32), 'left.joint_3.pos': Array(-1.1219488, dtype=float32), 'left.joint_4.pos': Array(-0.00616351, dtype=float32), 'left.joint_5.pos': Array(0.5328699, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.032056, dtype=float32), Array(1.2976767, dtype=float32), Array(0.8675231, dtype=float32), Array(-1.1219488, dtype=float32), Array(-0.00616351, dtype=float32), Array(0.5328699, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 108.2ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 106.5ms
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-12s DEBUG: pose_idx: 35/64
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read state: 1.3ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0331323, dtype=float32), 'left.joint_1.pos': Array(1.2992967, dtype=float32), 'left.joint_2.pos': Array(0.86867815, dtype=float32), 'left.joint_3.pos': Array(-1.1214628, dtype=float32), 'left.joint_4.pos': Array(-0.00612425, dtype=float32), 'left.joint_5.pos': Array(0.5318233, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.0331323, dtype=float32), Array(1.2992967, dtype=float32), Array(0.86867815, dtype=float32), Array(-1.1214628, dtype=float32), Array(-0.00612425, dtype=float32), Array(0.5318233, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 108.2ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 108.4ms
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-12s DEBUG: pose_idx: 36/64
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0329672, dtype=float32), 'left.joint_1.pos': Array(1.3015765, dtype=float32), 'left.joint_2.pos': Array(0.87030435, dtype=float32), 'left.joint_3.pos': Array(-1.1207802, dtype=float32), 'left.joint_4.pos': Array(-0.00611047, dtype=float32), 'left.joint_5.pos': Array(0.53199226, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.0329672, dtype=float32), Array(1.3015765, dtype=float32), Array(0.87030435, dtype=float32), Array(-1.1207802, dtype=float32), Array(-0.00611047, dtype=float32), Array(0.53199226, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 108.7ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-12s DEBUG: pose_idx: 37/64
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0334209, dtype=float32), 'left.joint_1.pos': Array(1.3035239, dtype=float32), 'left.joint_2.pos': Array(0.8716991, dtype=float32), 'left.joint_3.pos': Array(-1.1202022, dtype=float32), 'left.joint_4.pos': Array(-0.00608457, dtype=float32), 'left.joint_5.pos': Array(0.5315551, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 5.6ms
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.0334209, dtype=float32), Array(1.3035239, dtype=float32), Array(0.8716991, dtype=float32), Array(-1.1202022, dtype=float32), Array(-0.00608457, dtype=float32), Array(0.5315551, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 101.8ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 108.9ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-12s DEBUG: pose_idx: 38/64
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0332564, dtype=float32), 'left.joint_1.pos': Array(1.3057995, dtype=float32), 'left.joint_2.pos': Array(0.87333196, dtype=float32), 'left.joint_3.pos': Array(-1.11953, dtype=float32), 'left.joint_4.pos': Array(-0.00607106, dtype=float32), 'left.joint_5.pos': Array(0.5317237, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.0332564, dtype=float32), Array(1.3057995, dtype=float32), Array(0.87333196, dtype=float32), Array(-1.11953, dtype=float32), Array(-0.00607106, dtype=float32), Array(0.5317237, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms
+2025y-06m-25d-12h-16m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-12s DEBUG: pose_idx: 39/64
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0327371, dtype=float32), 'left.joint_1.pos': Array(1.3075348, dtype=float32), 'left.joint_2.pos': Array(0.87457985, dtype=float32), 'left.joint_3.pos': Array(-1.1190197, dtype=float32), 'left.joint_4.pos': Array(-0.00607032, dtype=float32), 'left.joint_5.pos': Array(0.5322372, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.0327371, dtype=float32), Array(1.3075348, dtype=float32), Array(0.87457985, dtype=float32), Array(-1.1190197, dtype=float32), Array(-0.00607032, dtype=float32), Array(0.5322372, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 1.1ms
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-13s DEBUG: pose_idx: 40/64
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 8.1ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(230422273017) read took: 122.3ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense2: 9.8ms
+2025y-06m-25d-12h-16m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0325749, dtype=float32), 'left.joint_1.pos': Array(1.3098065, dtype=float32), 'left.joint_2.pos': Array(0.8762189, dtype=float32), 'left.joint_3.pos': Array(-1.1183577, dtype=float32), 'left.joint_4.pos': Array(-0.00605657, dtype=float32), 'left.joint_5.pos': Array(0.5324037, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.0325749, dtype=float32), Array(1.3098065, dtype=float32), Array(0.8762189, dtype=float32), Array(-1.1183577, dtype=float32), Array(-0.00605657, dtype=float32), Array(0.5324037, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 112.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-13s DEBUG: pose_idx: 41/64
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read state: 1.3ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 20.6ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(230422273017) read took: 133.2ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense2: 20.6ms
