diff --git "a/logs/episode_000009.txt" "b/logs/episode_000009.txt" new file mode 100644--- /dev/null +++ "b/logs/episode_000009.txt" @@ -0,0 +1,946 @@ +2025y-06m-25d-12h-16m-41s DEBUG: 🤖 sending arms to rest pose +2025y-06m-25d-12h-16m-41s 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-41s 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-41s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.0191118717193604 1.0 +2025y-06m-25d-12h-16m-41s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3071259260177612 0.10000000149011612 +2025y-06m-25d-12h-16m-41s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 1.3071259260177612 0.10000000149011612 +2025y-06m-25d-12h-16m-41s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9233615398406982 0.5 +2025y-06m-25d-12h-16m-41s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.9233615398406982 0.5 +2025y-06m-25d-12h-16m-41s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1667429208755493 -1.2000000476837158 +2025y-06m-25d-12h-16m-41s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 0.006294346414506435 0.0 +2025y-06m-25d-12h-16m-41s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5457007884979248 0.0 +2025y-06m-25d-12h-16m-41s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 -0.5457007884979248 0.0 +2025y-06m-25d-12h-16m-41s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0 +2025y-06m-25d-12h-16m-41s WARNING: 🦾❌ Failed to set right arm positions: +: +right arm joints mismatch +No error +2025y-06m-25d-12h-16m-41s 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-43s DEBUG: RealSenseCamera(230422273017) read took: 2003.1ms +2025y-06m-25d-12h-16m-43s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-43s DEBUG: RealSenseCamera(218622278376) read took: 2006.5ms +2025y-06m-25d-12h-16m-43s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-43s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 0.0 +2025y-06m-25d-12h-16m-43s INFO: 🤖 recording path 9 of 15 +2025y-06m-25d-12h-16m-43s DEBUG: pose_idx: 0/64 +2025y-06m-25d-12h-16m-43s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-16m-43s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-43s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-43s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9818508, dtype=float32), 'left.joint_1.pos': Array(1.3113792, dtype=float32), 'left.joint_2.pos': Array(0.92608756, dtype=float32), 'left.joint_3.pos': Array(-1.1655672, dtype=float32), 'left.joint_4.pos': Array(-0.00731738, dtype=float32), 'left.joint_5.pos': Array(0.5820327, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107894, dtype=float32), 'right.joint_1.pos': Array(1.2518599, dtype=float32), 'right.joint_2.pos': Array(0.9047216, dtype=float32), 'right.joint_3.pos': Array(-1.2044623, dtype=float32), 'right.joint_4.pos': Array(-0.01592097, dtype=float32), 'right.joint_5.pos': Array(0.33194605, dtype=float32), 'right.gripper.pos': Array(-0.00081068, dtype=float32)} +2025y-06m-25d-12h-16m-43s DEBUG: 🦾 Setting right arm positions: [Array(1.9107894, dtype=float32), Array(1.2518599, dtype=float32), Array(0.9047216, dtype=float32), Array(-1.2044623, dtype=float32), Array(-0.01592097, dtype=float32), Array(0.33194605, dtype=float32), Array(-0.00081068, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-16m-43s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.0000381469726562 1.9107893705368042 +2025y-06m-25d-12h-16m-43s ERROR: 🦾❌ Right arm position mismatch: right.joint_0 1.0000381469726562 1.9107893705368042 +2025y-06m-25d-12h-16m-43s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 0.09937438368797302 1.2518599033355713 +2025y-06m-25d-12h-16m-43s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 0.09937438368797302 1.2518599033355713 +2025y-06m-25d-12h-16m-43s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.499542236328125 0.9047216176986694 +2025y-06m-25d-12h-16m-43s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.499542236328125 0.9047216176986694 +2025y-06m-25d-12h-16m-43s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.2006943225860596 -1.2044622898101807 +2025y-06m-25d-12h-16m-43s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 0.00019073777366429567 -0.0159209743142128 +2025y-06m-25d-12h-16m-43s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 0.00019073777366429567 0.3319460451602936 +2025y-06m-25d-12h-16m-43s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 0.00019073777366429567 0.3319460451602936 +2025y-06m-25d-12h-16m-43s WARNING: 🦾❌ Failed to set right arm positions: +: +right arm joints mismatch +No error +2025y-06m-25d-12h-16m-43s DEBUG: 🦾 Setting left arm positions: [Array(-0.9818508, dtype=float32), Array(1.3113792, dtype=float32), Array(0.92608756, dtype=float32), Array(-1.1655672, dtype=float32), Array(-0.00731738, dtype=float32), Array(0.5820327, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-16m-45s DEBUG: RealSenseCamera(230422273017) read took: 2008.6ms +2025y-06m-25d-12h-16m-45s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-45s DEBUG: RealSenseCamera(218622278376) read took: 2008.3ms +2025y-06m-25d-12h-16m-45s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-45s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-45s DEBUG: pose_idx: 1/64 +2025y-06m-25d-12h-16m-45s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-16m-45s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-45s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-45s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9817008, dtype=float32), 'left.joint_1.pos': Array(1.3211167, dtype=float32), 'left.joint_2.pos': Array(0.88438046, dtype=float32), 'left.joint_3.pos': Array(-1.1150696, dtype=float32), 'left.joint_4.pos': Array(-0.00718652, dtype=float32), 'left.joint_5.pos': Array(0.58218485, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107784, dtype=float32), 'right.joint_1.pos': Array(1.2521924, dtype=float32), 'right.joint_2.pos': Array(0.90235174, dtype=float32), 'right.joint_3.pos': Array(-1.2017953, dtype=float32), 'right.joint_4.pos': Array(-0.01592975, dtype=float32), 'right.joint_5.pos': Array(0.33193454, dtype=float32), 'right.gripper.pos': Array(-0.0008107, dtype=float32)} +2025y-06m-25d-12h-16m-45s DEBUG: 🦾 Setting right arm positions: [Array(1.9107784, dtype=float32), Array(1.2521924, dtype=float32), Array(0.90235174, dtype=float32), Array(-1.2017953, dtype=float32), Array(-0.01592975, dtype=float32), Array(0.33193454, dtype=float32), Array(-0.0008107, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-16m-45s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9046692848205566 0.9023517370223999 +2025y-06m-25d-12h-16m-45s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.2045090198516846 -1.2017953395843506 +2025y-06m-25d-12h-16m-45s DEBUG: 🦾 Setting left arm positions: [Array(-0.9817008, dtype=float32), Array(1.3211167, dtype=float32), Array(0.88438046, dtype=float32), Array(-1.1150696, dtype=float32), Array(-0.00718652, dtype=float32), Array(0.58218485, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(230422273017) read took: 2006.3ms +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(218622278376) read took: 2005.5ms +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-47s DEBUG: pose_idx: 2/64 +2025y-06m-25d-12h-16m-47s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-16m-47s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-47s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-47s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9797963, dtype=float32), 'left.joint_1.pos': Array(1.3185318, dtype=float32), 'left.joint_2.pos': Array(0.8824846, dtype=float32), 'left.joint_3.pos': Array(-1.1157937, dtype=float32), 'left.joint_4.pos': Array(-0.00725532, dtype=float32), 'left.joint_5.pos': Array(0.5840374, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107676, dtype=float32), 'right.joint_1.pos': Array(1.2525322, dtype=float32), 'right.joint_2.pos': Array(0.8999865, dtype=float32), 'right.joint_3.pos': Array(-1.1991253, dtype=float32), 'right.joint_4.pos': Array(-0.01593862, dtype=float32), 'right.joint_5.pos': Array(0.33192316, dtype=float32), 'right.gripper.pos': Array(-0.00081071, dtype=float32)} +2025y-06m-25d-12h-16m-47s DEBUG: 🦾 Setting right arm positions: [Array(1.9107676, dtype=float32), Array(1.2525322, dtype=float32), Array(0.8999865, dtype=float32), Array(-1.1991253, dtype=float32), Array(-0.01593862, dtype=float32), Array(0.33192316, dtype=float32), Array(-0.00081071, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9027618765830994 0.8999865055084229 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.201838731765747 -1.1991252899169922 +2025y-06m-25d-12h-16m-47s DEBUG: 🦾 Setting left arm positions: [Array(-0.9797963, dtype=float32), Array(1.3185318, dtype=float32), Array(0.8824846, dtype=float32), Array(-1.1157937, dtype=float32), Array(-0.00725532, dtype=float32), Array(0.5840374, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(230422273017) read took: 106.9ms +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(218622278376) read took: 107.4ms +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3200961351394653 1.3185317516326904 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5827038884162903 0.5840374231338501 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-47s DEBUG: pose_idx: 3/64 +2025y-06m-25d-12h-16m-47s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-16m-47s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-47s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-47s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9784719, dtype=float32), 'left.joint_1.pos': Array(1.31559, dtype=float32), 'left.joint_2.pos': Array(0.88033605, dtype=float32), 'left.joint_3.pos': Array(-1.1166264, dtype=float32), 'left.joint_4.pos': Array(-0.00731344, dtype=float32), 'left.joint_5.pos': Array(0.5853216, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107562, dtype=float32), 'right.joint_1.pos': Array(1.2528801, dtype=float32), 'right.joint_2.pos': Array(0.89762557, dtype=float32), 'right.joint_3.pos': Array(-1.1964517, dtype=float32), 'right.joint_4.pos': Array(-0.01594742, dtype=float32), 'right.joint_5.pos': Array(0.3319115, dtype=float32), 'right.gripper.pos': Array(-0.00081073, dtype=float32)} +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(218622278376) read took: 6.8ms +2025y-06m-25d-12h-16m-47s DEBUG: 🦾 Setting right arm positions: [Array(1.9107562, dtype=float32), Array(1.2528801, dtype=float32), Array(0.89762557, dtype=float32), Array(-1.1964517, dtype=float32), Array(-0.01594742, dtype=float32), Array(0.3319115, dtype=float32), Array(-0.00081073, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(230422273017) read