diff --git "a/logs/episode_000008.txt" "b/logs/episode_000008.txt"
new file mode 100644--- /dev/null
+++ "b/logs/episode_000008.txt"
@@ -0,0 +1,914 @@
+2025y-06m-25d-12h-16m-22s DEBUG: 🤖 sending arms to rest pose
+2025y-06m-25d-12h-16m-22s 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-22s 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-22s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.9106203317642212 1.0
+2025y-06m-25d-12h-16m-22s ERROR: 🦾❌ Right arm position mismatch: right.joint_0 1.9106203317642212 1.0
+2025y-06m-25d-12h-16m-22s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2514305114746094 0.10000000149011612
+2025y-06m-25d-12h-16m-22s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 1.2514305114746094 0.10000000149011612
+2025y-06m-25d-12h-16m-22s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9046692848205566 0.5
+2025y-06m-25d-12h-16m-22s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.9046692848205566 0.5
+2025y-06m-25d-12h-16m-22s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.2045090198516846 -1.2000000476837158
+2025y-06m-25d-12h-16m-22s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.016212711110711098 0.0
+2025y-06m-25d-12h-16m-22s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 0.33169299364089966 0.0
+2025y-06m-25d-12h-16m-22s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 0.33169299364089966 0.0
+2025y-06m-25d-12h-16m-22s WARNING: 🦾❌ Failed to set right arm positions: 
+<class 'ValueError'>:
+right arm joints mismatch
+No error
+2025y-06m-25d-12h-16m-22s 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-24s DEBUG: RealSenseCamera(230422273017) read took: 2006.1ms
+2025y-06m-25d-12h-16m-24s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-24s DEBUG: RealSenseCamera(218622278376) read took: 2009.4ms
+2025y-06m-25d-12h-16m-24s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-24s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 0.0
+2025y-06m-25d-12h-16m-24s INFO: 🤖 recording path 8 of 15
+2025y-06m-25d-12h-16m-24s DEBUG: pose_idx: 0/64
+2025y-06m-25d-12h-16m-24s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-16m-24s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-24s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-24s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107896, dtype=float32), 'left.joint_1.pos': Array(1.2518598, dtype=float32), 'left.joint_2.pos': Array(0.9047215, dtype=float32), 'left.joint_3.pos': Array(-1.2044624, dtype=float32), 'left.joint_4.pos': Array(0.015921, dtype=float32), 'left.joint_5.pos': Array(-0.33194628, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0016034, dtype=float32), 'right.joint_1.pos': Array(1.2823149, dtype=float32), 'right.joint_2.pos': Array(0.9054387, dtype=float32), 'right.joint_3.pos': Array(-1.1744167, dtype=float32), 'right.joint_4.pos': Array(0.00710733, dtype=float32), 'right.joint_5.pos': Array(-0.56261253, dtype=float32), 'right.gripper.pos': Array(0.04456101, dtype=float32)}
+2025y-06m-25d-12h-16m-24s DEBUG: 🦾 Setting right arm positions: [Array(1.0016034, dtype=float32), Array(1.2823149, dtype=float32), Array(0.9054387, dtype=float32), Array(-1.1744167, dtype=float32), Array(0.00710733, dtype=float32), Array(-0.56261253, dtype=float32), Array(0.04456101, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.0000381469726562 1.001603364944458
+2025y-06m-25d-12h-16m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 0.09937438368797302 1.2823148965835571
+2025y-06m-25d-12h-16m-24s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 0.09937438368797302 1.2823148965835571
+2025y-06m-25d-12h-16m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.4991607666015625 0.9054387211799622
+2025y-06m-25d-12h-16m-24s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.4991607666015625 0.9054387211799622
+2025y-06m-25d-12h-16m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.200312852859497 -1.1744166612625122
+2025y-06m-25d-12h-16m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 0.00019073777366429567 0.007107328157871962
+2025y-06m-25d-12h-16m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.0009536888683214784 -0.5626125335693359
+2025y-06m-25d-12h-16m-24s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 -0.0009536888683214784 -0.5626125335693359
+2025y-06m-25d-12h-16m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 8.845515549182892e-05 0.04456100985407829
+2025y-06m-25d-12h-16m-24s WARNING: 🦾❌ Failed to set right arm positions: 
+<class 'ValueError'>:
+right arm joints mismatch
+No error
+2025y-06m-25d-12h-16m-24s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107896, dtype=float32), Array(1.2518598, dtype=float32), Array(0.9047215, dtype=float32), Array(-1.2044624, dtype=float32), Array(0.015921, dtype=float32), Array(-0.33194628, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-26s DEBUG: RealSenseCamera(218622278376) read took: 2007.1ms
+2025y-06m-25d-12h-16m-26s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-26s DEBUG: RealSenseCamera(230422273017) read took: 2007.7ms
+2025y-06m-25d-12h-16m-26s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.016975661739706993 0.01592099666595459
+2025y-06m-25d-12h-16m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-26s DEBUG: pose_idx: 1/64
+2025y-06m-25d-12h-16m-26s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-16m-26s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-26s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-26s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108948, dtype=float32), 'left.joint_1.pos': Array(1.2521008, dtype=float32), 'left.joint_2.pos': Array(0.9022987, dtype=float32), 'left.joint_3.pos': Array(-1.2017905, dtype=float32), 'left.joint_4.pos': Array(0.01587006, dtype=float32), 'left.joint_5.pos': Array(-0.33206677, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0014418, dtype=float32), 'right.joint_1.pos': Array(1.2916348, dtype=float32), 'right.joint_2.pos': Array(0.86319494, dtype=float32), 'right.joint_3.pos': Array(-1.1237464, dtype=float32), 'right.joint_4.pos': Array(0.00696858, dtype=float32), 'right.joint_5.pos': Array(-0.56277883, dtype=float32), 'right.gripper.pos': Array(0.04456319, dtype=float32)}
+2025y-06m-25d-12h-16m-26s DEBUG: 🦾 Setting right arm positions: [Array(1.0014418, dtype=float32), Array(1.2916348, dtype=float32), Array(0.86319494, dtype=float32), Array(-1.1237464, dtype=float32), Array(0.00696858, dtype=float32), Array(-0.56277883, dtype=float32), Array(0.04456319, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.28233003616333 1.2916347980499268
+2025y-06m-25d-12h-16m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9050507545471191 0.8631949424743652
+2025y-06m-25d-12h-16m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1743724346160889 -1.123746395111084
+2025y-06m-25d-12h-16m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.04004324972629547 0.04456319287419319
+2025y-06m-25d-12h-16m-26s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108948, dtype=float32), Array(1.2521008, dtype=float32), Array(0.9022987, dtype=float32), Array(-1.2017905, dtype=float32), Array(0.01587006, dtype=float32), Array(-0.33206677, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 2006.7ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 2006.9ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-28s DEBUG: pose_idx: 2/64
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107674, dtype=float32), 'left.joint_1.pos': Array(1.2525325, dtype=float32), 'left.joint_2.pos': Array(0.8999865, dtype=float32), 'left.joint_3.pos': Array(-1.1991253, dtype=float32), 'left.joint_4.pos': Array(0.01593836, dtype=float32), 'left.joint_5.pos': Array(-0.33192316, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0018203, dtype=float32), 'right.joint_1.pos': Array(1.2921655, dtype=float32), 'right.joint_2.pos': Array(0.8635696, dtype=float32), 'right.joint_3.pos': Array(-1.1235834, dtype=float32), 'right.joint_4.pos': Array(0.00695407, dtype=float32), 'right.joint_5.pos': Array(-0.56241107, dtype=float32), 'right.gripper.pos': Array(0.04456272, dtype=float32)}
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.0018203, dtype=float32), Array(1.2921655, dtype=float32), Array(0.8635696, dtype=float32), Array(-1.1235834, dtype=float32), Array(0.00695407, dtype=float32), Array(-0.56241107, dtype=float32), Array(0.04456272, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456271603703499
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107674, dtype=float32), Array(1.2525325, dtype=float32), Array(0.8999865, dtype=float32), Array(-1.1991253, dtype=float32), Array(0.01593836, dtype=float32), Array(-0.33192316, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 108.3ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 108.2ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 1.3ms
+2025y-06m-25d-12h-16m-28s DEBUG: pose_idx: 3/64
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 5.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107565, dtype=float32), 'left.joint_1.pos': Array(1.2528802, dtype=float32), 'left.joint_2.pos': Array(0.8976257, dtype=float32), 'left.joint_3.pos': Array(-1.1964517, dtype=float32), 'left.joint_4.pos': Array(0.01594732, dtype=float32), 'left.joint_5.pos': Array(-0.33191153, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0021995, dtype=float32), 'right.joint_1.pos': Array(1.2926961, dtype=float32), 'right.joint_2.pos': Array(0.86394453, dtype=float32), 'right.joint_3.pos': Array(-1.123421, dtype=float32), 'right.joint_4.pos': Array(0.00693995, dtype=float32), 'right.joint_5.pos': Array(-0.56204224, dtype=float32), 'right.gripper.pos': Array(0.04456225, dtype=float32)}
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.0021995, dtype=float32), Array(1.2926961, dtype=float32), Array(0.86394453, dtype=float32), Array(-1.123421, dtype=float32), Array(0.00693995, dtype=float32), Array(-0.56204224, dtype=float32), Array(0.04456225, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456225410103798
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107565, dtype=float32), Array(1.2528802, dtype=float32), Array(0.8976257, dtype=float32), Array(-1.1964517, dtype=float32), Array(0.01594732, dtype=float32), Array(-0.33191153, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 105.1ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.6ms
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-28s DEBUG: pose_idx: 4/64
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107453, dtype=float32), 'left.joint_1.pos': Array(1.2532352, dtype=float32), 'left.joint_2.pos': Array(0.8952689, dtype=float32), 'left.joint_3.pos': Array(-1.1937749, dtype=float32), 'left.joint_4.pos': Array(0.01595616, dtype=float32), 'left.joint_5.pos': Array(-0.33189994, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0021995, dtype=float32), 'right.joint_1.pos': Array(1.2926961, dtype=float32), 'right.joint_2.pos': Array(0.86394453, dtype=float32), 'right.joint_3.pos': Array(-1.123421, dtype=float32), 'right.joint_4.pos': Array(0.00693995, dtype=float32), 'right.joint_5.pos': Array(-0.56204224, dtype=float32), 'right.gripper.pos': Array(0.04456225, dtype=float32)}
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.0021995, dtype=float32), Array(1.2926961, dtype=float32), Array(0.86394453, dtype=float32), Array(-1.123421, dtype=float32), Array(0.00693995, dtype=float32), Array(-0.56204224, dtype=float32), Array(0.04456225, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456225410103798
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107453, dtype=float32), Array(1.2532352, dtype=float32), Array(0.8952689, dtype=float32), Array(-1.1937749, dtype=float32), Array(0.01595616, dtype=float32), Array(-0.33189994, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-28s DEBUG: pose_idx: 5/64
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108468, dtype=float32), 'left.joint_1.pos': Array(1.253509, dtype=float32), 'left.joint_2.pos': Array(0.89286435, dtype=float32), 'left.joint_3.pos': Array(-1.1910893, dtype=float32), 'left.joint_4.pos': Array(0.01590712, dtype=float32), 'left.joint_5.pos': Array(-0.33201605, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0025791, dtype=float32), 'right.joint_1.pos': Array(1.2932268, dtype=float32), 'right.joint_2.pos': Array(0.8643196, dtype=float32), 'right.joint_3.pos': Array(-1.1232585, dtype=float32), 'right.joint_4.pos': Array(0.00692641, dtype=float32), 'right.joint_5.pos': Array(-0.5616725, dtype=float32), 'right.gripper.pos': Array(0.0445618, dtype=float32)}