+2025y-06m-25d-12h-16m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0317053, dtype=float32), 'left.joint_1.pos': Array(1.3110026, dtype=float32), 'left.joint_2.pos': Array(0.8770825, dtype=float32), 'left.joint_3.pos': Array(-1.1180097, dtype=float32), 'left.joint_4.pos': Array(-0.00606882, dtype=float32), 'left.joint_5.pos': Array(0.53325766, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.0317053, dtype=float32), Array(1.3110026, dtype=float32), Array(0.8770825, dtype=float32), Array(-1.1180097, dtype=float32), Array(-0.00606882, dtype=float32), Array(0.53325766, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 111.1ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(230422273017) read took: 108.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5319676399230957 0.5332576632499695
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-13s DEBUG: pose_idx: 42/64
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0305822, dtype=float32), 'left.joint_1.pos': Array(1.3130643, dtype=float32), 'left.joint_2.pos': Array(0.87857527, dtype=float32), 'left.joint_3.pos': Array(-1.1174138, dtype=float32), 'left.joint_4.pos': Array(-0.00608024, dtype=float32), 'left.joint_5.pos': Array(0.53436285, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.0305822, dtype=float32), Array(1.3130643, dtype=float32), Array(0.87857527, dtype=float32), Array(-1.1174138, dtype=float32), Array(-0.00608024, dtype=float32), Array(0.53436285, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(230422273017) read took: 108.4ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5327305793762207 0.5343628525733948
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-13s DEBUG: pose_idx: 43/64
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0294633, dtype=float32), 'left.joint_1.pos': Array(1.3151255, dtype=float32), 'left.joint_2.pos': Array(0.88007116, dtype=float32), 'left.joint_3.pos': Array(-1.1168214, dtype=float32), 'left.joint_4.pos': Array(-0.00609127, dtype=float32), 'left.joint_5.pos': Array(0.5354639, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.0294633, dtype=float32), Array(1.3151255, dtype=float32), Array(0.88007116, dtype=float32), Array(-1.1168214, dtype=float32), Array(-0.00609127, dtype=float32), Array(0.5354639, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.6ms
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5342565178871155 0.5354639291763306
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 1.8ms
+2025y-06m-25d-12h-16m-13s DEBUG: pose_idx: 44/64
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(230422273017) read took: 115.8ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense2: 2.4ms
+2025y-06m-25d-12h-16m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.027995, dtype=float32), 'left.joint_1.pos': Array(1.3166512, dtype=float32), 'left.joint_2.pos': Array(0.8811805, dtype=float32), 'left.joint_3.pos': Array(-1.1163852, dtype=float32), 'left.joint_4.pos': Array(-0.00611475, dtype=float32), 'left.joint_5.pos': Array(0.5369047, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105651, dtype=float32), 'right.joint_1.pos': Array(1.2599444, dtype=float32), 'right.joint_2.pos': Array(0.85828304, dtype=float32), 'right.joint_3.pos': Array(-1.150635, dtype=float32), 'right.joint_4.pos': Array(-0.01609833, dtype=float32), 'right.joint_5.pos': Array(0.33171028, dtype=float32), 'right.gripper.pos': Array(-0.00081114, dtype=float32)}
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.9105651, dtype=float32), Array(1.2599444, dtype=float32), Array(0.85828304, dtype=float32), Array(-1.150635, dtype=float32), Array(-0.01609833, dtype=float32), Array(0.33171028, dtype=float32), Array(-0.00081114, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8554589152336121 0.8582830429077148
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1476691961288452 -1.150635004043579
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.027995, dtype=float32), Array(1.3166512, dtype=float32), Array(0.8811805, dtype=float32), Array(-1.1163852, dtype=float32), Array(-0.00611475, dtype=float32), Array(0.5369047, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(230422273017) read took: 106.3ms
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5350194573402405 0.5369046926498413
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-13s DEBUG: pose_idx: 45/64
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0265315, dtype=float32), 'left.joint_1.pos': Array(1.3181779, dtype=float32), 'left.joint_2.pos': Array(0.8822928, dtype=float32), 'left.joint_3.pos': Array(-1.1159506, dtype=float32), 'left.joint_4.pos': Array(-0.00613808, dtype=float32), 'left.joint_5.pos': Array(0.5383409, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105775, dtype=float32), 'right.joint_1.pos': Array(1.2594413, dtype=float32), 'right.joint_2.pos': Array(0.86068267, dtype=float32), 'right.joint_3.pos': Array(-1.1535014, dtype=float32), 'right.joint_4.pos': Array(-0.01608886, dtype=float32), 'right.joint_5.pos': Array(0.3317231, dtype=float32), 'right.gripper.pos': Array(-0.00081111, dtype=float32)}
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.9105775, dtype=float32), Array(1.2594413, dtype=float32), Array(0.86068267, dtype=float32), Array(-1.1535014, dtype=float32), Array(-0.01608886, dtype=float32), Array(0.3317231, dtype=float32), Array(-0.00081111, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8566033244132996 0.8606826663017273
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1503394842147827 -1.1535013914108276