took: 9.1ms +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8997100591659546 0.8976255655288696 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.200312852859497 -1.1964516639709473 +2025y-06m-25d-12h-16m-47s DEBUG: 🦾 Setting left arm positions: [Array(-0.9784719, dtype=float32), Array(1.31559, dtype=float32), Array(0.88033605, dtype=float32), Array(-1.1166264, dtype=float32), Array(-0.00731344, dtype=float32), Array(0.5853216, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(230422273017) read took: 102.0ms +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(218622278376) read took: 103.5ms +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3174258470535278 1.3155900239944458 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.115625262260437 -1.1166263818740845 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5838482975959778 0.5853216052055359 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-47s DEBUG: pose_idx: 4/64 +2025y-06m-25d-12h-16m-47s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-16m-47s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-47s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-47s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9781187, dtype=float32), 'left.joint_1.pos': Array(1.3128049, dtype=float32), 'left.joint_2.pos': Array(0.87831056, dtype=float32), 'left.joint_3.pos': Array(-1.117423, dtype=float32), 'left.joint_4.pos': Array(-0.00734815, dtype=float32), 'left.joint_5.pos': Array(0.5856563, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108586, dtype=float32), 'right.joint_1.pos': Array(1.2531453, dtype=float32), 'right.joint_2.pos': Array(0.89521646, dtype=float32), 'right.joint_3.pos': Array(-1.1937697, dtype=float32), 'right.joint_4.pos': Array(-0.01589788, dtype=float32), 'right.joint_5.pos': Array(0.33202857, dtype=float32), 'right.gripper.pos': Array(-0.00080993, dtype=float32)} +2025y-06m-25d-12h-16m-47s DEBUG: 🦾 Setting right arm positions: [Array(1.9108586, dtype=float32), Array(1.2531453, dtype=float32), Array(0.89521646, dtype=float32), Array(-1.1937697, dtype=float32), Array(-0.01589788, dtype=float32), Array(0.33202857, dtype=float32), Array(-0.00080993, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8981841802597046 0.8952164649963379 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.19611656665802 -1.1937696933746338 +2025y-06m-25d-12h-16m-47s DEBUG: 🦾 Setting left arm positions: [Array(-0.9781187, dtype=float32), Array(1.3128049, dtype=float32), Array(0.87831056, dtype=float32), Array(-1.117423, dtype=float32), Array(-0.00734815, dtype=float32), Array(0.5856563, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(230422273017) read took: 111.6ms +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(218622278376) read took: 111.4ms +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-47s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3139925003051758 1.312804937362671 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.116388201713562 -1.1174230575561523 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5842298269271851 0.5856562852859497 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-47s DEBUG: pose_idx: 5/64 +2025y-06m-25d-12h-16m-47s DEBUG: None Tatbot read state: 1.2ms +2025y-06m-25d-12h-16m-47s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-47s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-47s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9767801, dtype=float32), 'left.joint_1.pos': Array(1.309858, dtype=float32), 'left.joint_2.pos': Array(0.876175, dtype=float32), 'left.joint_3.pos': Array(-1.1182735, dtype=float32), 'left.joint_4.pos': Array(-0.00740682, dtype=float32), 'left.joint_5.pos': Array(0.5869548, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107342, dtype=float32), 'right.joint_1.pos': Array(1.2535982, dtype=float32), 'right.joint_2.pos': Array(0.89291686, dtype=float32), 'right.joint_3.pos': Array(-1.1910949, dtype=float32), 'right.joint_4.pos': Array(-0.01596499, dtype=float32), 'right.joint_5.pos': Array(0.3318881, dtype=float32), 'right.gripper.pos': Array(-0.00081076, dtype=float32)} +2025y-06m-25d-12h-16m-47s DEBUG: 🦾 Setting right arm positions: [Array(1.9107342, dtype=float32), Array(1.2535982, dtype=float32), Array(0.89291686, dtype=float32), Array(-1.1910949, dtype=float32), Array(-0.01596499, dtype=float32), Array(0.3318881, dtype=float32), Array(-0.00081076, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8951323628425598 0.8929168581962585 +2025y-06m-25d-12h-16m-47s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.193827748298645 -1.1910948753356934 +2025y-06m-25d-12h-16m-47s DEBUG: 🦾 Setting left arm positions: [Array(-0.9767801, dtype=float32), Array(1.309858, dtype=float32), Array(0.876175, dtype=float32), Array(-1.1182735, dtype=float32), Array(-0.00740682, dtype=float32), Array(0.5869548, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 108.9ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 109.3ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3109407424926758 1.309857964515686 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5849927663803101 0.5869547724723816 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-48s DEBUG: pose_idx: 6/64 +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.97602975, dtype=float32), 'left.joint_1.pos': Array(1.3065484, dtype=float32), 'left.joint_2.pos': Array(0.87378746, dtype=float32), 'left.joint_3.pos': Array(-1.119239, dtype=float32), 'left.joint_4.pos': Array(-0.00745563, dtype=float32), 'left.joint_5.pos': Array(0.58767617, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910723, dtype=float32), 'right.joint_1.pos': Array(1.2539686, dtype=float32), 'right.joint_2.pos': Array(0.89056927, dtype=float32), 'right.joint_3.pos': Array(-1.1884118, dtype=float32), 'right.joint_4.pos': Array(-0.01597385, dtype=float32), 'right.joint_5.pos': Array(0.3318765, dtype=float32), 'right.gripper.pos': Array(-0.00081078, dtype=float32)} +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 5.3ms +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting right arm positions: [Array(1.910723, dtype=float32), Array(1.2539686, dtype=float32), Array(0.89056927, dtype=float32), Array(-1.1884118, dtype=float32), Array(-0.01597385, dtype=float32), Array(0.3318765, dtype=float32), Array(-0.00081078, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.892080545425415 0.890569269657135 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.191157341003418 -1.188411831855774 +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting left arm positions: [Array(-0.97602975, dtype=float32), Array(1.3065484, dtype=float32), Array(0.87378746, dtype=float32), Array(-1.119239, dtype=float32), Array(-0.00745563, dtype=float32), Array(0.58767617, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 102.8ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 110.8ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-48s DEBUG: pose_idx: 7/64 +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read state: 1.6ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.97626245, dtype=float32), 'left.joint_1.pos': Array(1.3033922, dtype=float32), 'left.joint_2.pos': Array(0.8715215, dtype=float32), 'left.joint_3.pos': Array(-1.1201699, dtype=float32), 'left.joint_4.pos': Array(-0.00747948, dtype=float32), 'left.joint_5.pos': Array(0.58743685, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107119, dtype=float32), 'right.joint_1.pos': Array(1.2543468, dtype=float32), 'right.joint_2.pos': Array(0.8882263, dtype=float32), 'right.joint_3.pos': Array(-1.1857259, dtype=float32), 'right.joint_4.pos': Array(-0.01598262, dtype=float32), 'right.joint_5.pos': Array(0.33186522, dtype=float32), 'right.gripper.pos': Array(-0.0008108, dtype=float32)} +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting right arm positions: [Array(1.9107119, dtype=float32), Array(1.2543468, dtype=float32), Array(0.8882263, dtype=float32), Array(-1.1857259, dtype=float32), Array(-0.01598262, dtype=float32), Array(0.33186522, dtype=float32), Array(-0.0008108, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2533378601074219 1.2543468475341797 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8901731967926025 0.8882262706756592 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1884870529174805 -1.1857259273529053 +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting left arm positions: [Array(-0.97626245, dtype=float32), Array(1.3033922, dtype=float32), Array(0.8715215, dtype=float32), Array(-1.1201699, dtype=float32), Array(-0.00747948, dtype=float32), Array(0.58743685, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 110.5ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 111.9ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-48s DEBUG: pose_idx: 8/64 +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.976888, dtype=float32), 'left.joint_1.pos': Array(1.300751, dtype=float32), 'left.joint_2.pos': Array(0.8696335, dtype=float32), 'left.joint_3.pos': Array(-1.1209574, dtype=float32), 'left.joint_4.pos': Array(-0.00748883, dtype=float32), 'left.joint_5.pos': Array(0.5868157, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107008, dtype=float32), 'right.joint_1.pos': Array(1.2547324, dtype=float32), 'right.joint_2.pos': Array(0.8858871, dtype=float32), 'right.joint_3.pos': Array(-1.1830359, dtype=float32), 'right.joint_4.pos': Array(-0.0159914, dtype=float32), 'right.joint_5.pos': Array(0.33185327, dtype=float32), 'right.gripper.pos': Array(-0.00081082, dtype=float32)} +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting right arm positions: [Array(1.9107008, dtype=float32), Array(1.2547324, dtype=float32), Array(0.8858871, dtype=float32), Array(-1.1830359, dtype=float32), Array(-0.0159914, dtype=float32), Array(0.33185327, dtype=float32), Array(-0.00081082, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8878843188285828 0.885887086391449 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1854352951049805 -1.1830358505249023 +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting left arm positions: [Array(-0.976888, dtype=float32), Array(1.300751, dtype=float32), Array(0.8696335, dtype=float32), Array(-1.1209574, dtype=float32), Array(-0.00748883, dtype=float32), Array(0.5868157, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 109.3ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-48s DEBUG: pose_idx: 9/64 +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 4.3ms +2025y-06m-25d-12h-16m-48s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.97712797, dtype=float32), 