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.0025791, dtype=float32), Array(1.2932268, dtype=float32), Array(0.8643196, dtype=float32), Array(-1.1232585, dtype=float32), Array(0.00692641, dtype=float32), Array(-0.5616725, dtype=float32), Array(0.0445618, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044561803340911865
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108468, dtype=float32), Array(1.253509, dtype=float32), Array(0.89286435, dtype=float32), Array(-1.1910893, dtype=float32), Array(0.01590712, dtype=float32), Array(-0.33201605, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 108.6ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 108.8ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.5ms
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-28s DEBUG: pose_idx: 6/64
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 3.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107232, dtype=float32), 'left.joint_1.pos': Array(1.2539686, dtype=float32), 'left.joint_2.pos': Array(0.89056945, dtype=float32), 'left.joint_3.pos': Array(-1.1884121, dtype=float32), 'left.joint_4.pos': Array(0.0159736, dtype=float32), 'left.joint_5.pos': Array(-0.33187667, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0029566, dtype=float32), 'right.joint_1.pos': Array(1.2937572, dtype=float32), 'right.joint_2.pos': Array(0.8646952, dtype=float32), 'right.joint_3.pos': Array(-1.1230968, dtype=float32), 'right.joint_4.pos': Array(0.00691193, dtype=float32), 'right.joint_5.pos': Array(-0.56130594, dtype=float32), 'right.gripper.pos': Array(0.04456133, dtype=float32)}
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.0029566, dtype=float32), Array(1.2937572, dtype=float32), Array(0.8646952, dtype=float32), Array(-1.1230968, dtype=float32), Array(0.00691193, dtype=float32), Array(-0.56130594, dtype=float32), Array(0.04456133, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 6.3ms
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8634698987007141 0.8646951913833618
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5624856948852539 -0.5613059401512146
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456133022904396
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107232, dtype=float32), Array(1.2539686, dtype=float32), Array(0.89056945, dtype=float32), Array(-1.1884121, dtype=float32), Array(0.0159736, dtype=float32), Array(-0.33187667, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 107.2ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 102.7ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2529563903808594 1.253968596458435
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-28s DEBUG: pose_idx: 7/64
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107119, dtype=float32), 'left.joint_1.pos': Array(1.2543468, dtype=float32), 'left.joint_2.pos': Array(0.8882263, dtype=float32), 'left.joint_3.pos': Array(-1.1857257, dtype=float32), 'left.joint_4.pos': Array(0.01598262, dtype=float32), 'left.joint_5.pos': Array(-0.3318648, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0033344, dtype=float32), 'right.joint_1.pos': Array(1.2942878, dtype=float32), 'right.joint_2.pos': Array(0.8650711, dtype=float32), 'right.joint_3.pos': Array(-1.1229352, dtype=float32), 'right.joint_4.pos': Array(0.00689802, dtype=float32), 'right.joint_5.pos': Array(-0.5609385, dtype=float32), 'right.gripper.pos': Array(0.04456087, dtype=float32)}
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.0033344, dtype=float32), Array(1.2942878, dtype=float32), Array(0.8650711, dtype=float32), Array(-1.1229352, dtype=float32), Array(0.00689802, dtype=float32), Array(-0.5609385, dtype=float32), Array(0.04456087, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8634698987007141 0.8650711178779602
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5621042251586914 -0.5609384775161743
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456087201833725
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107119, dtype=float32), Array(1.2543468, dtype=float32), Array(0.8882263, dtype=float32), Array(-1.1857257, dtype=float32), Array(0.01598262, dtype=float32), Array(-0.3318648, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-28s DEBUG: pose_idx: 8/64
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107008, dtype=float32), 'left.joint_1.pos': Array(1.2547327, dtype=float32), 'left.joint_2.pos': Array(0.88588727, dtype=float32), 'left.joint_3.pos': Array(-1.1830357, dtype=float32), 'left.joint_4.pos': Array(0.01599139, dtype=float32), 'left.joint_5.pos': Array(-0.33185327, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0037117, dtype=float32), 'right.joint_1.pos': Array(1.2948184, dtype=float32), 'right.joint_2.pos': Array(0.86544716, dtype=float32), 'right.joint_3.pos': Array(-1.1227739, dtype=float32), 'right.joint_4.pos': Array(0.00688408, dtype=float32), 'right.joint_5.pos': Array(-0.56057155, dtype=float32), 'right.gripper.pos': Array(0.04456041, dtype=float32)}
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.0037117, dtype=float32), Array(1.2948184, dtype=float32), Array(0.86544716, dtype=float32), Array(-1.1227739, dtype=float32), Array(0.00688408, dtype=float32), Array(-0.56057155, dtype=float32), Array(0.04456041, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8634698987007141 0.8654471635818481
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5617227554321289 -0.560571551322937
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456041008234024
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107008, dtype=float32), Array(1.2547327, dtype=float32), Array(0.88588727, dtype=float32), Array(-1.1830357, dtype=float32), Array(0.01599139, dtype=float32), Array(-0.33185327, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 108.9ms
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-28s DEBUG: pose_idx: 9/64
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106898, dtype=float32), 'left.joint_1.pos': Array(1.2551256, dtype=float32), 'left.joint_2.pos': Array(0.88355273, dtype=float32), 'left.joint_3.pos': Array(-1.1803429, dtype=float32), 'left.joint_4.pos': Array(0.01600028, dtype=float32), 'left.joint_5.pos': Array(-0.33184147, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0037117, dtype=float32), 'right.joint_1.pos': Array(1.2948184, dtype=float32), 'right.joint_2.pos': Array(0.86544716, dtype=float32), 'right.joint_3.pos': Array(-1.1227739, dtype=float32), 'right.joint_4.pos': Array(0.00688408, dtype=float32), 'right.joint_5.pos': Array(-0.56057155, dtype=float32), 'right.gripper.pos': Array(0.04456041, dtype=float32)}
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(218622278376) read took: 6.6ms
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.0037117, dtype=float32), Array(1.2948184, dtype=float32), Array(0.86544716, dtype=float32), Array(-1.1227739, dtype=float32), Array(0.00688408, dtype=float32), Array(-0.56057155, dtype=float32), Array(0.04456041, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8634698987007141 0.8654471635818481
+2025y-06m-25d-12h-16m-28s DEBUG: RealSenseCamera(230422273017) read took: 8.8ms
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5617227554321289 -0.560571551322937
+2025y-06m-25d-12h-16m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456041008234024
+2025y-06m-25d-12h-16m-28s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106898, dtype=float32), Array(1.2551256, dtype=float32), Array(0.88355273, dtype=float32), Array(-1.1803429, dtype=float32), Array(0.01600028, dtype=float32), Array(-0.33184147, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 103.6ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 102.3ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-29s DEBUG: pose_idx: 10/64
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910787, dtype=float32), 'left.joint_1.pos': Array(1.2554392, dtype=float32), 'left.joint_2.pos': Array(0.88117105, dtype=float32), 'left.joint_3.pos': Array(-1.1776415, dtype=float32), 'left.joint_4.pos': Array(0.01595336, dtype=float32), 'left.joint_5.pos': Array(-0.33195257, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0040902, dtype=float32), 'right.joint_1.pos': Array(1.2953495, dtype=float32), 'right.joint_2.pos': Array(0.8658235, dtype=float32), 'right.joint_3.pos': Array(-1.1226124, dtype=float32), 'right.joint_4.pos': Array(0.00687071, dtype=float32), 'right.joint_5.pos': Array(-0.56020314, dtype=float32), 'right.gripper.pos': Array(0.04455996, dtype=float32)}
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.0040902, dtype=float32), Array(1.2953495, dtype=float32), Array(0.8658235, dtype=float32), Array(-1.1226124, dtype=float32), Array(0.00687071, dtype=float32), Array(-0.56020314, dtype=float32), Array(0.04455996, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8634698987007141 0.86582350730896
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5613412857055664 -0.5602031350135803
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044559963047504425
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting left arm positions: [Array(-1.910787, dtype=float32), Array(1.2554392, dtype=float32), Array(0.88117105, dtype=float32), Array(-1.1776415, dtype=float32), Array(0.01595336, dtype=float32), Array(-0.33195257, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 108.4ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.5ms
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-29s DEBUG: pose_idx: 11/64
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106672, dtype=float32), 'left.joint_1.pos': Array(1.2559355, dtype=float32), 'left.joint_2.pos': Array(0.8788974, dtype=float32), 'left.joint_3.pos': Array(-1.1749476, dtype=float32), 'left.joint_4.pos': Array(0.01601803, dtype=float32), 'left.joint_5.pos': Array(-0.33181795, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0044653, dtype=float32), 'right.joint_1.pos': Array(1.2958797, dtype=float32), 'right.joint_2.pos': Array(0.86620003, dtype=float32), 'right.joint_3.pos': Array(-1.1224518, dtype=float32), 'right.joint_4.pos': Array(0.00685624, dtype=float32), 'right.joint_5.pos': Array(-0.55983835, dtype=float32), 'right.gripper.pos': Array(0.04455949, dtype=float32)}
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.0044653, dtype=float32), Array(1.2958797, dtype=float32), Array(0.86620003, dtype=float32), Array(-1.1224518, dtype=float32), Array(0.00685624, dtype=float32), Array(-0.55983835, dtype=float32), Array(0.04455949, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8638513684272766 0.8662000298500061
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5609598159790039 -0.5598383545875549
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455949366092682
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106672, dtype=float32), Array(1.2559355, dtype=float32), Array(0.8788974, dtype=float32), Array(-1.1749476, dtype=float32), Array(0.01601803, dtype=float32), Array(-0.33181795, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 110.2ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 110.6ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09
+2025y-06m-25d-12h-16m-29s DEBUG: pose_idx: 12/64
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106559, dtype=float32), 'left.joint_1.pos': Array(1.2563523, dtype=float32), 'left.joint_2.pos': Array(0.8765761, dtype=float32), 'left.joint_3.pos': Array(-1.1722442, dtype=float32), 'left.joint_4.pos': Array(0.01602688, dtype=float32), 'left.joint_5.pos': Array(-0.33180583, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0048416, dtype=float32), 'right.joint_1.pos': Array(1.2964106, dtype=float32), 'right.joint_2.pos': Array(0.86657715, dtype=float32), 'right.joint_3.pos': Array(-1.1222913, dtype=float32), 'right.joint_4.pos': Array(0.00684241, dtype=float32), 'right.joint_5.pos': Array(-0.55947244, dtype=float32), 'right.gripper.pos': Array(0.04455904, dtype=float32)}
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 6.6ms
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.0048416, dtype=float32), Array(1.2964106, dtype=float32), Array(0.86657715, dtype=float32), Array(-1.1222913, dtype=float32), Array(0.00684241, dtype=float32), Array(-0.55947244, dtype=float32), Array(0.04455904, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8646143078804016 0.8665771484375