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.0265315, dtype=float32), Array(1.3181779, dtype=float32), Array(0.8822928, dtype=float32), Array(-1.1159506, dtype=float32), Array(-0.00613808, dtype=float32), Array(0.5383409, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 110.2ms
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-13s DEBUG: pose_idx: 46/64
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 13.5ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(230422273017) read took: 126.9ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense2: 13.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.024717, dtype=float32), 'left.joint_1.pos': Array(1.3191732, dtype=float32), 'left.joint_2.pos': Array(0.88301754, dtype=float32), 'left.joint_3.pos': Array(-1.1156673, dtype=float32), 'left.joint_4.pos': Array(-0.00617401, dtype=float32), 'left.joint_5.pos': Array(0.54011834, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105892, dtype=float32), 'right.joint_1.pos': Array(1.2589469, dtype=float32), 'right.joint_2.pos': Array(0.86308753, dtype=float32), 'right.joint_3.pos': Array(-1.1563642, dtype=float32), 'right.joint_4.pos': Array(-0.0160794, dtype=float32), 'right.joint_5.pos': Array(0.33173555, dtype=float32), 'right.gripper.pos': Array(-0.00081108, dtype=float32)}
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.9105892, dtype=float32), Array(1.2589469, dtype=float32), Array(0.86308753, dtype=float32), Array(-1.1563642, dtype=float32), Array(-0.0160794, dtype=float32), Array(0.33173555, dtype=float32), Array(-0.00081108, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8592736721038818 0.86308753490448
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1530098915100098 -1.1563642024993896
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.024717, dtype=float32), Array(1.3191732, dtype=float32), Array(0.88301754, dtype=float32), Array(-1.1156673, dtype=float32), Array(-0.00617401, dtype=float32), Array(0.54011834, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 110.2ms
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-13s DEBUG: pose_idx: 47/64
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(218622278376) read took: 22.9ms
+2025y-06m-25d-12h-16m-13s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms
+2025y-06m-25d-12h-16m-13s DEBUG: None Tatbot read realsense2: 22.1ms
+2025y-06m-25d-12h-16m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0226604, dtype=float32), 'left.joint_1.pos': Array(1.3210356, dtype=float32), 'left.joint_2.pos': Array(0.88437855, dtype=float32), 'left.joint_3.pos': Array(-1.1151415, dtype=float32), 'left.joint_4.pos': Array(-0.00620873, dtype=float32), 'left.joint_5.pos': Array(0.5421358, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106013, dtype=float32), 'right.joint_1.pos': Array(1.2584615, dtype=float32), 'right.joint_2.pos': Array(0.86549723, dtype=float32), 'right.joint_3.pos': Array(-1.1592228, dtype=float32), 'right.joint_4.pos': Array(-0.01606989, dtype=float32), 'right.joint_5.pos': Array(0.33174825, dtype=float32), 'right.gripper.pos': Array(-0.00081104, dtype=float32)}
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.9106013, dtype=float32), Array(1.2584615, dtype=float32), Array(0.86549723, dtype=float32), Array(-1.1592228, dtype=float32), Array(-0.01606989, dtype=float32), Array(0.33174825, dtype=float32), Array(-0.00081104, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8623254895210266 0.8654972314834595
+2025y-06m-25d-12h-16m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1560616493225098 -1.1592228412628174
+2025y-06m-25d-12h-16m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.0226604, dtype=float32), Array(1.3210356, dtype=float32), Array(0.88437855, dtype=float32), Array(-1.1151415, dtype=float32), Array(-0.00620873, dtype=float32), Array(0.5421358, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(230422273017) read took: 106.7ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-14s DEBUG: pose_idx: 48/64
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0208554, dtype=float32), 'left.joint_1.pos': Array(1.3220354, dtype=float32), 'left.joint_2.pos': Array(0.8851099, dtype=float32), 'left.joint_3.pos': Array(-1.1148598, dtype=float32), 'left.joint_4.pos': Array(-0.00624431, dtype=float32), 'left.joint_5.pos': Array(0.54390407, dtype=float32), 'left.gripper.pos': Array(8.543708e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106139, dtype=float32), 'right.joint_1.pos': Array(1.2579842, dtype=float32), 'right.joint_2.pos': Array(0.8679118, dtype=float32), 'right.joint_3.pos': Array(-1.1620783, dtype=float32), 'right.joint_4.pos': Array(-0.01606021, dtype=float32), 'right.joint_5.pos': Array(0.33176172, dtype=float32), 'right.gripper.pos': Array(-0.00081101, dtype=float32)}
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting right arm positions: [Array(1.9106139, dtype=float32), Array(1.2579842, dtype=float32), Array(0.8679118, dtype=float32), Array(-1.1620783, dtype=float32), Array(-0.01606021, dtype=float32), Array(0.33176172, dtype=float32), Array(-0.00081101, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8649957776069641 0.8679118156433105
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1594948768615723 -1.1620782613754272
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.0208554, dtype=float32), Array(1.3220354, dtype=float32), Array(0.8851099, dtype=float32), Array(-1.1148598, dtype=float32), Array(-0.00624431, dtype=float32), Array(0.54390407, dtype=float32), Array(8.543708e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 220.4ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 8.543707963326597e-09