'left.joint_1.pos': Array(1.2975876, dtype=float32), 'left.joint_2.pos': Array(0.86738044, dtype=float32), 'left.joint_3.pos': Array(-1.1219082, dtype=float32), 'left.joint_4.pos': Array(-0.00751372, dtype=float32), 'left.joint_5.pos': Array(0.5865689, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107988, dtype=float32), 'right.joint_1.pos': Array(1.2550377, dtype=float32), 'right.joint_2.pos': Array(0.88350093, dtype=float32), 'right.joint_3.pos': Array(-1.1803377, dtype=float32), 'right.joint_4.pos': Array(-0.01594412, dtype=float32), 'right.joint_5.pos': Array(0.33196527, dtype=float32), 'right.gripper.pos': Array(-0.00081006, dtype=float32)} +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting right arm positions: [Array(1.9107988, dtype=float32), Array(1.2550377, dtype=float32), Array(0.88350093, dtype=float32), Array(-1.1803377, dtype=float32), Array(-0.01594412, dtype=float32), Array(0.33196527, dtype=float32), Array(-0.00081006, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 8.4ms +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8852140307426453 0.8835009336471558 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1827648878097534 -1.18033766746521 +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting left arm positions: [Array(-0.97712797, dtype=float32), Array(1.2975876, dtype=float32), Array(0.86738044, dtype=float32), Array(-1.1219082, dtype=float32), Array(-0.00751372, dtype=float32), Array(0.5865689, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 101.9ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 104.6ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-48s DEBUG: pose_idx: 10/64 +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9783633, dtype=float32), 'left.joint_1.pos': Array(1.2945783, dtype=float32), 'left.joint_2.pos': Array(0.86524737, dtype=float32), 'left.joint_3.pos': Array(-1.1228225, dtype=float32), 'left.joint_4.pos': Array(-0.00751102, dtype=float32), 'left.joint_5.pos': Array(0.58535063, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106784, dtype=float32), 'right.joint_1.pos': Array(1.2555268, dtype=float32), 'right.joint_2.pos': Array(0.8812228, dtype=float32), 'right.joint_3.pos': Array(-1.1776468, dtype=float32), 'right.joint_4.pos': Array(-0.01600935, dtype=float32), 'right.joint_5.pos': Array(0.33182967, dtype=float32), 'right.gripper.pos': Array(-0.00081087, dtype=float32)} +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting right arm positions: [Array(1.9106784, dtype=float32), Array(1.2555268, dtype=float32), Array(0.8812228, dtype=float32), Array(-1.1776468, dtype=float32), Array(-0.01600935, dtype=float32), Array(0.33182967, dtype=float32), Array(-0.00081087, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.883306622505188 0.8812227845191956 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1812390089035034 -1.1776467561721802 +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting left arm positions: [Array(-0.9783633, dtype=float32), Array(1.2945783, dtype=float32), Array(0.86524737, dtype=float32), Array(-1.1228225, dtype=float32), Array(-0.00751102, dtype=float32), Array(0.58535063, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 0.4ms +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5865186452865601 0.5853506326675415 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-48s DEBUG: pose_idx: 11/64 +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.97960824, dtype=float32), 'left.joint_1.pos': Array(1.2915666, dtype=float32), 'left.joint_2.pos': Array(0.86312175, dtype=float32), 'left.joint_3.pos': Array(-1.1237466, dtype=float32), 'left.joint_4.pos': Array(-0.00750874, dtype=float32), 'left.joint_5.pos': Array(0.5841225, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910667, dtype=float32), 'right.joint_1.pos': Array(1.2559357, dtype=float32), 'right.joint_2.pos': Array(0.8788972, dtype=float32), 'right.joint_3.pos': Array(-1.1749473, dtype=float32), 'right.joint_4.pos': Array(-0.01601804, dtype=float32), 'right.joint_5.pos': Array(0.33181775, dtype=float32), 'right.gripper.pos': Array(-0.00081089, dtype=float32)} +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting right arm positions: [Array(1.910667, dtype=float32), Array(1.2559357, dtype=float32), Array(0.8788972, dtype=float32), Array(-1.1749473, dtype=float32), Array(-0.01601804, dtype=float32), Array(0.33181775, dtype=float32), Array(-0.00081089, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8821622133255005 0.8788971900939941 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1774243116378784 -1.1749472618103027 +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting left arm positions: [Array(-0.97960824, dtype=float32), Array(1.2915666, dtype=float32), Array(0.86312175, dtype=float32), Array(-1.1237466, dtype=float32), Array(-0.00750874, dtype=float32), Array(0.5841225, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 108.5ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 1.0ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5853742361068726 0.5841224789619446 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-48s DEBUG: pose_idx: 12/64 +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9812544, dtype=float32), 'left.joint_1.pos': Array(1.2890762, dtype=float32), 'left.joint_2.pos': Array(0.86137086, dtype=float32), 'left.joint_3.pos': Array(-1.1245174, dtype=float32), 'left.joint_4.pos': Array(-0.00749171, dtype=float32), 'left.joint_5.pos': Array(0.582504, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910656, dtype=float32), 'right.joint_1.pos': Array(1.2563524, dtype=float32), 'right.joint_2.pos': Array(0.8765762, dtype=float32), 'right.joint_3.pos': Array(-1.1722444, dtype=float32), 'right.joint_4.pos': Array(-0.01602681, dtype=float32), 'right.joint_5.pos': Array(0.3318059, dtype=float32), 'right.gripper.pos': Array(-0.00081092, dtype=float32)} +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting right arm positions: [Array(1.910656, dtype=float32), Array(1.2563524, dtype=float32), Array(0.8765762, dtype=float32), Array(-1.1722444, dtype=float32), Array(-0.01602681, dtype=float32), Array(0.3318059, dtype=float32), Array(-0.00081092, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 7.3ms +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8783474564552307 0.8765761852264404 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1751353740692139 -1.1722444295883179 +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting left arm positions: [Array(-0.9812544, dtype=float32), Array(1.2890762, dtype=float32), Array(0.86137086, dtype=float32), Array(-1.1245174, dtype=float32), Array(-0.00749171, dtype=float32), Array(0.582504, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 102.4ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5838482975959778 0.5825039744377136 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-48s DEBUG: pose_idx: 13/64 +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9835215, dtype=float32), 'left.joint_1.pos': Array(1.2862253, dtype=float32), 'left.joint_2.pos': Array(0.8593744, dtype=float32), 'left.joint_3.pos': Array(-1.1254072, dtype=float32), 'left.joint_4.pos': Array(-0.00746233, dtype=float32), 'left.joint_5.pos': Array(0.5802772, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106447, dtype=float32), 'right.joint_1.pos': Array(1.2567767, dtype=float32), 'right.joint_2.pos': Array(0.8742597, dtype=float32), 'right.joint_3.pos': Array(-1.1695381, dtype=float32), 'right.joint_4.pos': Array(-0.01603584, dtype=float32), 'right.joint_5.pos': Array(0.3317941, dtype=float32), 'right.gripper.pos': Array(-0.00081094, dtype=float32)} +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting right arm positions: [Array(1.9106447, dtype=float32), Array(1.2567767, dtype=float32), Array(0.8742597, dtype=float32), Array(-1.1695381, dtype=float32), Array(-0.01603584, dtype=float32), Array(0.3317941, dtype=float32), Array(-0.00081094, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8760585784912109 0.8742597103118896 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1717021465301514 -1.169538140296936 +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting left arm positions: [Array(-0.9835215, dtype=float32), Array(1.2862253, dtype=float32), Array(0.8593744, dtype=float32), Array(-1.1254072, dtype=float32), Array(-0.00746233, dtype=float32), Array(0.5802772, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 111.9ms +2025y-06m-25d-12h-16m-48s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-48s DEBUG: pose_idx: 14/64 +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read state: 0.1ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-48s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.98558104, dtype=float32), 'left.joint_1.pos': Array(1.2842604, dtype=float32), 'left.joint_2.pos': Array(0.85800403, dtype=float32), 'left.joint_3.pos': Array(-1.1260259, dtype=float32), 'left.joint_4.pos': Array(-0.00742974, dtype=float32), 'left.joint_5.pos': Array(0.57825667, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106331, dtype=float32), 'right.joint_1.pos': Array(1.257209, dtype=float32), 'right.joint_2.pos': Array(0.87194735, dtype=float32), 'right.joint_3.pos': Array(-1.1668285, dtype=float32), 'right.joint_4.pos': Array(-0.01604482, dtype=float32), 'right.joint_5.pos': Array(0.33178198, dtype=float32), 'right.gripper.pos': Array(-0.00081097, dtype=float32)} +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting right arm positions: [Array(1.9106331, dtype=float32), Array(1.257209, dtype=float32), Array(0.87194735, dtype=float32), Array(-1.1668285, dtype=float32), Array(-0.01604482, dtype=float32), Array(0.33178198, dtype=float32), Array(-0.00081097, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8737697601318359 0.8719473481178284 +2025y-06m-25d-12h-16m-48s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1697947978973389 -1.1668285131454468 +2025y-06m-25d-12h-16m-48s DEBUG: 🦾 Setting left arm positions: [Array(-0.98558104, dtype=float32), Array(1.2842604, dtype=float32), Array(0.85800403, dtype=float32), Array(-1.1260259, dtype=float32), Array(-0.00742974, dtype=float32), Array(0.57825667, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 108.3ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 107.9ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5796520709991455 0.5782566666603088 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-49s DEBUG: pose_idx: 15/64 +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9878733, dtype=float32), 'left.joint_1.pos': Array(1.281412, dtype=float32), 'left.joint_2.pos': Array(0.85602325, dtype=float32), 'left.joint_3.pos': Array(-1.1269287, dtype=float32), 