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5605783462524414 -0.5594724416732788
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455903545022011
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106559, dtype=float32), Array(1.2563523, dtype=float32), Array(0.8765761, dtype=float32), Array(-1.1722442, dtype=float32), Array(0.01602688, dtype=float32), Array(-0.33180583, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 102.8ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-29s DEBUG: pose_idx: 13/64
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106444, dtype=float32), 'left.joint_1.pos': Array(1.256777, dtype=float32), 'left.joint_2.pos': Array(0.87425953, dtype=float32), 'left.joint_3.pos': Array(-1.169538, dtype=float32), 'left.joint_4.pos': Array(0.01603587, dtype=float32), 'left.joint_5.pos': Array(-0.3317938, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0048416, dtype=float32), 'right.joint_1.pos': Array(1.2964106, dtype=float32), 'right.joint_2.pos': Array(0.86657715, dtype=float32), 'right.joint_3.pos': Array(-1.1222913, dtype=float32), 'right.joint_4.pos': Array(0.00684241, dtype=float32), 'right.joint_5.pos': Array(-0.55947244, dtype=float32), 'right.gripper.pos': Array(0.04455904, dtype=float32)}
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.0048416, dtype=float32), Array(1.2964106, dtype=float32), Array(0.86657715, dtype=float32), Array(-1.1222913, dtype=float32), Array(0.00684241, dtype=float32), Array(-0.55947244, dtype=float32), Array(0.04455904, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04455903545022011
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106444, dtype=float32), Array(1.256777, dtype=float32), Array(0.87425953, dtype=float32), Array(-1.169538, dtype=float32), Array(0.01603587, dtype=float32), Array(-0.3317938, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 110.4ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-29s DEBUG: pose_idx: 14/64
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106332, dtype=float32), 'left.joint_1.pos': Array(1.257209, dtype=float32), 'left.joint_2.pos': Array(0.87194777, dtype=float32), 'left.joint_3.pos': Array(-1.1668288, dtype=float32), 'left.joint_4.pos': Array(0.01604481, dtype=float32), 'left.joint_5.pos': Array(-0.331782, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0052176, dtype=float32), 'right.joint_1.pos': Array(1.2969412, dtype=float32), 'right.joint_2.pos': Array(0.8669543, dtype=float32), 'right.joint_3.pos': Array(-1.1221309, dtype=float32), 'right.joint_4.pos': Array(0.0068285, dtype=float32), 'right.joint_5.pos': Array(-0.5591068, dtype=float32), 'right.gripper.pos': Array(0.04455858, dtype=float32)}
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.0052176, dtype=float32), Array(1.2969412, dtype=float32), Array(0.8669543, dtype=float32), Array(-1.1221309, dtype=float32), Array(0.0068285, dtype=float32), Array(-0.5591068, dtype=float32), Array(0.04455858, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8657587766647339 0.8669543266296387
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0445585772395134
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106332, dtype=float32), Array(1.257209, dtype=float32), Array(0.87194777, dtype=float32), Array(-1.1668288, dtype=float32), Array(0.01604481, dtype=float32), Array(-0.331782, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 108.8ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 110.5ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-29s DEBUG: pose_idx: 15/64
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910622, dtype=float32), 'left.joint_1.pos': Array(1.2576491, dtype=float32), 'left.joint_2.pos': Array(0.8696396, dtype=float32), 'left.joint_3.pos': Array(-1.1641151, dtype=float32), 'left.joint_4.pos': Array(0.01605381, dtype=float32), 'left.joint_5.pos': Array(-0.33177006, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0055931, dtype=float32), 'right.joint_1.pos': Array(1.297472, dtype=float32), 'right.joint_2.pos': Array(0.8673319, dtype=float32), 'right.joint_3.pos': Array(-1.1219709, dtype=float32), 'right.joint_4.pos': Array(0.00681481, dtype=float32), 'right.joint_5.pos': Array(-0.5587415, dtype=float32), 'right.gripper.pos': Array(0.04455812, dtype=float32)}
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.0055931, dtype=float32), Array(1.297472, dtype=float32), Array(0.8673319, dtype=float32), Array(-1.1219709, dtype=float32), Array(0.00681481, dtype=float32), Array(-0.5587415, dtype=float32), Array(0.04455812, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8657587766647339 0.8673319220542908
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 9.0ms
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044558119028806686
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting left arm positions: [Array(-1.910622, dtype=float32), Array(1.2576491, dtype=float32), Array(0.8696396, dtype=float32), Array(-1.1641151, dtype=float32), Array(0.01605381, dtype=float32), Array(-0.33177006, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 110.8ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 102.4ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 1.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-29s DEBUG: pose_idx: 16/64
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106104, dtype=float32), 'left.joint_1.pos': Array(1.258097, dtype=float32), 'left.joint_2.pos': Array(0.8673368, dtype=float32), 'left.joint_3.pos': Array(-1.1613992, dtype=float32), 'left.joint_4.pos': Array(0.01606267, dtype=float32), 'left.joint_5.pos': Array(-0.33175805, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0059677, dtype=float32), 'right.joint_1.pos': Array(1.2980026, dtype=float32), 'right.joint_2.pos': Array(0.8677098, dtype=float32), 'right.joint_3.pos': Array(-1.1218112, dtype=float32), 'right.joint_4.pos': Array(0.00680088, dtype=float32), 'right.joint_5.pos': Array(-0.55837727, dtype=float32), 'right.gripper.pos': Array(0.04455766, dtype=float32)}
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.0059677, dtype=float32), Array(1.2980026, dtype=float32), Array(0.8677098, dtype=float32), Array(-1.1218112, dtype=float32), Array(0.00680088, dtype=float32), Array(-0.55837727, dtype=float32), Array(0.04455766, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.044557664543390274
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106104, dtype=float32), Array(1.258097, dtype=float32), Array(0.8673368, dtype=float32), Array(-1.1613992, dtype=float32), Array(0.01606267, dtype=float32), Array(-0.33175805, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 107.8ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 108.2ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-29s DEBUG: pose_idx: 17/64
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910599, dtype=float32), 'left.joint_1.pos': Array(1.2585531, dtype=float32), 'left.joint_2.pos': Array(0.86503786, dtype=float32), 'left.joint_3.pos': Array(-1.1586788, dtype=float32), 'left.joint_4.pos': Array(0.01607183, dtype=float32), 'left.joint_5.pos': Array(-0.3317459, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0063424, dtype=float32), 'right.joint_1.pos': Array(1.2985336, dtype=float32), 'right.joint_2.pos': Array(0.86808795, dtype=float32), 'right.joint_3.pos': Array(-1.1216514, dtype=float32), 'right.joint_4.pos': Array(0.00678734, dtype=float32), 'right.joint_5.pos': Array(-0.558013, dtype=float32), 'right.gripper.pos': Array(0.04455721, dtype=float32)}
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.0063424, dtype=float32), Array(1.2985336, dtype=float32), Array(0.86808795, dtype=float32), Array(-1.1216514, dtype=float32), Array(0.00678734, dtype=float32), Array(-0.558013, dtype=float32), Array(0.04455721, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455720633268356
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting left arm positions: [Array(-1.910599, dtype=float32), Array(1.2585531, dtype=float32), Array(0.86503786, dtype=float32), Array(-1.1586788, dtype=float32), Array(0.01607183, dtype=float32), Array(-0.3317459, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.6ms
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-29s DEBUG: pose_idx: 18/64
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105875, dtype=float32), 'left.joint_1.pos': Array(1.259017, dtype=float32), 'left.joint_2.pos': Array(0.8627438, dtype=float32), 'left.joint_3.pos': Array(-1.1559556, dtype=float32), 'left.joint_4.pos': Array(0.01608067, dtype=float32), 'left.joint_5.pos': Array(-0.33173388, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0063424, dtype=float32), 'right.joint_1.pos': Array(1.2985336, dtype=float32), 'right.joint_2.pos': Array(0.86808795, dtype=float32), 'right.joint_3.pos': Array(-1.1216514, dtype=float32), 'right.joint_4.pos': Array(0.00678734, dtype=float32), 'right.joint_5.pos': Array(-0.558013, dtype=float32), 'right.gripper.pos': Array(0.04455721, dtype=float32)}
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.0063424, dtype=float32), Array(1.2985336, dtype=float32), Array(0.86808795, dtype=float32), Array(-1.1216514, dtype=float32), Array(0.00678734, dtype=float32), Array(-0.558013, dtype=float32), Array(0.04455721, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-29s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455720633268356
+2025y-06m-25d-12h-16m-29s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105875, dtype=float32), Array(1.259017, dtype=float32), Array(0.8627438, dtype=float32), Array(-1.1559556, dtype=float32), Array(0.01608067, dtype=float32), Array(-0.33173388, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 108.8ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 109.6ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-30s DEBUG: pose_idx: 19/64
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 3.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106787, dtype=float32), 'left.joint_1.pos': Array(1.2594032, dtype=float32), 'left.joint_2.pos': Array(0.8604028, dtype=float32), 'left.joint_3.pos': Array(-1.1532229, dtype=float32), 'left.joint_4.pos': Array(0.0160368, dtype=float32), 'left.joint_5.pos': Array(-0.33183753, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0067176, dtype=float32), 'right.joint_1.pos': Array(1.2990644, dtype=float32), 'right.joint_2.pos': Array(0.8684664, dtype=float32), 'right.joint_3.pos': Array(-1.1214923, dtype=float32), 'right.joint_4.pos': Array(0.00677396, dtype=float32), 'right.joint_5.pos': Array(-0.5576477, dtype=float32), 'right.gripper.pos': Array(0.04455676, dtype=float32)}
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.0067176, dtype=float32), Array(1.2990644, dtype=float32), Array(0.8684664, dtype=float32), Array(-1.1214923, dtype=float32), Array(0.00677396, dtype=float32), Array(-0.5576477, dtype=float32), Array(0.04455676, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044556763023138046
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106787, dtype=float32), Array(1.2594032, dtype=float32), Array(0.8604028, dtype=float32), Array(-1.1532229, dtype=float32), Array(0.0160368, dtype=float32), Array(-0.33183753, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 106.2ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.5ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-30s DEBUG: pose_idx: 20/64
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105648, dtype=float32), 'left.joint_1.pos': Array(1.2599683, dtype=float32), 'left.joint_2.pos': Array(0.8581688, dtype=float32), 'left.joint_3.pos': Array(-1.1504984, dtype=float32), 'left.joint_4.pos': Array(0.0160987, dtype=float32), 'left.joint_5.pos': Array(-0.33170986, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0070901, dtype=float32), 'right.joint_1.pos': Array(1.299595, dtype=float32), 'right.joint_2.pos': Array(0.8688452, dtype=float32), 'right.joint_3.pos': Array(-1.1213336, dtype=float32), 'right.joint_4.pos': Array(0.00675967, dtype=float32), 'right.joint_5.pos': Array(-0.5572856, dtype=float32), 'right.gripper.pos': Array(0.0445563, dtype=float32)}