+2025y-06m-25d-12h-16m-14s DEBUG: pose_idx: 49/64
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0186958, dtype=float32), 'left.joint_1.pos': Array(1.3225086, dtype=float32), 'left.joint_2.pos': Array(0.88545376, dtype=float32), 'left.joint_3.pos': Array(-1.1147249, dtype=float32), 'left.joint_4.pos': Array(-0.00629194, dtype=float32), 'left.joint_5.pos': Array(0.5460174, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106252, dtype=float32), 'right.joint_1.pos': Array(1.2575163, dtype=float32), 'right.joint_2.pos': Array(0.8703316, dtype=float32), 'right.joint_3.pos': Array(-1.1649295, dtype=float32), 'right.joint_4.pos': Array(-0.01605115, dtype=float32), 'right.joint_5.pos': Array(0.33177364, dtype=float32), 'right.gripper.pos': Array(-0.00081099, dtype=float32)}
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting right arm positions: [Array(1.9106252, dtype=float32), Array(1.2575163, dtype=float32), Array(0.8703316, dtype=float32), Array(-1.1649295, dtype=float32), Array(-0.01605115, dtype=float32), Array(0.33177364, dtype=float32), Array(-0.00081099, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8672846555709839 0.8703315854072571
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1625467538833618 -1.1649295091629028
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.0186958, dtype=float32), Array(1.3225086, dtype=float32), Array(0.88545376, dtype=float32), Array(-1.1147249, dtype=float32), Array(-0.00629194, dtype=float32), Array(0.5460174, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.6ms
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-14s DEBUG: pose_idx: 50/64
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 3.1ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(230422273017) read took: 116.2ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense2: 4.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0168978, dtype=float32), 'left.joint_1.pos': Array(1.323514, dtype=float32), 'left.joint_2.pos': Array(0.8861904, dtype=float32), 'left.joint_3.pos': Array(-1.114443, dtype=float32), 'left.joint_4.pos': Array(-0.00632708, dtype=float32), 'left.joint_5.pos': Array(0.54777884, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106373, dtype=float32), 'right.joint_1.pos': Array(1.2570568, dtype=float32), 'right.joint_2.pos': Array(0.87275624, dtype=float32), 'right.joint_3.pos': Array(-1.1677774, dtype=float32), 'right.joint_4.pos': Array(-0.01604156, dtype=float32), 'right.joint_5.pos': Array(0.3317864, dtype=float32), 'right.gripper.pos': Array(-0.00081096, dtype=float32)}
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting right arm positions: [Array(1.9106373, dtype=float32), Array(1.2570568, dtype=float32), Array(0.87275624, dtype=float32), Array(-1.1677774, dtype=float32), Array(-0.01604156, dtype=float32), Array(0.3317864, dtype=float32), Array(-0.00081096, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8695735335350037 0.8727562427520752
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1648355722427368 -1.167777419090271
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.0168978, dtype=float32), Array(1.323514, dtype=float32), Array(0.8861904, dtype=float32), Array(-1.114443, dtype=float32), Array(-0.00632708, dtype=float32), Array(0.54777884, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 110.4ms
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09
+2025y-06m-25d-12h-16m-14s DEBUG: pose_idx: 51/64
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 22.8ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense2: 23.1ms
+2025y-06m-25d-12h-16m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0147434, dtype=float32), 'left.joint_1.pos': Array(1.3239948, dtype=float32), 'left.joint_2.pos': Array(0.88654107, dtype=float32), 'left.joint_3.pos': Array(-1.1143067, dtype=float32), 'left.joint_4.pos': Array(-0.0063744, dtype=float32), 'left.joint_5.pos': Array(0.5498872, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106491, dtype=float32), 'right.joint_1.pos': Array(1.2566061, dtype=float32), 'right.joint_2.pos': Array(0.87518555, dtype=float32), 'right.joint_3.pos': Array(-1.1706208, dtype=float32), 'right.joint_4.pos': Array(-0.01603231, dtype=float32), 'right.joint_5.pos': Array(0.3317988, dtype=float32), 'right.gripper.pos': Array(-0.00081093, dtype=float32)}
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting right arm positions: [Array(1.9106491, dtype=float32), Array(1.2566061, dtype=float32), Array(0.87518555, dtype=float32), Array(-1.1706208, dtype=float32), Array(-0.01603231, dtype=float32), Array(0.3317988, dtype=float32), Array(-0.00081093, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8726252913475037 0.8751855492591858
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1678873300552368 -1.1706207990646362
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.0147434, dtype=float32), Array(1.3239948, dtype=float32), Array(0.88654107, dtype=float32), Array(-1.1143067, dtype=float32), Array(-0.0063744, dtype=float32), Array(0.5498872, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(230422273017) read took: 106.5ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 111.3ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-14s DEBUG: pose_idx: 52/64