'left.joint_4.pos': Array(-0.00739944, dtype=float32), 'left.joint_5.pos': Array(0.5760054, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910622, dtype=float32), 'right.joint_1.pos': Array(1.2576491, dtype=float32), 'right.joint_2.pos': Array(0.86963975, dtype=float32), 'right.joint_3.pos': Array(-1.1641154, dtype=float32), 'right.joint_4.pos': Array(-0.01605369, dtype=float32), 'right.joint_5.pos': Array(0.33177, dtype=float32), 'right.gripper.pos': Array(-0.00081099, dtype=float32)} +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.910622, dtype=float32), Array(1.2576491, dtype=float32), Array(0.86963975, dtype=float32), Array(-1.1641154, dtype=float32), Array(-0.01605369, dtype=float32), Array(0.33177, dtype=float32), Array(-0.00081099, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8714808821678162 0.8696397542953491 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1667429208755493 -1.1641154289245605 +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting left arm positions: [Array(-0.9878733, dtype=float32), Array(1.281412, dtype=float32), Array(0.85602325, dtype=float32), Array(-1.1269287, dtype=float32), Array(-0.00739944, dtype=float32), Array(0.5760054, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 108.9ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.7ms +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-49s DEBUG: pose_idx: 16/64 +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read state: 1.2ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.99096256, dtype=float32), 'left.joint_1.pos': Array(1.279623, dtype=float32), 'left.joint_2.pos': Array(0.8547852, dtype=float32), 'left.joint_3.pos': Array(-1.1275012, dtype=float32), 'left.joint_4.pos': Array(-0.00733896, dtype=float32), 'left.joint_5.pos': Array(0.57297885, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106106, dtype=float32), 'right.joint_1.pos': Array(1.2580973, dtype=float32), 'right.joint_2.pos': Array(0.86733675, dtype=float32), 'right.joint_3.pos': Array(-1.1613991, dtype=float32), 'right.joint_4.pos': Array(-0.01606267, dtype=float32), 'right.joint_5.pos': Array(0.33175793, dtype=float32), 'right.gripper.pos': Array(-0.00081102, dtype=float32)} +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.9106106, dtype=float32), Array(1.2580973, dtype=float32), Array(0.86733675, dtype=float32), Array(-1.1613991, dtype=float32), Array(-0.01606267, dtype=float32), Array(0.33175793, dtype=float32), Array(-0.00081102, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8691920638084412 0.8673367500305176 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1640726327896118 -1.1613991260528564 +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting left arm positions: [Array(-0.99096256, dtype=float32), Array(1.279623, dtype=float32), Array(0.8547852, dtype=float32), Array(-1.1275012, dtype=float32), Array(-0.00733896, dtype=float32), Array(0.57297885, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 108.7ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-49s DEBUG: pose_idx: 17/64 +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9940635, dtype=float32), 'left.joint_1.pos': Array(1.2778407, dtype=float32), 'left.joint_2.pos': Array(0.853555, dtype=float32), 'left.joint_3.pos': Array(-1.1280746, dtype=float32), 'left.joint_4.pos': Array(-0.00727776, dtype=float32), 'left.joint_5.pos': Array(0.56994116, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105991, dtype=float32), 'right.joint_1.pos': Array(1.258553, dtype=float32), 'right.joint_2.pos': Array(0.865038, dtype=float32), 'right.joint_3.pos': Array(-1.1586791, dtype=float32), 'right.joint_4.pos': Array(-0.01607171, dtype=float32), 'right.joint_5.pos': Array(0.331746, dtype=float32), 'right.gripper.pos': Array(-0.00081105, dtype=float32)} +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.9105991, dtype=float32), Array(1.258553, dtype=float32), Array(0.865038, dtype=float32), Array(-1.1586791, dtype=float32), Array(-0.01607171, dtype=float32), Array(0.331746, dtype=float32), Array(-0.00081105, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8672846555709839 0.8650379776954651 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1617838144302368 -1.1586791276931763 +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting left arm positions: [Array(-0.9940635, dtype=float32), Array(1.2778407, dtype=float32), Array(0.853555, dtype=float32), Array(-1.1280746, dtype=float32), Array(-0.00727776, dtype=float32), Array(0.56994116, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 109.3ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.9ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 110.9ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5685893297195435 0.5699411630630493 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-49s DEBUG: pose_idx: 18/64 +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.99756444, dtype=float32), 'left.joint_1.pos': Array(1.2765977, dtype=float32), 'left.joint_2.pos': Array(0.8527012, dtype=float32), 'left.joint_3.pos': Array(-1.1284785, dtype=float32), 'left.joint_4.pos': Array(-0.00720132, dtype=float32), 'left.joint_5.pos': Array(0.5665145, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105877, dtype=float32), 'right.joint_1.pos': Array(1.2590169, dtype=float32), 'right.joint_2.pos': Array(0.8627436, dtype=float32), 'right.joint_3.pos': Array(-1.1559553, dtype=float32), 'right.joint_4.pos': Array(-0.01608064, dtype=float32), 'right.joint_5.pos': Array(0.33173394, dtype=float32), 'right.gripper.pos': Array(-0.00081108, dtype=float32)} +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.9105877, dtype=float32), Array(1.2590169, dtype=float32), Array(0.8627436, dtype=float32), Array(-1.1559553, dtype=float32), Array(-0.01608064, dtype=float32), Array(0.33173394, dtype=float32), Array(-0.00081108, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8653773069381714 0.862743616104126 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1583504676818848 -1.1559553146362305 +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting left arm positions: [Array(-0.99756444, dtype=float32), Array(1.2765977, dtype=float32), Array(0.8527012, dtype=float32), Array(-1.1284785, dtype=float32), Array(-0.00720132, dtype=float32), Array(0.5665145, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 108.6ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 110.0ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 1.7ms +2025y-06m-25d-12h-16m-49s DEBUG: pose_idx: 19/64 +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0004491, dtype=float32), 'left.joint_1.pos': Array(1.2757177, dtype=float32), 'left.joint_2.pos': Array(0.85209745, dtype=float32), 'left.joint_3.pos': Array(-1.1287652, dtype=float32), 'left.joint_4.pos': Array(-0.00713665, dtype=float32), 'left.joint_5.pos': Array(0.56369156, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105762, dtype=float32), 'right.joint_1.pos': Array(1.2594888, dtype=float32), 'right.joint_2.pos': Array(0.860454, dtype=float32), 'right.joint_3.pos': Array(-1.1532286, dtype=float32), 'right.joint_4.pos': Array(-0.01608971, dtype=float32), 'right.joint_5.pos': Array(0.33172187, dtype=float32), 'right.gripper.pos': Array(-0.00081111, dtype=float32)} +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.9105762, dtype=float32), Array(1.2594888, dtype=float32), Array(0.860454, dtype=float32), Array(-1.1532286, dtype=float32), Array(-0.01608971, dtype=float32), Array(0.33172187, dtype=float32), Array(-0.00081111, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8627069592475891 0.8604540228843689 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1564431190490723 -1.1532286405563354 +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting left arm positions: [Array(-1.0004491, dtype=float32), Array(1.2757177, dtype=float32), Array(0.85209745, dtype=float32), Array(-1.1287652, dtype=float32), Array(-0.00713665, dtype=float32), Array(0.56369156, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 108.2ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-49s DEBUG: pose_idx: 20/64 +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0043507, dtype=float32), 'left.joint_1.pos': Array(1.2750288, dtype=float32), 'left.joint_2.pos': Array(0.85162866, dtype=float32), 'left.joint_3.pos': Array(-1.1289929, dtype=float32), 'left.joint_4.pos': Array(-0.00704466, dtype=float32), 'left.joint_5.pos': Array(0.55987513, dtype=float32), 'left.gripper.pos': Array(1.6138117e-08, dtype=float32), 'right.joint_0.pos': Array(1.9105654, dtype=float32), 'right.joint_1.pos': Array(1.2599684, dtype=float32), 'right.joint_2.pos': Array(0.85816836, dtype=float32), 'right.joint_3.pos': Array(-1.150498, dtype=float32), 'right.joint_4.pos': Array(-0.01609848, dtype=float32), 'right.joint_5.pos': Array(0.33171058, dtype=float32), 'right.gripper.pos': Array(-0.00081113, dtype=float32)} +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.9105654, dtype=float32), Array(1.2599684, dtype=float32), Array(0.85816836, dtype=float32), Array(-1.150498, dtype=float32), Array(-0.01609848, dtype=float32), Array(0.33171058, dtype=float32), Array(-0.00081113, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8600366115570068 0.858168363571167 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1526284217834473 -1.1504980325698853 +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting left arm positions: [Array(-1.0043507, dtype=float32), Array(1.2750288, dtype=float32), Array(0.85162866, dtype=float32), Array(-1.1289929, dtype=float32), Array(-0.00704466, dtype=float32), Array(0.55987513, dtype=float32), Array(1.6138117e-08, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.9ms +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.6138116620822984e-08 +2025y-06m-25d-12h-16m-49s DEBUG: pose_idx: 21/64 +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0078754, dtype=float32), 'left.joint_1.pos': Array(1.273817, dtype=float32), 'left.joint_2.pos': Array(0.85079986, dtype=float32), 'left.joint_3.pos': Array(-1.1293901, dtype=float32), 'left.joint_4.pos': Array(-0.00696681, dtype=float32), 'left.joint_5.pos': Array(0.5564251, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8577477931976318 0.8558371663093567 +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1507209539413452 -1.147758960723877 +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting left arm positions: [Array(-1.0078754, dtype=float32), Array(1.273817, dtype=float32), Array(0.85079986, dtype=float32), Array(-1.1293901, dtype=float32), Array(-0.00696681, dtype=float32), Array(0.5564251, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 