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.0070901, dtype=float32), Array(1.299595, dtype=float32), Array(0.8688452, dtype=float32), Array(-1.1213336, dtype=float32), Array(0.00675967, dtype=float32), Array(-0.5572856, dtype=float32), Array(0.0445563, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8676661252975464 0.8688452243804932
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5582894682884216 -0.5572856068611145
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455629736185074
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105648, dtype=float32), Array(1.2599683, dtype=float32), Array(0.8581688, dtype=float32), Array(-1.1504984, dtype=float32), Array(0.0160987, dtype=float32), Array(-0.33170986, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-30s DEBUG: pose_idx: 21/64
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0074645, dtype=float32), 'right.joint_1.pos': Array(1.3001257, dtype=float32), 'right.joint_2.pos': Array(0.8692245, dtype=float32), 'right.joint_3.pos': Array(-1.1211753, dtype=float32), 'right.joint_4.pos': Array(0.00674654, dtype=float32), 'right.joint_5.pos': Array(-0.5569212, dtype=float32), 'right.gripper.pos': Array(0.04455585, dtype=float32)}
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.0074645, dtype=float32), Array(1.3001257, dtype=float32), Array(0.8692245, dtype=float32), Array(-1.1211753, dtype=float32), Array(0.00674654, dtype=float32), Array(-0.5569212, dtype=float32), Array(0.04455585, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2991149425506592 1.3001257181167603
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455585405230522
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 111.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 110.8ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 1.0ms
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-30s DEBUG: pose_idx: 22/64
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 4.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105532, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.8558878, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610767, dtype=float32), 'left.joint_5.pos': Array(-0.33169764, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0078361, dtype=float32), 'right.joint_1.pos': Array(1.3006566, dtype=float32), 'right.joint_2.pos': Array(0.86960346, dtype=float32), 'right.joint_3.pos': Array(-1.1210164, dtype=float32), 'right.joint_4.pos': Array(0.00673236, dtype=float32), 'right.joint_5.pos': Array(-0.55656004, dtype=float32), 'right.gripper.pos': Array(0.04455539, dtype=float32)}
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.0078361, dtype=float32), Array(1.3006566, dtype=float32), Array(0.86960346, dtype=float32), Array(-1.1210164, dtype=float32), Array(0.00673236, dtype=float32), Array(-0.55656004, dtype=float32), Array(0.04455539, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5579079985618591 -0.5565600395202637
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455539211630821
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105532, dtype=float32), Array(1.2604566, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610767, dtype=float32), Array(-0.33169764, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 106.2ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09
+2025y-06m-25d-12h-16m-30s DEBUG: pose_idx: 23/64
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105532, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.8558878, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610767, dtype=float32), 'left.joint_5.pos': Array(-0.33169764, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0078361, dtype=float32), 'right.joint_1.pos': Array(1.3006566, dtype=float32), 'right.joint_2.pos': Array(0.86960346, dtype=float32), 'right.joint_3.pos': Array(-1.1210164, dtype=float32), 'right.joint_4.pos': Array(0.00673236, dtype=float32), 'right.joint_5.pos': Array(-0.55656004, dtype=float32), 'right.gripper.pos': Array(0.04455539, dtype=float32)}
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.0078361, dtype=float32), Array(1.3006566, dtype=float32), Array(0.86960346, dtype=float32), Array(-1.1210164, dtype=float32), Array(0.00673236, dtype=float32), Array(-0.55656004, dtype=float32), Array(0.04455539, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455539211630821
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105532, dtype=float32), Array(1.2604566, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610767, dtype=float32), Array(-0.33169764, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 109.5ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.7ms
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09
+2025y-06m-25d-12h-16m-30s DEBUG: pose_idx: 24/64
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0082088, dtype=float32), 'right.joint_1.pos': Array(1.3011875, dtype=float32), 'right.joint_2.pos': Array(0.8699831, dtype=float32), 'right.joint_3.pos': Array(-1.1208581, dtype=float32), 'right.joint_4.pos': Array(0.00671895, dtype=float32), 'right.joint_5.pos': Array(-0.55619764, dtype=float32), 'right.gripper.pos': Array(0.04455494, dtype=float32)}
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.0082088, dtype=float32), Array(1.3011875, dtype=float32), Array(0.8699831, dtype=float32), Array(-1.1208581, dtype=float32), Array(0.00671895, dtype=float32), Array(-0.55619764, dtype=float32), Array(0.04455494, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5575265288352966 -0.5561976432800293
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0445549413561821
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 109.1ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-30s DEBUG: pose_idx: 25/64
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 3.1ms
+2025y-06m-25d-12h-16m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0085819, dtype=float32), 'right.joint_1.pos': Array(1.3017182, dtype=float32), 'right.joint_2.pos': Array(0.87036294, dtype=float32), 'right.joint_3.pos': Array(-1.1207005, dtype=float32), 'right.joint_4.pos': Array(0.00670561, dtype=float32), 'right.joint_5.pos': Array(-0.55583453, dtype=float32), 'right.gripper.pos': Array(0.0445545, dtype=float32)}
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.0085819, dtype=float32), Array(1.3017182, dtype=float32), Array(0.87036294, dtype=float32), Array(-1.1207005, dtype=float32), Array(0.00670561, dtype=float32), Array(-0.55583453, dtype=float32), Array(0.0445545, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 6.5ms
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5571450591087341 -0.5558345317840576
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455449804663658
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 102.1ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 106.7ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.5ms
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-30s DEBUG: pose_idx: 26/64
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0089533, dtype=float32), 'right.joint_1.pos': Array(1.3022494, dtype=float32), 'right.joint_2.pos': Array(0.8707431, dtype=float32), 'right.joint_3.pos': Array(-1.1205424, dtype=float32), 'right.joint_4.pos': Array(0.00669218, dtype=float32), 'right.joint_5.pos': Array(-0.5554731, dtype=float32), 'right.gripper.pos': Array(0.04455405, dtype=float32)}
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.0089533, dtype=float32), Array(1.3022494, dtype=float32), Array(0.8707431, dtype=float32), Array(-1.1205424, dtype=float32), Array(0.00669218, dtype=float32), Array(-0.5554731, dtype=float32), Array(0.04455405, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8695735335350037 0.8707430958747864
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5567635893821716 -0.5554730892181396
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455404728651047
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 108.6ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.6ms
+2025y-06m-25d-12h-16m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-30s DEBUG: pose_idx: 27/64
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0089533, dtype=float32), 'right.joint_1.pos': Array(1.3022494, dtype=float32), 'right.joint_2.pos': Array(0.8707431, dtype=float32), 'right.joint_3.pos': Array(-1.1205424, dtype=float32), 'right.joint_4.pos': Array(0.00669218, dtype=float32), 'right.joint_5.pos': Array(-0.5554731, dtype=float32), 'right.gripper.pos': Array(0.04455405, dtype=float32)}
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.0089533, dtype=float32), Array(1.3022494, dtype=float32), Array(0.8707431, dtype=float32), Array(-1.1205424, dtype=float32), Array(0.00669218, dtype=float32), Array(-0.5554731, dtype=float32), Array(0.04455405, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-30s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455404728651047
+2025y-06m-25d-12h-16m-30s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 108.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 108.9ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-31s DEBUG: pose_idx: 28/64
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0093236, dtype=float32), 'right.joint_1.pos': Array(1.3027799, dtype=float32), 'right.joint_2.pos': Array(0.87112325, dtype=float32), 'right.joint_3.pos': Array(-1.120385, dtype=float32), 'right.joint_4.pos': Array(0.00667814, dtype=float32), 'right.joint_5.pos': Array(-0.5551133, dtype=float32), 'right.gripper.pos': Array(0.04455359, dtype=float32)}
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 5.6ms
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.0093236, dtype=float32), Array(1.3027799, dtype=float32), Array(0.87112325, dtype=float32), Array(-1.120385, dtype=float32), Array(0.00667814, dtype=float32), Array(-0.5551133, dtype=float32), Array(0.04455359, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455358535051346
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 7.9ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 102.3ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-31s DEBUG: pose_idx: 29/64
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0096942, dtype=float32), 'right.joint_1.pos': Array(1.3033109, dtype=float32), 'right.joint_2.pos': Array(0.87150455, dtype=float32), 'right.joint_3.pos': Array(-1.1202285, dtype=float32), 'right.joint_4.pos': Array(0.00666464, dtype=float32), 'right.joint_5.pos': Array(-0.5547529, dtype=float32), 'right.gripper.pos': Array(0.04455314, dtype=float32)}
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.0096942, dtype=float32), Array(1.3033109, dtype=float32), Array(0.87150455, dtype=float32), Array(-1.1202285, dtype=float32), Array(0.00666464, dtype=float32), Array(-0.5547529, dtype=float32), Array(0.04455314, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3021668195724487 1.3033108711242676
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455313831567764
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 109.5ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-31s DEBUG: pose_idx: 30/64
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0100646, dtype=float32), 'right.joint_1.pos': Array(1.3038418, dtype=float32), 'right.joint_2.pos': Array(0.8718853, dtype=float32), 'right.joint_3.pos': Array(-1.1200714, dtype=float32), 'right.joint_4.pos': Array(0.00665119, dtype=float32), 'right.joint_5.pos': Array(-0.55439246, dtype=float32), 'right.gripper.pos': Array(0.04455269, dtype=float32)}
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.0100646, dtype=float32), Array(1.3038418, dtype=float32), Array(0.8718853, dtype=float32), Array(-1.1200714, dtype=float32), Array(0.00665119, dtype=float32), Array(-0.55439246, dtype=float32), Array(0.04455269, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455268755555153
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 110.4ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 110.7ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-31s DEBUG: pose_idx: 31/64
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105539, dtype=float32), 'left.joint_1.pos': Array(1.2604563, dtype=float32), 'left.joint_2.pos': Array(0.85588753, dtype=float32), 'left.joint_3.pos': Array(-1.1477638, dtype=float32), 'left.joint_4.pos': Array(0.01610736, dtype=float32), 'left.joint_5.pos': Array(-0.33169848, dtype=float32), 'left.gripper.pos': Array(1.6138117e-08, dtype=float32), 'right.joint_0.pos': Array(1.0104347, dtype=float32), 'right.joint_1.pos': Array(1.3043727, dtype=float32), 'right.joint_2.pos': Array(0.87226665, dtype=float32), 'right.joint_3.pos': Array(-1.1199148, dtype=float32), 'right.joint_4.pos': Array(0.00663773, dtype=float32), 'right.joint_5.pos': Array(-0.55403256, dtype=float32), 'right.gripper.pos': Array(0.04455224, dtype=float32)}