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0122299, dtype=float32), 'left.joint_1.pos': Array(1.323951, dtype=float32), 'left.joint_2.pos': Array(0.8865051, dtype=float32), 'left.joint_3.pos': Array(-1.1143156, dtype=float32), 'left.joint_4.pos': Array(-0.00643464, dtype=float32), 'left.joint_5.pos': Array(0.5523447, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910661, dtype=float32), 'right.joint_1.pos': Array(1.2561642, dtype=float32), 'right.joint_2.pos': Array(0.8776202, dtype=float32), 'right.joint_3.pos': Array(-1.173461, dtype=float32), 'right.joint_4.pos': Array(-0.01602288, dtype=float32), 'right.joint_5.pos': Array(0.33181128, dtype=float32), 'right.gripper.pos': Array(-0.00081091, dtype=float32)}
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting right arm positions: [Array(1.910661, dtype=float32), Array(1.2561642, dtype=float32), Array(0.8776202, dtype=float32), Array(-1.173461, dtype=float32), Array(-0.01602288, dtype=float32), Array(0.33181128, dtype=float32), Array(-0.00081091, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8749141693115234 0.8776202201843262
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1709392070770264 -1.1734609603881836
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.0122299, dtype=float32), Array(1.323951, dtype=float32), Array(0.8865051, dtype=float32), Array(-1.1143156, dtype=float32), Array(-0.00643464, dtype=float32), Array(0.5523447, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(230422273017) read took: 110.5ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-14s DEBUG: pose_idx: 53/64
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read state: 0.1ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0100785, dtype=float32), 'left.joint_1.pos': Array(1.3244412, dtype=float32), 'left.joint_2.pos': Array(0.8868625, dtype=float32), 'left.joint_3.pos': Array(-1.1141768, dtype=float32), 'left.joint_4.pos': Array(-0.00648194, dtype=float32), 'left.joint_5.pos': Array(0.5544499, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106727, dtype=float32), 'right.joint_1.pos': Array(1.2557303, dtype=float32), 'right.joint_2.pos': Array(0.88005954, dtype=float32), 'right.joint_3.pos': Array(-1.1762975, dtype=float32), 'right.joint_4.pos': Array(-0.01601358, dtype=float32), 'right.joint_5.pos': Array(0.33182362, dtype=float32), 'right.gripper.pos': Array(-0.00081088, dtype=float32)}
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting right arm positions: [Array(1.9106727, dtype=float32), Array(1.2557303, dtype=float32), Array(0.88005954, dtype=float32), Array(-1.1762975, dtype=float32), Array(-0.01601358, dtype=float32), Array(0.33182362, dtype=float32), Array(-0.00081088, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8772030472755432 0.880059540271759
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1739909648895264 -1.1762975454330444
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.0100785, dtype=float32), Array(1.3244412, dtype=float32), Array(0.8868625, dtype=float32), Array(-1.1141768, dtype=float32), Array(-0.00648194, dtype=float32), Array(0.5544499, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-14s DEBUG: pose_idx: 54/64
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 2.5ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0075657, dtype=float32), 'left.joint_1.pos': Array(1.3244091, dtype=float32), 'left.joint_2.pos': Array(0.88683504, dtype=float32), 'left.joint_3.pos': Array(-1.1141822, dtype=float32), 'left.joint_4.pos': Array(-0.00654206, dtype=float32), 'left.joint_5.pos': Array(0.5569068, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106846, dtype=float32), 'right.joint_1.pos': Array(1.2553054, dtype=float32), 'right.joint_2.pos': Array(0.88250375, dtype=float32), 'right.joint_3.pos': Array(-1.17913, dtype=float32), 'right.joint_4.pos': Array(-0.01600421, dtype=float32), 'right.joint_5.pos': Array(0.33183604, dtype=float32), 'right.gripper.pos': Array(-0.00081086, dtype=float32)}
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting right arm positions: [Array(1.9106846, dtype=float32), Array(1.2553054, dtype=float32), Array(0.88250375, dtype=float32), Array(-1.17913, dtype=float32), Array(-0.01600421, dtype=float32), Array(0.33183604, dtype=float32), Array(-0.00081086, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8798733353614807 0.8825037479400635
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1758984327316284 -1.179129958152771
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.0075657, dtype=float32), Array(1.3244091, dtype=float32), Array(0.88683504, dtype=float32), Array(-1.1141822, dtype=float32), Array(-0.00654206, dtype=float32), Array(0.5569068, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 107.7ms
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-14s DEBUG: pose_idx: 55/64
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 24.5ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(230422273017) read took: 139.2ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense2: 25.1ms
+2025y-06m-25d-12h-16m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0050523, dtype=float32), 'left.joint_1.pos': Array(1.3243828, dtype=float32), 'left.joint_2.pos': Array(0.88681173, dtype=float32), 'left.joint_3.pos': Array(-1.114186, dtype=float32), 'left.joint_4.pos': Array(-0.00660201, dtype=float32), 'left.joint_5.pos': Array(0.5593643, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106964, dtype=float32), 'right.joint_1.pos': Array(1.2548888, dtype=float32), 'right.joint_2.pos': Array(0.8849528, dtype=float32), 'right.joint_3.pos': Array(-1.1819592, dtype=float32), 'right.joint_4.pos': Array(-0.01599498, dtype=float32), 'right.joint_5.pos': Array(0.33184847, dtype=float32), 'right.gripper.pos': Array(-0.00081083, dtype=float32)}