110.8ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.6ms +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-49s DEBUG: pose_idx: 22/64 +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read state: 1.2ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 3.3ms +2025y-06m-25d-12h-16m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0111581, dtype=float32), 'left.joint_1.pos': Array(1.2734998, dtype=float32), 'left.joint_2.pos': Array(0.850587, dtype=float32), 'left.joint_3.pos': Array(-1.1294974, dtype=float32), 'left.joint_4.pos': Array(-0.00688664, dtype=float32), 'left.joint_5.pos': Array(0.5532152, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting left arm positions: [Array(-1.0111581, dtype=float32), Array(1.2734998, dtype=float32), Array(0.850587, dtype=float32), Array(-1.1294974, dtype=float32), Array(-0.00688664, dtype=float32), Array(0.5532152, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 107.6ms +2025y-06m-25d-12h-16m-49s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-49s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-49s DEBUG: pose_idx: 23/64 +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-49s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0152004, dtype=float32), 'left.joint_1.pos': Array(1.2742714, dtype=float32), 'left.joint_2.pos': Array(0.8511236, dtype=float32), 'left.joint_3.pos': Array(-1.1292523, dtype=float32), 'left.joint_4.pos': Array(-0.00677742, dtype=float32), 'left.joint_5.pos': Array(0.5492666, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-49s DEBUG: 🦾 Setting left arm positions: [Array(-1.0152004, dtype=float32), Array(1.2742714, dtype=float32), Array(0.8511236, dtype=float32), Array(-1.1292523, dtype=float32), Array(-0.00677742, dtype=float32), Array(0.5492666, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2731746435165405 1.2742713689804077 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8497368097305298 0.851123571395874 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-50s DEBUG: pose_idx: 24/64 +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0188601, dtype=float32), 'left.joint_1.pos': Array(1.2745165, dtype=float32), 'left.joint_2.pos': Array(0.8512987, dtype=float32), 'left.joint_3.pos': Array(-1.1291784, dtype=float32), 'left.joint_4.pos': Array(-0.00668312, dtype=float32), 'left.joint_5.pos': Array(0.5456901, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.0188601, dtype=float32), Array(1.2745165, dtype=float32), Array(0.8512987, dtype=float32), Array(-1.1291784, dtype=float32), Array(-0.00668312, dtype=float32), Array(0.5456901, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2731746435165405 1.2745164632797241 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8497368097305298 0.8512986898422241 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-50s DEBUG: pose_idx: 25/64 +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 3.1ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0218836, dtype=float32), 'left.joint_1.pos': Array(1.275115, dtype=float32), 'left.joint_2.pos': Array(0.8517158, dtype=float32), 'left.joint_3.pos': Array(-1.128989, dtype=float32), 'left.joint_4.pos': Array(-0.00660168, dtype=float32), 'left.joint_5.pos': Array(0.5427365, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 6.1ms +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.0218836, dtype=float32), Array(1.275115, dtype=float32), Array(0.8517158, dtype=float32), Array(-1.128989, dtype=float32), Array(-0.00660168, dtype=float32), Array(0.5427365, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 102.5ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 106.7ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.273556113243103 1.2751150131225586 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8497368097305298 0.8517158031463623 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5415045619010925 0.5427364706993103 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-50s DEBUG: pose_idx: 26/64 +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read state: 1.4ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.025275, dtype=float32), 'left.joint_1.pos': Array(1.2762636, dtype=float32), 'left.joint_2.pos': Array(0.85251385, dtype=float32), 'left.joint_3.pos': Array(-1.1286238, dtype=float32), 'left.joint_4.pos': Array(-0.00650647, dtype=float32), 'left.joint_5.pos': Array(0.53942525, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.025275, dtype=float32), Array(1.2762636, dtype=float32), Array(0.85251385, dtype=float32), Array(-1.1286238, dtype=float32), Array(-0.00650647, dtype=float32), Array(0.53942525, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 111.8ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 111.7ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.274319052696228 1.2762635946273804 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8501182794570923 0.85251384973526 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-50s DEBUG: pose_idx: 27/64 +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.028023, dtype=float32), 'left.joint_1.pos': Array(1.277759, dtype=float32), 'left.joint_2.pos': Array(0.8535513, dtype=float32), 'left.joint_3.pos': Array(-1.1281468, dtype=float32), 'left.joint_4.pos': Array(-0.00642462, dtype=float32), 'left.joint_5.pos': Array(0.5367441, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.028023, dtype=float32), Array(1.277759, dtype=float32), Array(0.8535513, dtype=float32), Array(-1.1281468, dtype=float32), Array(-0.00642462, dtype=float32), Array(0.5367441, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 108.6ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 108.9ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2762264013290405 1.2777589559555054 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8516441583633423 0.8535513281822205 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-50s DEBUG: pose_idx: 28/64 +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 3.8ms +2025y-06m-25d-12h-16m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0311296, dtype=float32), 'left.joint_1.pos': Array(1.2798035, dtype=float32), 'left.joint_2.pos': Array(0.85497314, dtype=float32), 'left.joint_3.pos': Array(-1.1274979, dtype=float32), 'left.joint_4.pos': Array(-0.00632985, dtype=float32), 'left.joint_5.pos': Array(0.5337141, dtype=float32), 'left.gripper.pos': Array(1.430086e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106352, dtype=float32), 'right.joint_1.pos': Array(1.2604041, dtype=float32), 'right.joint_2.pos': Array(0.8558471, dtype=float32), 'right.joint_3.pos': Array(-1.1477472, dtype=float32), 'right.joint_4.pos': Array(-0.0160689, dtype=float32), 'right.joint_5.pos': Array(0.33179364, dtype=float32), 'right.gripper.pos': Array(-0.00081041, dtype=float32)} +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 6.4ms +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.9106352, dtype=float32), Array(1.2604041, dtype=float32), Array(0.8558471, dtype=float32), Array(-1.1477472, dtype=float32), Array(-0.0160689, dtype=float32), Array(0.33179364, dtype=float32), Array(-0.00081041, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.0311296, dtype=float32), Array(1.2798035, dtype=float32), Array(0.85497314, dtype=float32), Array(-1.1274979, dtype=float32), Array(-0.00632985, dtype=float32), Array(0.5337141, dtype=float32), Array(1.430086e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 102.2ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 106.0ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8535515666007996 0.8549731373786926 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.1285953521728516 -1.127497911453247 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4300860584626207e-07 +2025y-06m-25d-12h-16m-50s DEBUG: pose_idx: 29/64 +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0342219, dtype=float32), 'left.joint_1.pos': Array(1.2818557, dtype=float32), 'left.joint_2.pos': Array(0.8564039, dtype=float32), 'left.joint_3.pos': Array(-1.1268504, dtype=float32), 'left.joint_4.pos': Array(-0.00623554, dtype=float32), 'left.joint_5.pos': Array(0.5306983, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.0342219, dtype=float32), Array(1.2818557, dtype=float32), Array(0.8564039, dtype=float32), Array(-1.1268504, dtype=float32), Array(-0.00623554, dtype=float32), Array(0.5306983, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 109.9ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2804226875305176 1.2818557024002075 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8550774455070496 0.8564038872718811 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-50s DEBUG: pose_idx: 30/64 +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0363066, dtype=float32), 'left.joint_1.pos': Array(1.2837011, dtype=float32), 'left.joint_2.pos': Array(0.85769314, dtype=float32), 'left.joint_3.pos': Array(-1.1262707, dtype=float32), 'left.joint_4.pos': Array(-0.00616863, dtype=float32), 'left.joint_5.pos': Array(0.52866656, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.0363066, dtype=float32), Array(1.2837011, dtype=float32), Array(0.85769314, dtype=float32), Array(-1.1262707, dtype=float32), Array(-0.00616863, dtype=float32), Array(0.52866656, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 110.0ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 110.5ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8566033244132996 0.8576931357383728 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5296788215637207 0.5286665558815002 +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-50s DEBUG: pose_idx: 31/64 +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0387429, dtype=float32), 'left.joint_1.pos': Array(1.2860938, dtype=float32), 'left.joint_2.pos': Array(0.85936904, dtype=float32), 'left.joint_3.pos': Array(-1.1255233, dtype=float32), 'left.joint_4.pos': Array(-0.00608897, dtype=float32), 'left.joint_5.pos': Array(0.52629274, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105532, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.85588783, dtype=float32), 'right.joint_3.pos': Array(-1.1477641, dtype=float32), 'right.joint_4.pos': Array(-0.01610778, dtype=float32), 'right.joint_5.pos': Array(0.3316976, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 5.7ms +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.9105532, dtype=float32), Array(1.2604564, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(-0.01610778, dtype=float32), Array(0.3316976, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.0387429, dtype=float32), Array(1.2860938, dtype=float32), Array(0.85936904, dtype=float32), Array(-1.1255233, dtype=float32), Array(-0.00608897, dtype=float32), Array(0.52629274, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 