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.0104347, dtype=float32), Array(1.3043727, dtype=float32), Array(0.87226665, dtype=float32), Array(-1.1199148, dtype=float32), Array(0.00663773, dtype=float32), Array(-0.55403256, dtype=float32), Array(0.04455224, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3029297590255737 1.3043726682662964
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 8.8ms
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044552240520715714
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105539, dtype=float32), Array(1.2604563, dtype=float32), Array(0.85588753, dtype=float32), Array(-1.1477638, dtype=float32), Array(0.01610736, dtype=float32), Array(-0.33169848, dtype=float32), Array(1.6138117e-08, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 102.3ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 110.9ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.6138116620822984e-08
+2025y-06m-25d-12h-16m-31s DEBUG: pose_idx: 32/64
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105539, dtype=float32), 'left.joint_1.pos': Array(1.2604563, dtype=float32), 'left.joint_2.pos': Array(0.85588753, dtype=float32), 'left.joint_3.pos': Array(-1.1477638, dtype=float32), 'left.joint_4.pos': Array(0.01610736, dtype=float32), 'left.joint_5.pos': Array(-0.33169848, dtype=float32), 'left.gripper.pos': Array(1.6138117e-08, dtype=float32), 'right.joint_0.pos': Array(1.0104347, dtype=float32), 'right.joint_1.pos': Array(1.3043727, dtype=float32), 'right.joint_2.pos': Array(0.87226665, dtype=float32), 'right.joint_3.pos': Array(-1.1199148, dtype=float32), 'right.joint_4.pos': Array(0.00663773, dtype=float32), 'right.joint_5.pos': Array(-0.55403256, dtype=float32), 'right.gripper.pos': Array(0.04455224, dtype=float32)}
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.0104347, dtype=float32), Array(1.3043727, dtype=float32), Array(0.87226665, dtype=float32), Array(-1.1199148, dtype=float32), Array(0.00663773, dtype=float32), Array(-0.55403256, dtype=float32), Array(0.04455224, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044552240520715714
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105539, dtype=float32), Array(1.2604563, dtype=float32), Array(0.85588753, dtype=float32), Array(-1.1477638, dtype=float32), Array(0.01610736, dtype=float32), Array(-0.33169848, dtype=float32), Array(1.6138117e-08, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 110.7ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.6138116620822984e-08
+2025y-06m-25d-12h-16m-31s DEBUG: pose_idx: 33/64
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105566, dtype=float32), 'left.joint_1.pos': Array(1.2604554, dtype=float32), 'left.joint_2.pos': Array(0.8558866, dtype=float32), 'left.joint_3.pos': Array(-1.1477633, dtype=float32), 'left.joint_4.pos': Array(0.01610617, dtype=float32), 'left.joint_5.pos': Array(-0.3317016, dtype=float32), 'left.gripper.pos': Array(4.841438e-08, dtype=float32), 'right.joint_0.pos': Array(1.0108043, dtype=float32), 'right.joint_1.pos': Array(1.3049037, dtype=float32), 'right.joint_2.pos': Array(0.87264836, dtype=float32), 'right.joint_3.pos': Array(-1.1197585, dtype=float32), 'right.joint_4.pos': Array(0.00662426, dtype=float32), 'right.joint_5.pos': Array(-0.553673, dtype=float32), 'right.gripper.pos': Array(0.04455179, dtype=float32)}
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.0108043, dtype=float32), Array(1.3049037, dtype=float32), Array(0.87264836, dtype=float32), Array(-1.1197585, dtype=float32), Array(0.00662426, dtype=float32), Array(-0.553673, dtype=float32), Array(0.04455179, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0445517897605896
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105566, dtype=float32), Array(1.2604554, dtype=float32), Array(0.8558866, dtype=float32), Array(-1.1477633, dtype=float32), Array(0.01610617, dtype=float32), Array(-0.3317016, dtype=float32), Array(4.841438e-08, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 109.1ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.841437828417838e-08
+2025y-06m-25d-12h-16m-31s DEBUG: pose_idx: 34/64
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read state: 1.3ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105532, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.8558878, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610767, dtype=float32), 'left.joint_5.pos': Array(-0.33169764, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0111732, dtype=float32), 'right.joint_1.pos': Array(1.3054346, dtype=float32), 'right.joint_2.pos': Array(0.87303007, dtype=float32), 'right.joint_3.pos': Array(-1.1196026, dtype=float32), 'right.joint_4.pos': Array(0.00661075, dtype=float32), 'right.joint_5.pos': Array(-0.55331415, dtype=float32), 'right.gripper.pos': Array(0.04455134, dtype=float32)}
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.0111732, dtype=float32), Array(1.3054346, dtype=float32), Array(0.87303007, dtype=float32), Array(-1.1196026, dtype=float32), Array(0.00661075, dtype=float32), Array(-0.55331415, dtype=float32), Array(0.04455134, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.044551342725753784
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105532, dtype=float32), Array(1.2604566, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610767, dtype=float32), Array(-0.33169764, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 110.2ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 111.2ms
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09
+2025y-06m-25d-12h-16m-31s DEBUG: pose_idx: 35/64
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105532, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.8558878, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610767, dtype=float32), 'left.joint_5.pos': Array(-0.33169764, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0115417, dtype=float32), 'right.joint_1.pos': Array(1.3059655, dtype=float32), 'right.joint_2.pos': Array(0.8734123, dtype=float32), 'right.joint_3.pos': Array(-1.1194465, dtype=float32), 'right.joint_4.pos': Array(0.0065975, dtype=float32), 'right.joint_5.pos': Array(-0.55295587, dtype=float32), 'right.gripper.pos': Array(0.0445509, dtype=float32)}
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.0115417, dtype=float32), Array(1.3059655, dtype=float32), Array(0.8734123, dtype=float32), Array(-1.1194465, dtype=float32), Array(0.0065975, dtype=float32), Array(-0.55295587, dtype=float32), Array(0.0445509, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04455089569091797
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105532, dtype=float32), Array(1.2604566, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610767, dtype=float32), Array(-0.33169764, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 107.6ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09
+2025y-06m-25d-12h-16m-31s DEBUG: pose_idx: 36/64
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(218622278376) read took: 24.5ms
+2025y-06m-25d-12h-16m-31s DEBUG: RealSenseCamera(230422273017) read took: 135.8ms
+2025y-06m-25d-12h-16m-31s DEBUG: None Tatbot read realsense2: 26.0ms
+2025y-06m-25d-12h-16m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.011911, dtype=float32), 'right.joint_1.pos': Array(1.3064969, dtype=float32), 'right.joint_2.pos': Array(0.87379485, dtype=float32), 'right.joint_3.pos': Array(-1.1192911, dtype=float32), 'right.joint_4.pos': Array(0.00658453, dtype=float32), 'right.joint_5.pos': Array(-0.55259615, dtype=float32), 'right.gripper.pos': Array(0.04455046, dtype=float32)}
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.011911, dtype=float32), Array(1.3064969, dtype=float32), Array(0.87379485, dtype=float32), Array(-1.1192911, dtype=float32), Array(0.00658453, dtype=float32), Array(-0.55259615, dtype=float32), Array(0.04455046, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04455046355724335
+2025y-06m-25d-12h-16m-31s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(230422273017) read took: 107.5ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 111.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-32s DEBUG: pose_idx: 37/64
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.011911, dtype=float32), 'right.joint_1.pos': Array(1.3064969, dtype=float32), 'right.joint_2.pos': Array(0.87379485, dtype=float32), 'right.joint_3.pos': Array(-1.1192911, dtype=float32), 'right.joint_4.pos': Array(0.00658453, dtype=float32), 'right.joint_5.pos': Array(-0.55259615, dtype=float32), 'right.gripper.pos': Array(0.04455046, dtype=float32)}
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.011911, dtype=float32), Array(1.3064969, dtype=float32), Array(0.87379485, dtype=float32), Array(-1.1192911, dtype=float32), Array(0.00658453, dtype=float32), Array(-0.55259615, dtype=float32), Array(0.04455046, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455046355724335
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-32s DEBUG: pose_idx: 38/64
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 11.8ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(230422273017) read took: 125.7ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense2: 12.5ms
+2025y-06m-25d-12h-16m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0122783, dtype=float32), 'right.joint_1.pos': Array(1.3070278, dtype=float32), 'right.joint_2.pos': Array(0.8741776, dtype=float32), 'right.joint_3.pos': Array(-1.1191357, dtype=float32), 'right.joint_4.pos': Array(0.00657082, dtype=float32), 'right.joint_5.pos': Array(-0.55223936, dtype=float32), 'right.gripper.pos': Array(0.04455001, dtype=float32)}
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.0122783, dtype=float32), Array(1.3070278, dtype=float32), Array(0.8741776, dtype=float32), Array(-1.1191357, dtype=float32), Array(0.00657082, dtype=float32), Array(-0.55223936, dtype=float32), Array(0.04455001, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044550005346536636
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(230422273017) read took: 107.5ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 111.8ms
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-32s DEBUG: pose_idx: 39/64
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0126466, dtype=float32), 'right.joint_1.pos': Array(1.3075587, dtype=float32), 'right.joint_2.pos': Array(0.8745607, dtype=float32), 'right.joint_3.pos': Array(-1.118981, dtype=float32), 'right.joint_4.pos': Array(0.00655796, dtype=float32), 'right.joint_5.pos': Array(-0.5518808, dtype=float32), 'right.gripper.pos': Array(0.04454957, dtype=float32)}
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.0126466, dtype=float32), Array(1.3075587, dtype=float32), Array(0.8745607, dtype=float32), Array(-1.118981, dtype=float32), Array(0.00655796, dtype=float32), Array(-0.5518808, dtype=float32), Array(0.04454957, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8733882904052734 0.8745607137680054
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.044549573212862015
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 105.9ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(230422273017) read took: 107.8ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-32s DEBUG: pose_idx: 40/64
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0130135, dtype=float32), 'right.joint_1.pos': Array(1.30809, dtype=float32), 'right.joint_2.pos': Array(0.87494457, dtype=float32), 'right.joint_3.pos': Array(-1.1188267, dtype=float32), 'right.joint_4.pos': Array(0.00654454, dtype=float32), 'right.joint_5.pos': Array(-0.55152386, dtype=float32), 'right.gripper.pos': Array(0.04454913, dtype=float32)}
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.0130135, dtype=float32), Array(1.30809, dtype=float32), Array(0.87494457, dtype=float32), Array(-1.1188267, dtype=float32), Array(0.00654454, dtype=float32), Array(-0.55152386, dtype=float32), Array(0.04454913, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0445491261780262
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(230422273017) read took: 109.4ms