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting right arm positions: [Array(1.9106964, dtype=float32), Array(1.2548888, dtype=float32), Array(0.8849528, dtype=float32), Array(-1.1819592, dtype=float32), Array(-0.01599498, dtype=float32), Array(0.33184847, dtype=float32), Array(-0.00081083, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.882543683052063 0.8849527835845947
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1797131299972534 -1.1819591522216797
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.0050523, dtype=float32), Array(1.3243828, dtype=float32), Array(0.88681173, dtype=float32), Array(-1.114186, dtype=float32), Array(-0.00660201, dtype=float32), Array(0.5593643, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(230422273017) read took: 107.5ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 111.2ms
+2025y-06m-25d-12h-16m-14s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5582894682884216 0.5593643188476562
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-14s DEBUG: pose_idx: 56/64
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-14s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0031339, dtype=float32), 'left.joint_1.pos': Array(1.3240193, dtype=float32), 'left.joint_2.pos': Array(0.8865413, dtype=float32), 'left.joint_3.pos': Array(-1.1142846, dtype=float32), 'left.joint_4.pos': Array(-0.00665129, dtype=float32), 'left.joint_5.pos': Array(0.5612386, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108183, dtype=float32), 'right.joint_1.pos': Array(1.2543924, dtype=float32), 'right.joint_2.pos': Array(0.8873549, dtype=float32), 'right.joint_3.pos': Array(-1.1847792, dtype=float32), 'right.joint_4.pos': Array(-0.01592886, dtype=float32), 'right.joint_5.pos': Array(0.33198607, dtype=float32), 'right.gripper.pos': Array(-0.00081002, dtype=float32)}
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting right arm positions: [Array(1.9108183, dtype=float32), Array(1.2543924, dtype=float32), Array(0.8873549, dtype=float32), Array(-1.1847792, dtype=float32), Array(-0.01592886, dtype=float32), Array(0.33198607, dtype=float32), Array(-0.00081002, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8844510316848755 0.8873549103736877
+2025y-06m-25d-12h-16m-14s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.182383418083191 -1.184779167175293
+2025y-06m-25d-12h-16m-14s DEBUG: 🦾 Setting left arm positions: [Array(-1.0031339, dtype=float32), Array(1.3240193, dtype=float32), Array(0.8865413, dtype=float32), Array(-1.1142846, dtype=float32), Array(-0.00665129, dtype=float32), Array(0.5612386, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(230422273017) read took: 110.0ms
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-15s DEBUG: pose_idx: 57/64
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0008426, dtype=float32), 'left.joint_1.pos': Array(1.3231351, dtype=float32), 'left.joint_2.pos': Array(0.8858869, dtype=float32), 'left.joint_3.pos': Array(-1.1145265, dtype=float32), 'left.joint_4.pos': Array(-0.00671268, dtype=float32), 'left.joint_5.pos': Array(0.5634764, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107199, dtype=float32), 'right.joint_1.pos': Array(1.2540814, dtype=float32), 'right.joint_2.pos': Array(0.88986576, dtype=float32), 'right.joint_3.pos': Array(-1.1876062, dtype=float32), 'right.joint_4.pos': Array(-0.0159763, dtype=float32), 'right.joint_5.pos': Array(0.33187315, dtype=float32), 'right.gripper.pos': Array(-0.00081079, dtype=float32)}
+2025y-06m-25d-12h-16m-15s DEBUG: 🦾 Setting right arm positions: [Array(1.9107199, dtype=float32), Array(1.2540814, dtype=float32), Array(0.88986576, dtype=float32), Array(-1.1876062, dtype=float32), Array(-0.0159763, dtype=float32), Array(0.33187315, dtype=float32), Array(-0.00081079, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8871213793754578 0.8898657560348511
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.185053825378418 -1.1876062154769897
+2025y-06m-25d-12h-16m-15s DEBUG: 🦾 Setting left arm positions: [Array(-1.0008426, dtype=float32), Array(1.3231351, dtype=float32), Array(0.8858869, dtype=float32), Array(-1.1145265, dtype=float32), Array(-0.00671268, dtype=float32), Array(0.5634764, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(218622278376) read took: 2.1ms
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3242924213409424 1.3231351375579834
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-15s DEBUG: pose_idx: 58/64
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(230422273017) read took: 114.9ms
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read realsense2: 0.5ms
+2025y-06m-25d-12h-16m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9991419, dtype=float32), 'left.joint_1.pos': Array(1.3219104, dtype=float32), 'left.joint_2.pos': Array(0.88498384, dtype=float32), 'left.joint_3.pos': Array(-1.1148652, dtype=float32), 'left.joint_4.pos': Array(-0.00676322, dtype=float32), 'left.joint_5.pos': Array(0.5651348, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107313, dtype=float32), 'right.joint_1.pos': Array(1.2536901, dtype=float32), 'right.joint_2.pos': Array(0.8923295, dtype=float32), 'right.joint_3.pos': Array(-1.1904244, dtype=float32), 'right.joint_4.pos': Array(-0.01596706, dtype=float32), 'right.joint_5.pos': Array(0.3318854, dtype=float32), 'right.gripper.pos': Array(-0.00081077, dtype=float32)}