110.8ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 103.8ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-50s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-16m-50s DEBUG: pose_idx: 32/64 +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-50s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0405365, dtype=float32), 'left.joint_1.pos': Array(1.2888178, dtype=float32), 'left.joint_2.pos': Array(0.861282, dtype=float32), 'left.joint_3.pos': Array(-1.1246778, dtype=float32), 'left.joint_4.pos': Array(-0.00602305, dtype=float32), 'left.joint_5.pos': Array(0.52454823, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-50s DEBUG: 🦾 Setting left arm positions: [Array(-1.0405365, dtype=float32), Array(1.2888178, dtype=float32), Array(0.861282, dtype=float32), Array(-1.1246778, dtype=float32), Array(-0.00602305, dtype=float32), Array(0.52454823, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(230422273017) read took: 107.5ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms +2025y-06m-25d-12h-16m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-51s DEBUG: pose_idx: 33/64 +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0423205, dtype=float32), 'left.joint_1.pos': Array(1.2915412, dtype=float32), 'left.joint_2.pos': Array(0.86320174, dtype=float32), 'left.joint_3.pos': Array(-1.123839, dtype=float32), 'left.joint_4.pos': Array(-0.00595802, dtype=float32), 'left.joint_5.pos': Array(0.5228134, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.0423205, dtype=float32), Array(1.2915412, dtype=float32), Array(0.86320174, dtype=float32), Array(-1.123839, dtype=float32), Array(-0.00595802, dtype=float32), Array(0.5228134, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(230422273017) read took: 107.6ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 108.0ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-51s DEBUG: pose_idx: 34/64 +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0428398, dtype=float32), 'left.joint_1.pos': Array(1.294916, dtype=float32), 'left.joint_2.pos': Array(0.86558706, dtype=float32), 'left.joint_3.pos': Array(-1.1228067, dtype=float32), 'left.joint_4.pos': Array(-0.00591947, dtype=float32), 'left.joint_5.pos': Array(0.52231693, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.0428398, dtype=float32), Array(1.294916, dtype=float32), Array(0.86558706, dtype=float32), Array(-1.1228067, dtype=float32), Array(-0.00591947, dtype=float32), Array(0.52231693, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(230422273017) read took: 108.4ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 108.4ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.7ms +2025y-06m-25d-12h-16m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-51s DEBUG: pose_idx: 35/64 +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(230422273017) read took: 4.5ms +2025y-06m-25d-12h-16m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0436276, dtype=float32), 'left.joint_1.pos': Array(1.2974173, dtype=float32), 'left.joint_2.pos': Array(0.86736315, dtype=float32), 'left.joint_3.pos': Array(-1.1220492, dtype=float32), 'left.joint_4.pos': Array(-0.00588098, dtype=float32), 'left.joint_5.pos': Array(0.521555, dtype=float32), 'left.gripper.pos': Array(4.841438e-08, dtype=float32), 'right.joint_0.pos': Array(1.9105564, dtype=float32), 'right.joint_1.pos': Array(1.2604553, dtype=float32), 'right.joint_2.pos': Array(0.85588664, dtype=float32), 'right.joint_3.pos': Array(-1.1477634, dtype=float32), 'right.joint_4.pos': Array(-0.01610628, dtype=float32), 'right.joint_5.pos': Array(0.33170155, dtype=float32), 'right.gripper.pos': Array(-0.00081113, dtype=float32)} +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.9105564, dtype=float32), Array(1.2604553, dtype=float32), Array(0.85588664, dtype=float32), Array(-1.1477634, dtype=float32), Array(-0.01610628, dtype=float32), Array(0.33170155, dtype=float32), Array(-0.00081113, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.0436276, dtype=float32), Array(1.2974173, dtype=float32), Array(0.86736315, dtype=float32), Array(-1.1220492, dtype=float32), Array(-0.00588098, dtype=float32), Array(0.521555, dtype=float32), Array(4.841438e-08, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 111.3ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.841437828417838e-08 +2025y-06m-25d-12h-16m-51s DEBUG: pose_idx: 36/64 +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0441399, dtype=float32), 'left.joint_1.pos': Array(1.3007842, dtype=float32), 'left.joint_2.pos': Array(0.86976224, dtype=float32), 'left.joint_3.pos': Array(-1.121038, dtype=float32), 'left.joint_4.pos': Array(-0.00584342, dtype=float32), 'left.joint_5.pos': Array(0.5210652, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.0441399, dtype=float32), Array(1.3007842, dtype=float32), Array(0.86976224, dtype=float32), Array(-1.121038, dtype=float32), Array(-0.00584342, dtype=float32), Array(0.5210652, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(230422273017) read took: 217.8ms +2025y-06m-25d-12h-16m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-51s DEBUG: pose_idx: 37/64 +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read state: 1.4ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0449201, dtype=float32), 'left.joint_1.pos': Array(1.3032805, dtype=float32), 'left.joint_2.pos': Array(0.87154955, dtype=float32), 'left.joint_3.pos': Array(-1.1202966, dtype=float32), 'left.joint_4.pos': Array(-0.00580574, dtype=float32), 'left.joint_5.pos': Array(0.5203106, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.0449201, dtype=float32), Array(1.3032805, dtype=float32), Array(0.87154955, dtype=float32), Array(-1.1202966, dtype=float32), Array(-0.00580574, dtype=float32), Array(0.5203106, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 110.9ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.9ms +2025y-06m-25d-12h-16m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-51s DEBUG: pose_idx: 38/64 +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(230422273017) read took: 6.0ms +2025y-06m-25d-12h-16m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0444568, dtype=float32), 'left.joint_1.pos': Array(1.3064203, dtype=float32), 'left.joint_2.pos': Array(0.87380236, dtype=float32), 'left.joint_3.pos': Array(-1.1193689, dtype=float32), 'left.joint_4.pos': Array(-0.00579393, dtype=float32), 'left.joint_5.pos': Array(0.5207739, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.0444568, dtype=float32), Array(1.3064203, dtype=float32), Array(0.87380236, dtype=float32), Array(-1.1193689, dtype=float32), Array(-0.00579393, dtype=float32), Array(0.5207739, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms +2025y-06m-25d-12h-16m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5197604298591614 0.5207738876342773 +2025y-06m-25d-12h-16m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-51s DEBUG: pose_idx: 39/64 +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.043997, dtype=float32), 'left.joint_1.pos': Array(1.3095561, dtype=float32), 'left.joint_2.pos': Array(0.8760622, dtype=float32), 'left.joint_3.pos': Array(-1.118452, dtype=float32), 'left.joint_4.pos': Array(-0.00578194, dtype=float32), 'left.joint_5.pos': Array(0.521234, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.043997, dtype=float32), Array(1.3095561, dtype=float32), Array(0.8760622, dtype=float32), Array(-1.118452, dtype=float32), Array(-0.00578194, dtype=float32), Array(0.521234, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms +2025y-06m-25d-12h-16m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5197604298591614 0.5212339758872986 +2025y-06m-25d-12h-16m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-51s DEBUG: pose_idx: 40/64 +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 14.0ms +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(230422273017) read took: 232.1ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense2: 14.0ms +2025y-06m-25d-12h-16m-51s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0429271, dtype=float32), 'left.joint_1.pos': Array(1.3130107, dtype=float32), 'left.joint_2.pos': Array(0.8785618, dtype=float32), 'left.joint_3.pos': Array(-1.1174518, dtype=float32), 'left.joint_4.pos': Array(-0.00578275, dtype=float32), 'left.joint_5.pos': Array(0.5222915, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: 🦾 Setting left arm positions: [Array(-1.0429271, dtype=float32), Array(1.3130107, dtype=float32), Array(0.8785618, dtype=float32), Array(-1.1174518, dtype=float32), Array(-0.00578275, dtype=float32), Array(0.5222915, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-51s DEBUG: RealSenseCamera(218622278376) read took: 109.6ms +2025y-06m-25d-12h-16m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5205233693122864 0.5222914814949036 +2025y-06m-25d-12h-16m-51s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-51s DEBUG: pose_idx: 41/64 +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-16m-51s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 23.5ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(230422273017) read took: 133.2ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense2: 22.6ms +2025y-06m-25d-12h-16m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0415175, dtype=float32), 'left.joint_1.pos': Array(1.3159219, dtype=float32), 'left.joint_2.pos': Array(0.88067645, dtype=float32), 'left.joint_3.pos': Array(-1.1166173, dtype=float32), 'left.joint_4.pos': Array(-0.00579554, dtype=float32), 'left.joint_5.pos': Array(0.5236792, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.0415175, dtype=float32), Array(1.3159219, dtype=float32), Array(0.88067645, dtype=float32), Array(-1.1166173, dtype=float32), Array(-0.00579554, dtype=float32), Array(0.5236792, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(230422273017) read took: 107.4ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 110.8ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-52s DEBUG: pose_idx: 42/64 +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read state: 0.2ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.040726, dtype=float32), 'left.joint_1.pos': Array(1.3185078, dtype=float32), 'left.joint_2.pos': Array(0.8825626, dtype=float32), 'left.joint_3.pos': Array(-1.1158832, dtype=float32), 'left.joint_4.pos': Array(-0.00579568, dtype=float32), 'left.joint_5.pos': Array(0.5244618, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)} +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.040726, dtype=float32), Array(1.3185078, dtype=float32), Array(0.8825626, dtype=float32), Array(-1.1158832, dtype=float32), Array(-0.00579568, dtype=float32), Array(0.5244618, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 