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-32s DEBUG: pose_idx: 41/64
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 4.9ms
+2025y-06m-25d-12h-16m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0130135, dtype=float32), 'right.joint_1.pos': Array(1.30809, dtype=float32), 'right.joint_2.pos': Array(0.87494457, dtype=float32), 'right.joint_3.pos': Array(-1.1188267, dtype=float32), 'right.joint_4.pos': Array(0.00654454, dtype=float32), 'right.joint_5.pos': Array(-0.55152386, dtype=float32), 'right.gripper.pos': Array(0.04454913, dtype=float32)}
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.0130135, dtype=float32), Array(1.30809, dtype=float32), Array(0.87494457, dtype=float32), Array(-1.1188267, dtype=float32), Array(0.00654454, dtype=float32), Array(-0.55152386, dtype=float32), Array(0.04454913, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(230422273017) read took: 8.2ms
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0445491261780262
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 105.8ms
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-32s DEBUG: pose_idx: 42/64
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0133803, dtype=float32), 'right.joint_1.pos': Array(1.308621, dtype=float32), 'right.joint_2.pos': Array(0.8753281, dtype=float32), 'right.joint_3.pos': Array(-1.118672, dtype=float32), 'right.joint_4.pos': Array(0.00653141, dtype=float32), 'right.joint_5.pos': Array(-0.551167, dtype=float32), 'right.gripper.pos': Array(0.04454868, dtype=float32)}
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.0133803, dtype=float32), Array(1.308621, dtype=float32), Array(0.8753281, dtype=float32), Array(-1.118672, dtype=float32), Array(0.00653141, dtype=float32), Array(-0.551167, dtype=float32), Array(0.04454868, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454868286848068
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 110.2ms
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-32s DEBUG: pose_idx: 43/64
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 17.2ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(230422273017) read took: 266.4ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense2: 51.2ms
+2025y-06m-25d-12h-16m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0137466, dtype=float32), 'right.joint_1.pos': Array(1.309152, dtype=float32), 'right.joint_2.pos': Array(0.8757119, dtype=float32), 'right.joint_3.pos': Array(-1.1185179, dtype=float32), 'right.joint_4.pos': Array(0.00651812, dtype=float32), 'right.joint_5.pos': Array(-0.55081064, dtype=float32), 'right.gripper.pos': Array(0.04454824, dtype=float32)}
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.0137466, dtype=float32), Array(1.309152, dtype=float32), Array(0.8757119, dtype=float32), Array(-1.1185179, dtype=float32), Array(0.00651812, dtype=float32), Array(-0.55081064, dtype=float32), Array(0.04454824, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.044548243284225464
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(230422273017) read took: 107.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-32s DEBUG: pose_idx: 44/64
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105655, dtype=float32), 'left.joint_1.pos': Array(1.2599444, dtype=float32), 'left.joint_2.pos': Array(0.8582828, dtype=float32), 'left.joint_3.pos': Array(-1.1506345, dtype=float32), 'left.joint_4.pos': Array(0.01609827, dtype=float32), 'left.joint_5.pos': Array(-0.3317106, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0141113, dtype=float32), 'right.joint_1.pos': Array(1.3096827, dtype=float32), 'right.joint_2.pos': Array(0.8760959, dtype=float32), 'right.joint_3.pos': Array(-1.118364, dtype=float32), 'right.joint_4.pos': Array(0.00650458, dtype=float32), 'right.joint_5.pos': Array(-0.5504563, dtype=float32), 'right.gripper.pos': Array(0.04454779, dtype=float32)}
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.0141113, dtype=float32), Array(1.3096827, dtype=float32), Array(0.8760959, dtype=float32), Array(-1.118364, dtype=float32), Array(0.00650458, dtype=float32), Array(-0.5504563, dtype=float32), Array(0.04454779, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3086519241333008 1.3096827268600464
+2025y-06m-25d-12h-16m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454778879880905
+2025y-06m-25d-12h-16m-32s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105655, dtype=float32), Array(1.2599444, dtype=float32), Array(0.8582828, dtype=float32), Array(-1.1506345, dtype=float32), Array(0.01609827, dtype=float32), Array(-0.3317106, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 109.6ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.7ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(230422273017) read took: 110.5ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8566033244132996 0.8582828044891357
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09
+2025y-06m-25d-12h-16m-33s DEBUG: pose_idx: 45/64
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105773, dtype=float32), 'left.joint_1.pos': Array(1.2594413, dtype=float32), 'left.joint_2.pos': Array(0.8606828, dtype=float32), 'left.joint_3.pos': Array(-1.1535014, dtype=float32), 'left.joint_4.pos': Array(0.01608882, dtype=float32), 'left.joint_5.pos': Array(-0.33172303, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.014477, dtype=float32), 'right.joint_1.pos': Array(1.310214, dtype=float32), 'right.joint_2.pos': Array(0.87648046, dtype=float32), 'right.joint_3.pos': Array(-1.1182103, dtype=float32), 'right.joint_4.pos': Array(0.00649141, dtype=float32), 'right.joint_5.pos': Array(-0.5501005, dtype=float32), 'right.gripper.pos': Array(0.04454735, dtype=float32)}
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.014477, dtype=float32), Array(1.310214, dtype=float32), Array(0.87648046, dtype=float32), Array(-1.1182103, dtype=float32), Array(0.00649141, dtype=float32), Array(-0.5501005, dtype=float32), Array(0.04454735, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8752956390380859 0.8764804601669312
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454734921455383
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105773, dtype=float32), Array(1.2594413, dtype=float32), Array(0.8606828, dtype=float32), Array(-1.1535014, dtype=float32), Array(0.01608882, dtype=float32), Array(-0.33172303, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(230422273017) read took: 109.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.5ms
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8596551418304443 0.8606827855110168
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-33s DEBUG: pose_idx: 46/64
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(230422273017) read took: 3.7ms
+2025y-06m-25d-12h-16m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105895, dtype=float32), 'left.joint_1.pos': Array(1.258947, dtype=float32), 'left.joint_2.pos': Array(0.8630875, dtype=float32), 'left.joint_3.pos': Array(-1.1563638, dtype=float32), 'left.joint_4.pos': Array(0.01607932, dtype=float32), 'left.joint_5.pos': Array(-0.3317357, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.014477, dtype=float32), 'right.joint_1.pos': Array(1.310214, dtype=float32), 'right.joint_2.pos': Array(0.87648046, dtype=float32), 'right.joint_3.pos': Array(-1.1182103, dtype=float32), 'right.joint_4.pos': Array(0.00649141, dtype=float32), 'right.joint_5.pos': Array(-0.5501005, dtype=float32), 'right.gripper.pos': Array(0.04454735, dtype=float32)}
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.014477, dtype=float32), Array(1.310214, dtype=float32), Array(0.87648046, dtype=float32), Array(-1.1182103, dtype=float32), Array(0.00649141, dtype=float32), Array(-0.5501005, dtype=float32), Array(0.04454735, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454734921455383
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105895, dtype=float32), Array(1.258947, dtype=float32), Array(0.8630875, dtype=float32), Array(-1.1563638, dtype=float32), Array(0.01607932, dtype=float32), Array(-0.3317357, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 108.8ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-33s DEBUG: pose_idx: 47/64
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read state: 1.3ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107051, dtype=float32), 'left.joint_1.pos': Array(1.2583755, dtype=float32), 'left.joint_2.pos': Array(0.8654462, dtype=float32), 'left.joint_3.pos': Array(-1.1592175, dtype=float32), 'left.joint_4.pos': Array(0.01601633, dtype=float32), 'left.joint_5.pos': Array(-0.33186573, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0148427, dtype=float32), 'right.joint_1.pos': Array(1.3107454, dtype=float32), 'right.joint_2.pos': Array(0.8768654, dtype=float32), 'right.joint_3.pos': Array(-1.1180569, dtype=float32), 'right.joint_4.pos': Array(0.0064786, dtype=float32), 'right.joint_5.pos': Array(-0.54974437, dtype=float32), 'right.gripper.pos': Array(0.04454692, dtype=float32)}
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.0148427, dtype=float32), Array(1.3107454, dtype=float32), Array(0.8768654, dtype=float32), Array(-1.1180569, dtype=float32), Array(0.0064786, dtype=float32), Array(-0.54974437, dtype=float32), Array(0.04454692, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454691708087921
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107051, dtype=float32), Array(1.2583755, dtype=float32), Array(0.8654462, dtype=float32), Array(-1.1592175, dtype=float32), Array(0.01601633, dtype=float32), Array(-0.33186573, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 112.3ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-33s DEBUG: pose_idx: 48/64
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 9.9ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(230422273017) read took: 233.4ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense2: 11.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910718, dtype=float32), 'left.joint_1.pos': Array(1.2578982, dtype=float32), 'left.joint_2.pos': Array(0.867861, dtype=float32), 'left.joint_3.pos': Array(-1.162073, dtype=float32), 'left.joint_4.pos': Array(0.01600671, dtype=float32), 'left.joint_5.pos': Array(-0.33187935, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0152074, dtype=float32), 'right.joint_1.pos': Array(1.311276, dtype=float32), 'right.joint_2.pos': Array(0.87725055, dtype=float32), 'right.joint_3.pos': Array(-1.1179043, dtype=float32), 'right.joint_4.pos': Array(0.00646556, dtype=float32), 'right.joint_5.pos': Array(-0.5493897, dtype=float32), 'right.gripper.pos': Array(0.04454648, dtype=float32)}
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.0152074, dtype=float32), Array(1.311276, dtype=float32), Array(0.87725055, dtype=float32), Array(-1.1179043, dtype=float32), Array(0.00646556, dtype=float32), Array(-0.5493897, dtype=float32), Array(0.04454648, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04454647749662399
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.910718, dtype=float32), Array(1.2578982, dtype=float32), Array(0.867861, dtype=float32), Array(-1.162073, dtype=float32), Array(0.01600671, dtype=float32), Array(-0.33187935, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(230422273017) read took: 107.7ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 112.7ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-33s DEBUG: pose_idx: 49/64
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107304, dtype=float32), 'left.joint_1.pos': Array(1.25743, dtype=float32), 'left.joint_2.pos': Array(0.87028015, dtype=float32), 'left.joint_3.pos': Array(-1.1649237, dtype=float32), 'left.joint_4.pos': Array(0.01599704, dtype=float32), 'left.joint_5.pos': Array(-0.33189243, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0155717, dtype=float32), 'right.joint_1.pos': Array(1.3118074, dtype=float32), 'right.joint_2.pos': Array(0.87763596, dtype=float32), 'right.joint_3.pos': Array(-1.1177511, dtype=float32), 'right.joint_4.pos': Array(0.00645237, dtype=float32), 'right.joint_5.pos': Array(-0.54903525, dtype=float32), 'right.gripper.pos': Array(0.04454604, dtype=float32)}
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.0155717, dtype=float32), Array(1.3118074, dtype=float32), Array(0.87763596, dtype=float32), Array(-1.1177511, dtype=float32), Array(0.00645237, dtype=float32), Array(-0.54903525, dtype=float32), Array(0.04454604, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5502784848213196 -0.5490352511405945