+2025y-06m-25d-12h-16m-15s DEBUG: 🦾 Setting right arm positions: [Array(1.9107313, dtype=float32), Array(1.2536901, dtype=float32), Array(0.8923295, dtype=float32), Array(-1.1904244, dtype=float32), Array(-0.01596706, dtype=float32), Array(0.3318854, dtype=float32), Array(-0.00081077, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8901731967926025 0.8923295140266418
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.188105583190918 -1.1904244422912598
+2025y-06m-25d-12h-16m-15s DEBUG: 🦾 Setting left arm positions: [Array(-0.9991419, dtype=float32), Array(1.3219104, dtype=float32), Array(0.88498384, dtype=float32), Array(-1.1148652, dtype=float32), Array(-0.00676322, dtype=float32), Array(0.5651348, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(230422273017) read took: 106.5ms
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3239108324050903 1.3219103813171387
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8867399096488953 0.8849838376045227
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-15s DEBUG: pose_idx: 59/64
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.996843, dtype=float32), 'left.joint_1.pos': Array(1.3210347, dtype=float32), 'left.joint_2.pos': Array(0.8843376, dtype=float32), 'left.joint_3.pos': Array(-1.1151069, dtype=float32), 'left.joint_4.pos': Array(-0.00682557, dtype=float32), 'left.joint_5.pos': Array(0.5673795, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107431, dtype=float32), 'right.joint_1.pos': Array(1.2533072, dtype=float32), 'right.joint_2.pos': Array(0.8947982, dtype=float32), 'right.joint_3.pos': Array(-1.1932392, dtype=float32), 'right.joint_4.pos': Array(-0.01595796, dtype=float32), 'right.joint_5.pos': Array(0.33189785, dtype=float32), 'right.gripper.pos': Array(-0.00081075, dtype=float32)}
+2025y-06m-25d-12h-16m-15s DEBUG: 🦾 Setting right arm positions: [Array(1.9107431, dtype=float32), Array(1.2533072, dtype=float32), Array(0.8947982, dtype=float32), Array(-1.1932392, dtype=float32), Array(-0.01595796, dtype=float32), Array(0.33189785, dtype=float32), Array(-0.00081075, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.892080545425415 0.894798219203949
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1907758712768555 -1.1932392120361328
+2025y-06m-25d-12h-16m-15s DEBUG: 🦾 Setting left arm positions: [Array(-0.996843, dtype=float32), Array(1.3210347, dtype=float32), Array(0.8843376, dtype=float32), Array(-1.1151069, dtype=float32), Array(-0.00682557, dtype=float32), Array(0.5673795, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3223849534988403 1.3210346698760986
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8863584399223328 0.8843376040458679
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-15s DEBUG: pose_idx: 60/64
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(218622278376) read took: 12.8ms
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(218622278376) read took: 33.3ms
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(230422273017) read took: 160.1ms
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read realsense2: 47.3ms
+2025y-06m-25d-12h-16m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9951334, dtype=float32), 'left.joint_1.pos': Array(1.319815, dtype=float32), 'left.joint_2.pos': Array(0.8834412, dtype=float32), 'left.joint_3.pos': Array(-1.1154468, dtype=float32), 'left.joint_4.pos': Array(-0.00687668, dtype=float32), 'left.joint_5.pos': Array(0.56904674, dtype=float32), 'left.gripper.pos': Array(1.6138117e-08, dtype=float32), 'right.joint_0.pos': Array(1.9107556, dtype=float32), 'right.joint_1.pos': Array(1.2529324, dtype=float32), 'right.joint_2.pos': Array(0.89727145, dtype=float32), 'right.joint_3.pos': Array(-1.1960503, dtype=float32), 'right.joint_4.pos': Array(-0.01594823, dtype=float32), 'right.joint_5.pos': Array(0.33191082, dtype=float32), 'right.gripper.pos': Array(-0.00081072, dtype=float32)}
+2025y-06m-25d-12h-16m-15s DEBUG: 🦾 Setting right arm positions: [Array(1.9107556, dtype=float32), Array(1.2529324, dtype=float32), Array(0.89727145, dtype=float32), Array(-1.1960503, dtype=float32), Array(-0.01594823, dtype=float32), Array(0.33191082, dtype=float32), Array(-0.00081072, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8955138325691223 0.897271454334259
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.193827748298645 -1.1960502862930298
+2025y-06m-25d-12h-16m-15s DEBUG: 🦾 Setting left arm positions: [Array(-0.9951334, dtype=float32), Array(1.319815, dtype=float32), Array(0.8834412, dtype=float32), Array(-1.1154468, dtype=float32), Array(-0.00687668, dtype=float32), Array(0.56904674, dtype=float32), Array(1.6138117e-08, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(230422273017) read took: 106.8ms
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(218622278376) read took: 110.7ms
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3208590745925903 1.3198150396347046
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8848325610160828 0.8834412097930908
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.6138116620822984e-08
+2025y-06m-25d-12h-16m-15s DEBUG: pose_idx: 61/64
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.994013, dtype=float32), 'left.joint_1.pos': Array(1.3182487, dtype=float32), 'left.joint_2.pos': Array(0.88229334, dtype=float32), 'left.joint_3.pos': Array(-1.1158863, dtype=float32), 'left.joint_4.pos': Array(-0.00691706, dtype=float32), 'left.joint_5.pos': Array(0.5701367, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107662, dtype=float32), 'right.joint_1.pos': Array(1.252567, dtype=float32), 'right.joint_2.pos': Array(0.8997503, dtype=float32), 'right.joint_3.pos': Array(-1.1988578, dtype=float32), 'right.joint_4.pos': Array(-0.0159395, dtype=float32), 'right.joint_5.pos': Array(0.3319219, dtype=float32), 'right.gripper.pos': Array(-0.00081071, dtype=float32)}
+2025y-06m-25d-12h-16m-15s DEBUG: 🦾 Setting right arm positions: [Array(1.9107662, dtype=float32), Array(1.252567, dtype=float32), Array(0.8997503, dtype=float32), Array(-1.1988578, dtype=float32), Array(-0.0159395, dtype=float32), Array(0.3319219, dtype=float32), Array(-0.00081071, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8974212408065796 0.899750292301178
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.196879506111145 -1.1988577842712402
+2025y-06m-25d-12h-16m-15s DEBUG: 🦾 Setting left arm positions: [Array(-0.994013, dtype=float32), Array(1.3182487, dtype=float32), Array(0.88229334, dtype=float32), Array(-1.1158863, dtype=float32), Array(-0.00691706, dtype=float32), Array(0.5701367, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(230422273017) read took: 110.3ms
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-15s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3193331956863403 1.3182487487792969
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-15s DEBUG: pose_idx: 62/64
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-15s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.99229467, dtype=float32), 'left.joint_1.pos': Array(1.3170326, dtype=float32), 'left.joint_2.pos': Array(0.8814028, dtype=float32), 'left.joint_3.pos': Array(-1.1162285, dtype=float32), 'left.joint_4.pos': Array(-0.00696861, dtype=float32), 'left.joint_5.pos': Array(0.5718124, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107777, dtype=float32), 'right.joint_1.pos': Array(1.2522091, dtype=float32), 'right.joint_2.pos': Array(0.90223354, dtype=float32), 'right.joint_3.pos': Array(-1.2016622, dtype=float32), 'right.joint_4.pos': Array(-0.01593033, dtype=float32), 'right.joint_5.pos': Array(0.33193395, dtype=float32), 'right.gripper.pos': Array(-0.0008107, dtype=float32)}
+2025y-06m-25d-12h-16m-15s DEBUG: 🦾 Setting right arm positions: [Array(1.9107777, dtype=float32), Array(1.2522091, dtype=float32), Array(0.90223354, dtype=float32), Array(-1.2016622, dtype=float32), Array(-0.01593033, dtype=float32), Array(0.33193395, dtype=float32), Array(-0.0008107, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8997100591659546 0.9022335410118103
+2025y-06m-25d-12h-16m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.198405385017395 -1.2016621828079224
+2025y-06m-25d-12h-16m-15s DEBUG: 🦾 Setting left arm positions: [Array(-0.99229467, dtype=float32), Array(1.3170326, dtype=float32), Array(0.8814028, dtype=float32), Array(-1.1162285, dtype=float32), Array(-0.00696861, dtype=float32), Array(0.5718124, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-17s DEBUG: RealSenseCamera(230422273017) read took: 2008.1ms
+2025y-06m-25d-12h-16m-17s DEBUG: RealSenseCamera(218622278376) read took: 2009.5ms
+2025y-06m-25d-12h-16m-17s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-17s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-17s DEBUG: pose_idx: 63/64
+2025y-06m-25d-12h-16m-17s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-16m-17s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-17s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-17s DEBUG: RealSenseCamera(218622278376) read took: 3.1ms
+2025y-06m-25d-12h-16m-17s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.99245083, dtype=float32), 'left.joint_1.pos': Array(1.3073517, dtype=float32), 'left.joint_2.pos': Array(0.9231856, dtype=float32), 'left.joint_3.pos': Array(-1.1667535, dtype=float32), 'left.joint_4.pos': Array(-0.00710437, dtype=float32), 'left.joint_5.pos': Array(0.5716539, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107894, dtype=float32), 'right.joint_1.pos': Array(1.2518599, dtype=float32), 'right.joint_2.pos': Array(0.9047216, dtype=float32), 'right.joint_3.pos': Array(-1.2044623, dtype=float32), 'right.joint_4.pos': Array(-0.01592097, dtype=float32), 'right.joint_5.pos': Array(0.33194605, dtype=float32), 'right.gripper.pos': Array(-0.00081068, dtype=float32)}
+2025y-06m-25d-12h-16m-17s DEBUG: 🦾 Setting right arm positions: [Array(1.9107894, dtype=float32), Array(1.2518599, dtype=float32), Array(0.9047216, dtype=float32), Array(-1.2044623, dtype=float32), Array(-0.01592097, dtype=float32), Array(0.33194605, dtype=float32), Array(-0.00081068, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-17s DEBUG: RealSenseCamera(230422273017) read took: 7.8ms
+2025y-06m-25d-12h-16m-17s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9027618765830994 0.9047216176986694
+2025y-06m-25d-12h-16m-17s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.201838731765747 -1.2044622898101807
+2025y-06m-25d-12h-16m-17s DEBUG: 🦾 Setting left arm positions: [Array(-0.99245083, dtype=float32), Array(1.3073517, dtype=float32), Array(0.9231856, dtype=float32), Array(-1.1667535, dtype=float32), Array(-0.00710437, dtype=float32), Array(0.5716539, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-19s WARNING: Error reading frame in background thread for RealSenseCamera(230422273017): RealSenseCamera(230422273017) read failed (status=False).
+2025y-06m-25d-12h-16m-19s DEBUG: RealSenseCamera(218622278376) read took: 2007.6ms
+2025y-06m-25d-12h-16m-19s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-19s INFO: 🤖🗃️ Writing episode log to /home/trossen-ai/tatbot/output/record/plan-bench-2025y-06m-25d-12h-13m-57s/logs/episode_000007.txt