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.044546037912368774
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107304, dtype=float32), Array(1.25743, dtype=float32), Array(0.87028015, dtype=float32), Array(-1.1649237, dtype=float32), Array(0.01599704, dtype=float32), Array(-0.33189243, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(230422273017) read took: 110.6ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8691920638084412 0.8702801465988159
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-33s DEBUG: pose_idx: 50/64
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106373, dtype=float32), 'left.joint_1.pos': Array(1.2570568, dtype=float32), 'left.joint_2.pos': Array(0.8727563, dtype=float32), 'left.joint_3.pos': Array(-1.1677773, dtype=float32), 'left.joint_4.pos': Array(0.01604163, dtype=float32), 'left.joint_5.pos': Array(-0.33178633, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0159343, dtype=float32), 'right.joint_1.pos': Array(1.3123381, dtype=float32), 'right.joint_2.pos': Array(0.8780213, dtype=float32), 'right.joint_3.pos': Array(-1.1175987, dtype=float32), 'right.joint_4.pos': Array(0.00643887, dtype=float32), 'right.joint_5.pos': Array(-0.5486828, dtype=float32), 'right.gripper.pos': Array(0.04454559, dtype=float32)}
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.0159343, dtype=float32), Array(1.3123381, dtype=float32), Array(0.8780213, dtype=float32), Array(-1.1175987, dtype=float32), Array(0.00643887, dtype=float32), Array(-0.5486828, dtype=float32), Array(0.04454559, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5498970150947571 -0.5486828088760376
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454558715224266
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106373, dtype=float32), Array(1.2570568, dtype=float32), Array(0.8727563, dtype=float32), Array(-1.1677773, dtype=float32), Array(0.01604163, dtype=float32), Array(-0.33178633, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-33s DEBUG: pose_idx: 51/64
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 34.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(230422273017) read took: 147.9ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense2: 34.5ms
+2025y-06m-25d-12h-16m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106495, dtype=float32), 'left.joint_1.pos': Array(1.2566061, dtype=float32), 'left.joint_2.pos': Array(0.8751857, dtype=float32), 'left.joint_3.pos': Array(-1.170621, dtype=float32), 'left.joint_4.pos': Array(0.0160321, dtype=float32), 'left.joint_5.pos': Array(-0.33179897, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0159343, dtype=float32), 'right.joint_1.pos': Array(1.3123381, dtype=float32), 'right.joint_2.pos': Array(0.8780213, dtype=float32), 'right.joint_3.pos': Array(-1.1175987, dtype=float32), 'right.joint_4.pos': Array(0.00643888, dtype=float32), 'right.joint_5.pos': Array(-0.5486828, dtype=float32), 'right.gripper.pos': Array(0.04454559, dtype=float32)}
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.0159343, dtype=float32), Array(1.3123381, dtype=float32), Array(0.8780213, dtype=float32), Array(-1.1175987, dtype=float32), Array(0.00643888, dtype=float32), Array(-0.5486828, dtype=float32), Array(0.04454559, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454558715224266
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106495, dtype=float32), Array(1.2566061, dtype=float32), Array(0.8751857, dtype=float32), Array(-1.170621, dtype=float32), Array(0.0160321, dtype=float32), Array(-0.33179897, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(230422273017) read took: 107.7ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 112.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09
+2025y-06m-25d-12h-16m-33s DEBUG: pose_idx: 52/64
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read state: 1.7ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910661, dtype=float32), 'left.joint_1.pos': Array(1.2561642, dtype=float32), 'left.joint_2.pos': Array(0.87762016, dtype=float32), 'left.joint_3.pos': Array(-1.1734607, dtype=float32), 'left.joint_4.pos': Array(0.0160228, dtype=float32), 'left.joint_5.pos': Array(-0.33181128, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0162979, dtype=float32), 'right.joint_1.pos': Array(1.3128694, dtype=float32), 'right.joint_2.pos': Array(0.8784074, dtype=float32), 'right.joint_3.pos': Array(-1.1174465, dtype=float32), 'right.joint_4.pos': Array(0.00642592, dtype=float32), 'right.joint_5.pos': Array(-0.5483295, dtype=float32), 'right.gripper.pos': Array(0.04454515, dtype=float32)}
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.0162979, dtype=float32), Array(1.3128694, dtype=float32), Array(0.8784074, dtype=float32), Array(-1.1174465, dtype=float32), Array(0.00642592, dtype=float32), Array(-0.5483295, dtype=float32), Array(0.04454515, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04454515129327774
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.910661, dtype=float32), Array(1.2561642, dtype=float32), Array(0.87762016, dtype=float32), Array(-1.1734607, dtype=float32), Array(0.0160228, dtype=float32), Array(-0.33181128, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(230422273017) read took: 111.5ms
+2025y-06m-25d-12h-16m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-33s DEBUG: pose_idx: 53/64
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106727, dtype=float32), 'left.joint_1.pos': Array(1.2557302, dtype=float32), 'left.joint_2.pos': Array(0.88005954, dtype=float32), 'left.joint_3.pos': Array(-1.1762975, dtype=float32), 'left.joint_4.pos': Array(0.01601347, dtype=float32), 'left.joint_5.pos': Array(-0.33182365, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.016661, dtype=float32), 'right.joint_1.pos': Array(1.3134006, dtype=float32), 'right.joint_2.pos': Array(0.87879366, dtype=float32), 'right.joint_3.pos': Array(-1.1172944, dtype=float32), 'right.joint_4.pos': Array(0.00641292, dtype=float32), 'right.joint_5.pos': Array(-0.54797596, dtype=float32), 'right.gripper.pos': Array(0.04454471, dtype=float32)}
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.016661, dtype=float32), Array(1.3134006, dtype=float32), Array(0.87879366, dtype=float32), Array(-1.1172944, dtype=float32), Array(0.00641292, dtype=float32), Array(-0.54797596, dtype=float32), Array(0.04454471, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5491340756416321 -0.5479759573936462
+2025y-06m-25d-12h-16m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454471170902252
+2025y-06m-25d-12h-16m-33s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106727, dtype=float32), Array(1.2557302, dtype=float32), Array(0.88005954, dtype=float32), Array(-1.1762975, dtype=float32), Array(0.01601347, dtype=float32), Array(-0.33182365, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(230422273017) read took: 108.5ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 108.9ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.1774243116378784 -1.1762975454330444
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-34s DEBUG: pose_idx: 54/64
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106843, dtype=float32), 'left.joint_1.pos': Array(1.2553053, dtype=float32), 'left.joint_2.pos': Array(0.88250405, dtype=float32), 'left.joint_3.pos': Array(-1.1791304, dtype=float32), 'left.joint_4.pos': Array(0.01600439, dtype=float32), 'left.joint_5.pos': Array(-0.33183613, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0170238, dtype=float32), 'right.joint_1.pos': Array(1.3139315, dtype=float32), 'right.joint_2.pos': Array(0.8791801, dtype=float32), 'right.joint_3.pos': Array(-1.1171429, dtype=float32), 'right.joint_4.pos': Array(0.0063999, dtype=float32), 'right.joint_5.pos': Array(-0.54762316, dtype=float32), 'right.gripper.pos': Array(0.04454428, dtype=float32)}
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.0170238, dtype=float32), Array(1.3139315, dtype=float32), Array(0.8791801, dtype=float32), Array(-1.1171429, dtype=float32), Array(0.0063999, dtype=float32), Array(-0.54762316, dtype=float32), Array(0.04454428, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0445442758500576
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106843, dtype=float32), Array(1.2553053, dtype=float32), Array(0.88250405, dtype=float32), Array(-1.1791304, dtype=float32), Array(0.01600439, dtype=float32), Array(-0.33183613, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 108.9ms
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-34s DEBUG: pose_idx: 55/64
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read state: 1.8ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 24.1ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(230422273017) read took: 137.9ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense2: 22.6ms
+2025y-06m-25d-12h-16m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106963, dtype=float32), 'left.joint_1.pos': Array(1.2548889, dtype=float32), 'left.joint_2.pos': Array(0.88495296, dtype=float32), 'left.joint_3.pos': Array(-1.181959, dtype=float32), 'left.joint_4.pos': Array(0.01599506, dtype=float32), 'left.joint_5.pos': Array(-0.33184847, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0170238, dtype=float32), 'right.joint_1.pos': Array(1.3139315, dtype=float32), 'right.joint_2.pos': Array(0.8791801, dtype=float32), 'right.joint_3.pos': Array(-1.1171429, dtype=float32), 'right.joint_4.pos': Array(0.0063999, dtype=float32), 'right.joint_5.pos': Array(-0.54762316, dtype=float32), 'right.gripper.pos': Array(0.04454428, dtype=float32)}
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.0170238, dtype=float32), Array(1.3139315, dtype=float32), Array(0.8791801, dtype=float32), Array(-1.1171429, dtype=float32), Array(0.0063999, dtype=float32), Array(-0.54762316, dtype=float32), Array(0.04454428, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0445442758500576
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106963, dtype=float32), Array(1.2548889, dtype=float32), Array(0.88495296, dtype=float32), Array(-1.181959, dtype=float32), Array(0.01599506, dtype=float32), Array(-0.33184847, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(230422273017) read took: 107.3ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 111.4ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-34s DEBUG: pose_idx: 56/64
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107083, dtype=float32), 'left.joint_1.pos': Array(1.2544805, dtype=float32), 'left.joint_2.pos': Array(0.8874067, dtype=float32), 'left.joint_3.pos': Array(-1.1847847, dtype=float32), 'left.joint_4.pos': Array(0.01598565, dtype=float32), 'left.joint_5.pos': Array(-0.33186123, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0173861, dtype=float32), 'right.joint_1.pos': Array(1.3144628, dtype=float32), 'right.joint_2.pos': Array(0.87956685, dtype=float32), 'right.joint_3.pos': Array(-1.116991, dtype=float32), 'right.joint_4.pos': Array(0.00638691, dtype=float32), 'right.joint_5.pos': Array(-0.5472708, dtype=float32), 'right.gripper.pos': Array(0.04454384, dtype=float32)}
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.0173861, dtype=float32), Array(1.3144628, dtype=float32), Array(0.87956685, dtype=float32), Array(-1.116991, dtype=float32), Array(0.00638691, dtype=float32), Array(-0.5472708, dtype=float32), Array(0.04454384, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454383999109268
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107083, dtype=float32), Array(1.2544805, dtype=float32), Array(0.8874067, dtype=float32), Array(-1.1847847, dtype=float32), Array(0.01598565, dtype=float32), Array(-0.33186123, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(230422273017) read took: 110.5ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 109.6ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.1861982345581055 -1.1847846508026123
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09
+2025y-06m-25d-12h-16m-34s DEBUG: pose_idx: 57/64
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108311, dtype=float32), 'left.joint_1.pos': Array(1.2539922, dtype=float32), 'left.joint_2.pos': Array(0.8898136, dtype=float32), 'left.joint_3.pos': Array(-1.1876011, dtype=float32), 'left.joint_4.pos': Array(0.01591917, dtype=float32), 'left.joint_5.pos': Array(-0.33199933, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0177486, dtype=float32), 'right.joint_1.pos': Array(1.3149941, dtype=float32), 'right.joint_2.pos': Array(0.8799545, dtype=float32), 'right.joint_3.pos': Array(-1.1168405, dtype=float32), 'right.joint_4.pos': Array(0.00637448, dtype=float32), 'right.joint_5.pos': Array(-0.5469178, dtype=float32), 'right.gripper.pos': Array(0.04454341, dtype=float32)}
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.0177486, dtype=float32), Array(1.3149941, dtype=float32), Array(0.8799545, dtype=float32), Array(-1.1168405, dtype=float32), Array(0.00637448, dtype=float32), Array(-0.5469178, dtype=float32), Array(0.04454341, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3139925003051758 1.3149940967559814
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454341158270836
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108311, dtype=float32), Array(1.2539922, dtype=float32), Array(0.8898136, dtype=float32), Array(-1.1876011, dtype=float32), Array(0.01591917, dtype=float32), Array(-0.33199933, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-34s DEBUG: pose_idx: 58/64
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 1.1ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 32.9ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(230422273017) read took: 148.3ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense2: 36.1ms
+2025y-06m-25d-12h-16m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107312, dtype=float32), 'left.joint_1.pos': Array(1.25369, dtype=float32), 'left.joint_2.pos': Array(0.8923296, dtype=float32), 'left.joint_3.pos': Array(-1.1904248, dtype=float32), 'left.joint_4.pos': Array(0.01596713, dtype=float32), 'left.joint_5.pos': Array(-0.33188513, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0181091, dtype=float32), 'right.joint_1.pos': Array(1.3155252, dtype=float32), 'right.joint_2.pos': Array(0.88034153, dtype=float32), 'right.joint_3.pos': Array(-1.1166894, dtype=float32), 'right.joint_4.pos': Array(0.00636102, dtype=float32), 'right.joint_5.pos': Array(-0.5465673, dtype=float32), 'right.gripper.pos': Array(0.04454297, dtype=float32)}
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.0181091, dtype=float32), Array(1.3155252, dtype=float32), Array(0.88034153, dtype=float32), Array(-1.1166894, dtype=float32), Array(0.00636102, dtype=float32), Array(-0.5465673, dtype=float32), Array(0.04454297, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454296827316284
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107312, dtype=float32), Array(1.25369, dtype=float32), Array(0.8923296, dtype=float32), Array(-1.1904248, dtype=float32), Array(0.01596713, dtype=float32), Array(-0.33188513, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(230422273017) read took: 107.1ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.5ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 111.3ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-34s DEBUG: pose_idx: 59/64
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108561, dtype=float32), 'left.joint_1.pos': Array(1.2532176, dtype=float32), 'left.joint_2.pos': Array(0.89474547, dtype=float32), 'left.joint_3.pos': Array(-1.1932336, dtype=float32), 'left.joint_4.pos': Array(0.01589988, dtype=float32), 'left.joint_5.pos': Array(-0.332026, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.018471, dtype=float32), 'right.joint_1.pos': Array(1.3160565, dtype=float32), 'right.joint_2.pos': Array(0.8807295, dtype=float32), 'right.joint_3.pos': Array(-1.116539, dtype=float32), 'right.joint_4.pos': Array(0.00634854, dtype=float32), 'right.joint_5.pos': Array(-0.5462151, dtype=float32), 'right.gripper.pos': Array(0.04454254, dtype=float32)}
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.018471, dtype=float32), Array(1.3160565, dtype=float32), Array(0.8807295, dtype=float32), Array(-1.116539, dtype=float32), Array(0.00634854, dtype=float32), Array(-0.5462151, dtype=float32), Array(0.04454254, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04454254359006882
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108561, dtype=float32), Array(1.2532176, dtype=float32), Array(0.89474547, dtype=float32), Array(-1.1932336, dtype=float32), Array(0.01589988, dtype=float32), Array(-0.332026, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 108.6ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(230422273017) read took: 110.2ms
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-34s DEBUG: pose_idx: 60/64
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107547, dtype=float32), 'left.joint_1.pos': Array(1.2529329, dtype=float32), 'left.joint_2.pos': Array(0.89727175, dtype=float32), 'left.joint_3.pos': Array(-1.1960503, dtype=float32), 'left.joint_4.pos': Array(0.01594868, dtype=float32), 'left.joint_5.pos': Array(-0.33190972, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0184702, dtype=float32), 'right.joint_1.pos': Array(1.3160563, dtype=float32), 'right.joint_2.pos': Array(0.88072914, dtype=float32), 'right.joint_3.pos': Array(-1.1165388, dtype=float32), 'right.joint_4.pos': Array(0.00634809, dtype=float32), 'right.joint_5.pos': Array(-0.5462161, dtype=float32), 'right.gripper.pos': Array(0.04454253, dtype=float32)}
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.0184702, dtype=float32), Array(1.3160563, dtype=float32), Array(0.88072914, dtype=float32), Array(-1.1165388, dtype=float32), Array(0.00634809, dtype=float32), Array(-0.5462161, dtype=float32), Array(0.04454253, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454253241419792
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107547, dtype=float32), Array(1.2529329, dtype=float32), Array(0.89727175, dtype=float32), Array(-1.1960503, dtype=float32), Array(0.01594868, dtype=float32), Array(-0.33190972, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(230422273017) read took: 111.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 111.5ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-34s DEBUG: pose_idx: 61/64
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-34s DEBUG: RealSenseCamera(230422273017) read took: 2.7ms
+2025y-06m-25d-12h-16m-34s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108814, dtype=float32), 'left.joint_1.pos': Array(1.2524765, dtype=float32), 'left.joint_2.pos': Array(0.8996975, dtype=float32), 'left.joint_3.pos': Array(-1.1988527, dtype=float32), 'left.joint_4.pos': Array(0.01588036, dtype=float32), 'left.joint_5.pos': Array(-0.33205265, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0188316, dtype=float32), 'right.joint_1.pos': Array(1.3165874, dtype=float32), 'right.joint_2.pos': Array(0.8811178, dtype=float32), 'right.joint_3.pos': Array(-1.1163889, dtype=float32), 'right.joint_4.pos': Array(0.00633578, dtype=float32), 'right.joint_5.pos': Array(-0.5458642, dtype=float32), 'right.gripper.pos': Array(0.04454211, dtype=float32)}
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting right arm positions: [Array(1.0188316, dtype=float32), Array(1.3165874, dtype=float32), Array(0.8811178, dtype=float32), Array(-1.1163889, dtype=float32), Array(0.00633578, dtype=float32), Array(-0.5458642, dtype=float32), Array(0.04454211, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-34s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.044542111456394196
+2025y-06m-25d-12h-16m-34s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108814, dtype=float32), Array(1.2524765, dtype=float32), Array(0.8996975, dtype=float32), Array(-1.1988527, dtype=float32), Array(0.01588036, dtype=float32), Array(-0.33205265, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-16m-35s DEBUG: RealSenseCamera(218622278376) read took: 108.6ms
+2025y-06m-25d-12h-16m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-16m-35s DEBUG: pose_idx: 62/64
+2025y-06m-25d-12h-16m-35s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-16m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-16m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107779, dtype=float32), 'left.joint_1.pos': Array(1.2522092, dtype=float32), 'left.joint_2.pos': Array(0.90223366, dtype=float32), 'left.joint_3.pos': Array(-1.2016622, dtype=float32), 'left.joint_4.pos': Array(0.01593037, dtype=float32), 'left.joint_5.pos': Array(-0.33193398, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.019191, dtype=float32), 'right.joint_1.pos': Array(1.3171186, dtype=float32), 'right.joint_2.pos': Array(0.88150567, dtype=float32), 'right.joint_3.pos': Array(-1.1162385, dtype=float32), 'right.joint_4.pos': Array(0.00632251, dtype=float32), 'right.joint_5.pos': Array(-0.5455149, dtype=float32), 'right.gripper.pos': Array(0.04454167, dtype=float32)}
+2025y-06m-25d-12h-16m-35s DEBUG: 🦾 Setting right arm positions: [Array(1.019191, dtype=float32), Array(1.3171186, dtype=float32), Array(0.88150567, dtype=float32), Array(-1.1162385, dtype=float32), Array(0.00632251, dtype=float32), Array(-0.5455149, dtype=float32), Array(0.04454167, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04454166814684868
+2025y-06m-25d-12h-16m-35s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107779, dtype=float32), Array(1.2522092, dtype=float32), Array(0.90223366, dtype=float32), Array(-1.2016622, dtype=float32), Array(0.01593037, dtype=float32), Array(-0.33193398, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-37s DEBUG: RealSenseCamera(218622278376) read took: 2010.2ms
+2025y-06m-25d-12h-16m-37s WARNING: Error reading frame in background thread for RealSenseCamera(230422273017): RealSenseCamera(230422273017) read failed (status=False).
+2025y-06m-25d-12h-16m-37s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-37s DEBUG: pose_idx: 63/64
+2025y-06m-25d-12h-16m-37s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-16m-37s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-16m-37s DEBUG: RealSenseCamera(218622278376) read took: 13.0ms
+2025y-06m-25d-12h-16m-37s DEBUG: RealSenseCamera(230422273017) read took: 15.4ms
+2025y-06m-25d-12h-16m-37s DEBUG: None Tatbot read realsense2: 12.7ms
+2025y-06m-25d-12h-16m-37s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107896, dtype=float32), 'left.joint_1.pos': Array(1.2518598, dtype=float32), 'left.joint_2.pos': Array(0.9047215, dtype=float32), 'left.joint_3.pos': Array(-1.2044624, dtype=float32), 'left.joint_4.pos': Array(0.015921, dtype=float32), 'left.joint_5.pos': Array(-0.33194628, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0193609, dtype=float32), 'right.joint_1.pos': Array(1.3074429, dtype=float32), 'right.joint_2.pos': Array(0.9232921, dtype=float32), 'right.joint_3.pos': Array(-1.1667655, dtype=float32), 'right.joint_4.pos': Array(0.00647024, dtype=float32), 'right.joint_5.pos': Array(-0.54534256, dtype=float32), 'right.gripper.pos': Array(0.04454025, dtype=float32)}
+2025y-06m-25d-12h-16m-37s DEBUG: 🦾 Setting right arm positions: [Array(1.0193609, dtype=float32), Array(1.3074429, dtype=float32), Array(0.9232921, dtype=float32), Array(-1.1667655, dtype=float32), Array(0.00647024, dtype=float32), Array(-0.54534256, dtype=float32), Array(0.04454025, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-37s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3170443773269653 1.3074429035186768
+2025y-06m-25d-12h-16m-37s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.882543683052063 0.9232921004295349
+2025y-06m-25d-12h-16m-37s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1160067319869995 -1.1667654514312744
+2025y-06m-25d-12h-16m-37s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044540245085954666
+2025y-06m-25d-12h-16m-37s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107896, dtype=float32), Array(1.2518598, dtype=float32), Array(0.9047215, dtype=float32), Array(-1.2044624, dtype=float32), Array(0.015921, dtype=float32), Array(-0.33194628, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-16m-39s DEBUG: RealSenseCamera(230422273017) read took: 2004.3ms
+2025y-06m-25d-12h-16m-39s DEBUG: RealSenseCamera(218622278376) read took: 2007.8ms
+2025y-06m-25d-12h-16m-39s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-16m-39s INFO: 🤖🗃️ Writing episode log to /home/trossen-ai/tatbot/output/record/plan-bench-2025y-06m-25d-12h-13m-57s/logs/episode_000008.txt