107.9ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(230422273017) read took: 108.1ms +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 -0.002861066721379757 -0.005795679055154324 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5231937170028687 0.5244618058204651 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-52s DEBUG: pose_idx: 43/64 +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0380301, dtype=float32), 'left.joint_1.pos': Array(1.3206651, dtype=float32), 'left.joint_2.pos': Array(0.8841368, dtype=float32), 'left.joint_3.pos': Array(-1.1152717, dtype=float32), 'left.joint_4.pos': Array(-0.00584465, dtype=float32), 'left.joint_5.pos': Array(0.527105, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)} +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.0380301, dtype=float32), Array(1.3206651, dtype=float32), Array(0.8841368, dtype=float32), Array(-1.1152717, dtype=float32), Array(-0.00584465, dtype=float32), Array(0.527105, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 -0.002479590941220522 -0.0058446526527404785 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5251010656356812 0.5271049737930298 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-52s DEBUG: pose_idx: 44/64 +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 3.1ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0356941, dtype=float32), 'left.joint_1.pos': Array(1.3233621, dtype=float32), 'left.joint_2.pos': Array(0.8861139, dtype=float32), 'left.joint_3.pos': Array(-1.114516, dtype=float32), 'left.joint_4.pos': Array(-0.00588043, dtype=float32), 'left.joint_5.pos': Array(0.52939826, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105651, dtype=float32), 'right.joint_1.pos': Array(1.2599444, dtype=float32), 'right.joint_2.pos': Array(0.85828304, dtype=float32), 'right.joint_3.pos': Array(-1.150635, dtype=float32), 'right.joint_4.pos': Array(-0.01609833, dtype=float32), 'right.joint_5.pos': Array(0.33171028, dtype=float32), 'right.gripper.pos': Array(-0.00081114, dtype=float32)} +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.9105651, dtype=float32), Array(1.2599444, dtype=float32), Array(0.85828304, dtype=float32), Array(-1.150635, dtype=float32), Array(-0.01609833, dtype=float32), Array(0.33171028, dtype=float32), Array(-0.00081114, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8554589152336121 0.8582830429077148 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1480506658554077 -1.150635004043579 +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.0356941, dtype=float32), Array(1.3233621, dtype=float32), Array(0.8861139, dtype=float32), Array(-1.114516, dtype=float32), Array(-0.00588043, dtype=float32), Array(0.52939826, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 -0.002479590941220522 -0.005880431272089481 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5281528830528259 0.5293982625007629 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-52s DEBUG: pose_idx: 45/64 +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read state: 0.1ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 132.7ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(230422273017) read took: 138.4ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense2: 24.9ms +2025y-06m-25d-12h-16m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0336258, dtype=float32), 'left.joint_1.pos': Array(1.3252001, dtype=float32), 'left.joint_2.pos': Array(0.88746476, dtype=float32), 'left.joint_3.pos': Array(-1.1140045, dtype=float32), 'left.joint_4.pos': Array(-0.00591617, dtype=float32), 'left.joint_5.pos': Array(0.5314268, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105777, dtype=float32), 'right.joint_1.pos': Array(1.2594411, dtype=float32), 'right.joint_2.pos': Array(0.86068267, dtype=float32), 'right.joint_3.pos': Array(-1.1535014, dtype=float32), 'right.joint_4.pos': Array(-0.01608881, dtype=float32), 'right.joint_5.pos': Array(0.33172324, dtype=float32), 'right.gripper.pos': Array(-0.00081111, dtype=float32)} +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.9105777, dtype=float32), Array(1.2594411, dtype=float32), Array(0.86068267, dtype=float32), Array(-1.1535014, dtype=float32), Array(-0.01608881, dtype=float32), Array(0.33172324, dtype=float32), Array(-0.00081111, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8566033244132996 0.8606826663017273 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1499580144882202 -1.1535013914108276 +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.0336258, dtype=float32), Array(1.3252001, dtype=float32), Array(0.88746476, dtype=float32), Array(-1.1140045, dtype=float32), Array(-0.00591617, dtype=float32), Array(0.5314268, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(230422273017) read took: 107.5ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 111.3ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 -0.002861066721379757 -0.005916171707212925 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-16m-52s DEBUG: pose_idx: 46/64 +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0313148, dtype=float32), 'left.joint_1.pos': Array(1.3279011, dtype=float32), 'left.joint_2.pos': Array(0.8894574, dtype=float32), 'left.joint_3.pos': Array(-1.1132601, dtype=float32), 'left.joint_4.pos': Array(-0.00595137, dtype=float32), 'left.joint_5.pos': Array(0.5336955, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106928, dtype=float32), 'right.joint_1.pos': Array(1.2588612, dtype=float32), 'right.joint_2.pos': Array(0.8630366, dtype=float32), 'right.joint_3.pos': Array(-1.1563587, dtype=float32), 'right.joint_4.pos': Array(-0.01602622, dtype=float32), 'right.joint_5.pos': Array(0.3318526, dtype=float32), 'right.gripper.pos': Array(-0.00081033, dtype=float32)} +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.9106928, dtype=float32), Array(1.2588612, dtype=float32), Array(0.8630366, dtype=float32), Array(-1.1563587, dtype=float32), Array(-0.01602622, dtype=float32), Array(0.3318526, dtype=float32), Array(-0.00081033, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8592736721038818 0.863036572933197 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1530098915100098 -1.1563587188720703 +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.0313148, dtype=float32), Array(1.3279011, dtype=float32), Array(0.8894574, dtype=float32), Array(-1.1132601, dtype=float32), Array(-0.00595137, dtype=float32), Array(0.5336955, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 108.3ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 -0.0032425420358777046 -0.005951371975243092 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-52s DEBUG: pose_idx: 47/64 +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0283158, dtype=float32), 'left.joint_1.pos': Array(1.3295403, dtype=float32), 'left.joint_2.pos': Array(0.8906668, dtype=float32), 'left.joint_3.pos': Array(-1.1128087, dtype=float32), 'left.joint_4.pos': Array(-0.00601008, dtype=float32), 'left.joint_5.pos': Array(0.53663385, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106013, dtype=float32), 'right.joint_1.pos': Array(1.2584615, dtype=float32), 'right.joint_2.pos': Array(0.86549723, dtype=float32), 'right.joint_3.pos': Array(-1.1592228, dtype=float32), 'right.joint_4.pos': Array(-0.01606989, dtype=float32), 'right.joint_5.pos': Array(0.33174825, dtype=float32), 'right.gripper.pos': Array(-0.00081104, dtype=float32)} +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.9106013, dtype=float32), Array(1.2584615, dtype=float32), Array(0.86549723, dtype=float32), Array(-1.1592228, dtype=float32), Array(-0.01606989, dtype=float32), Array(0.33174825, dtype=float32), Array(-0.00081104, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8619440197944641 0.8654972314834595 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1568245887756348 -1.1592228412628174 +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.0283158, dtype=float32), Array(1.3295403, dtype=float32), Array(0.8906668, dtype=float32), Array(-1.1128087, dtype=float32), Array(-0.00601008, dtype=float32), Array(0.53663385, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 111.2ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 1.3ms +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 -0.0078202486038208 -0.006010080687701702 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.535400927066803 0.5366338491439819 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-52s DEBUG: pose_idx: 48/64 +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0253277, dtype=float32), 'left.joint_1.pos': Array(1.3311863, dtype=float32), 'left.joint_2.pos': Array(0.8918846, dtype=float32), 'left.joint_3.pos': Array(-1.1123587, dtype=float32), 'left.joint_4.pos': Array(-0.00606834, dtype=float32), 'left.joint_5.pos': Array(0.5395614, dtype=float32), 'left.gripper.pos': Array(1.6138117e-08, dtype=float32), 'right.joint_0.pos': Array(1.9106144, dtype=float32), 'right.joint_1.pos': Array(1.257984, dtype=float32), 'right.joint_2.pos': Array(0.8679117, dtype=float32), 'right.joint_3.pos': Array(-1.1620781, dtype=float32), 'right.joint_4.pos': Array(-0.01606, dtype=float32), 'right.joint_5.pos': Array(0.33176228, dtype=float32), 'right.gripper.pos': Array(-0.00081101, dtype=float32)} +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.9106144, dtype=float32), Array(1.257984, dtype=float32), Array(0.8679117, dtype=float32), Array(-1.1620781, dtype=float32), Array(-0.01606, dtype=float32), Array(0.33176228, dtype=float32), Array(-0.00081101, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8649957776069641 0.867911696434021 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1594948768615723 -1.1620781421661377 +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.0253277, dtype=float32), Array(1.3311863, dtype=float32), Array(0.8918846, dtype=float32), Array(-1.1123587, dtype=float32), Array(-0.00606834, dtype=float32), Array(0.5395614, dtype=float32), Array(1.6138117e-08, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 -0.0078202486038208 -0.0060683381743729115 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.6138116620822984e-08 +2025y-06m-25d-12h-16m-52s DEBUG: pose_idx: 49/64 +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 23.8ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(218622278376) read took: 33.2ms +2025y-06m-25d-12h-16m-52s DEBUG: RealSenseCamera(230422273017) read took: 171.8ms +2025y-06m-25d-12h-16m-52s DEBUG: None Tatbot read realsense2: 57.6ms +2025y-06m-25d-12h-16m-52s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0219969, dtype=float32), 'left.joint_1.pos': Array(1.3323106, dtype=float32), 'left.joint_2.pos': Array(0.8927156, dtype=float32), 'left.joint_3.pos': Array(-1.1120507, dtype=float32), 'left.joint_4.pos': Array(-0.0061385, dtype=float32), 'left.joint_5.pos': Array(0.54282236, dtype=float32), 'left.gripper.pos': Array(1.6138117e-08, dtype=float32), 'right.joint_0.pos': Array(1.910626, dtype=float32), 'right.joint_1.pos': Array(1.257516, dtype=float32), 'right.joint_2.pos': Array(0.8703313, dtype=float32), 'right.joint_3.pos': Array(-1.1649293, dtype=float32), 'right.joint_4.pos': Array(-0.01605078, dtype=float32), 'right.joint_5.pos': Array(0.33177462, dtype=float32), 'right.gripper.pos': Array(-0.00081098, dtype=float32)} +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting right arm positions: [Array(1.910626, dtype=float32), Array(1.257516, dtype=float32), Array(0.8703313, dtype=float32), Array(-1.1649293, dtype=float32), Array(-0.01605078, dtype=float32), Array(0.33177462, dtype=float32), Array(-0.00081098, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8676661252975464 0.8703312873840332 +2025y-06m-25d-12h-16m-52s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1629282236099243 -1.1649292707443237 +2025y-06m-25d-12h-16m-52s DEBUG: 🦾 Setting left arm positions: [Array(-1.0219969, dtype=float32), Array(1.3323106, dtype=float32), Array(0.8927156, dtype=float32), Array(-1.1120507, dtype=float32), Array(-0.0061385, dtype=float32), Array(0.54282236, dtype=float32), Array(1.6138117e-08, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(230422273017) read took: 107.1ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 -0.0078202486038208 -0.0061384993605315685 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.6138116620822984e-08 +2025y-06m-25d-12h-16m-53s DEBUG: pose_idx: 50/64 +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read state: 0.1ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0192676, dtype=float32), 'left.joint_1.pos': Array(1.3331116, dtype=float32), 'left.joint_2.pos': Array(0.8933076, dtype=float32), 'left.joint_3.pos': Array(-1.1118313, dtype=float32), 'left.joint_4.pos': Array(-0.0061971, dtype=float32), 'left.joint_5.pos': Array(0.54549336, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107431, dtype=float32), 'right.joint_1.pos': Array(1.2569703, dtype=float32), 'right.joint_2.pos': Array(0.8727048, dtype=float32), 'right.joint_3.pos': Array(-1.1677716, dtype=float32), 'right.joint_4.pos': Array(-0.01598727, dtype=float32), 'right.joint_5.pos': Array(0.33190608, dtype=float32), 'right.gripper.pos': Array(-0.0008102, dtype=float32)} +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9107431, dtype=float32), Array(1.2569703, dtype=float32), Array(0.8727048, dtype=float32), Array(-1.1677716, dtype=float32), Array(-0.01598727, dtype=float32), Array(0.33190608, dtype=float32), Array(-0.0008102, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8695735335350037 0.872704803943634 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1644541025161743 -1.167771577835083 +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting left arm positions: [Array(-1.0192676, dtype=float32), Array(1.3331116, dtype=float32), Array(0.8933076, dtype=float32), Array(-1.1118313, dtype=float32), Array(-0.0061971, dtype=float32), Array(0.54549336, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 108.5ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(230422273017) read took: 108.3ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 -0.007438773289322853 -0.006197101902216673 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-53s DEBUG: pose_idx: 51/64 +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0155935, dtype=float32), 'left.joint_1.pos': Array(1.3337264, dtype=float32), 'left.joint_2.pos': Array(0.8937604, dtype=float32), 'left.joint_3.pos': Array(-1.1116616, dtype=float32), 'left.joint_4.pos': Array(-0.00627842, dtype=float32), 'left.joint_5.pos': Array(0.5490887, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106491, dtype=float32), 'right.joint_1.pos': Array(1.2566061, dtype=float32), 'right.joint_2.pos': Array(0.87518555, dtype=float32), 'right.joint_3.pos': Array(-1.1706208, dtype=float32), 'right.joint_4.pos': Array(-0.01603231, dtype=float32), 'right.joint_5.pos': Array(0.3317988, dtype=float32), 'right.gripper.pos': Array(-0.00081093, dtype=float32)} +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9106491, dtype=float32), Array(1.2566061, dtype=float32), Array(0.87518555, dtype=float32), Array(-1.1706208, dtype=float32), Array(-0.01603231, dtype=float32), Array(0.3317988, dtype=float32), Array(-0.00081093, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8722438216209412 0.8751855492591858 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1678873300552368 -1.1706207990646362 +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting left arm positions: [Array(-1.0155935, dtype=float32), Array(1.3337264, dtype=float32), Array(0.8937604, dtype=float32), Array(-1.1116616, dtype=float32), Array(-0.00627842, dtype=float32), Array(0.5490887, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(230422273017) read took: 110.0ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 -0.007438773289322853 -0.006278416141867638 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-53s DEBUG: pose_idx: 52/64 +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read state: 1.3ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 2.8ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0119245, dtype=float32), 'left.joint_1.pos': Array(1.3343544, dtype=float32), 'left.joint_2.pos': Array(0.89422303, dtype=float32), 'left.joint_3.pos': Array(-1.1114882, dtype=float32), 'left.joint_4.pos': Array(-0.00635999, dtype=float32), 'left.joint_5.pos': Array(0.5526784, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910661, dtype=float32), 'right.joint_1.pos': Array(1.2561642, dtype=float32), 'right.joint_2.pos': Array(0.8776202, dtype=float32), 'right.joint_3.pos': Array(-1.173461, dtype=float32), 'right.joint_4.pos': Array(-0.01602288, dtype=float32), 'right.joint_5.pos': Array(0.33181128, dtype=float32), 'right.gripper.pos': Array(-0.00081091, dtype=float32)} +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(230422273017) read took: 6.9ms +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.910661, dtype=float32), Array(1.2561642, dtype=float32), Array(0.8776202, dtype=float32), Array(-1.173461, dtype=float32), Array(-0.01602288, dtype=float32), Array(0.33181128, dtype=float32), Array(-0.00081091, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8749141693115234 0.8776202201843262 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1709392070770264 -1.1734609603881836 +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting left arm positions: [Array(-1.0119245, dtype=float32), Array(1.3343544, dtype=float32), Array(0.89422303, dtype=float32), Array(-1.1114882, dtype=float32), Array(-0.00635999, dtype=float32), Array(0.5526784, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 106.6ms +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 -0.007438773289322853 -0.006359994411468506 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-53s DEBUG: pose_idx: 53/64 +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0088489, dtype=float32), 'left.joint_1.pos': Array(1.3346561, dtype=float32), 'left.joint_2.pos': Array(0.89444363, dtype=float32), 'left.joint_3.pos': Array(-1.111404, dtype=float32), 'left.joint_4.pos': Array(-0.00642981, dtype=float32), 'left.joint_5.pos': Array(0.555687, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106727, dtype=float32), 'right.joint_1.pos': Array(1.2557303, dtype=float32), 'right.joint_2.pos': Array(0.88005954, dtype=float32), 'right.joint_3.pos': Array(-1.1762975, dtype=float32), 'right.joint_4.pos': Array(-0.01601358, dtype=float32), 'right.joint_5.pos': Array(0.33182362, dtype=float32), 'right.gripper.pos': Array(-0.00081088, dtype=float32)} +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9106727, dtype=float32), Array(1.2557303, dtype=float32), Array(0.88005954, dtype=float32), Array(-1.1762975, dtype=float32), Array(-0.01601358, dtype=float32), Array(0.33182362, dtype=float32), Array(-0.00081088, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8772030472755432 0.880059540271759 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1736094951629639 -1.1762975454330444 +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting left arm positions: [Array(-1.0088489, dtype=float32), Array(1.3346561, dtype=float32), Array(0.89444363, dtype=float32), Array(-1.111404, dtype=float32), Array(-0.00642981, dtype=float32), Array(0.555687, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 110.7ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(230422273017) read took: 213.9ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 -0.007438773289322853 -0.0064298068173229694 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-53s DEBUG: pose_idx: 54/64 +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read state: 0.2ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0054137, dtype=float32), 'left.joint_1.pos': Array(1.3344433, dtype=float32), 'left.joint_2.pos': Array(0.89427966, dtype=float32), 'left.joint_3.pos': Array(-1.1114563, dtype=float32), 'left.joint_4.pos': Array(-0.00651229, dtype=float32), 'left.joint_5.pos': Array(0.5590455, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106846, dtype=float32), 'right.joint_1.pos': Array(1.2553054, dtype=float32), 'right.joint_2.pos': Array(0.88250375, dtype=float32), 'right.joint_3.pos': Array(-1.17913, dtype=float32), 'right.joint_4.pos': Array(-0.01600421, dtype=float32), 'right.joint_5.pos': Array(0.33183604, dtype=float32), 'right.gripper.pos': Array(-0.00081086, dtype=float32)} +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9106846, dtype=float32), Array(1.2553054, dtype=float32), Array(0.88250375, dtype=float32), Array(-1.17913, dtype=float32), Array(-0.01600421, dtype=float32), Array(0.33183604, dtype=float32), Array(-0.00081086, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8798733353614807 0.8825037479400635 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.176279902458191 -1.179129958152771 +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting left arm positions: [Array(-1.0054137, dtype=float32), Array(1.3344433, dtype=float32), Array(0.89427966, dtype=float32), Array(-1.1114563, dtype=float32), Array(-0.00651229, dtype=float32), Array(0.5590455, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 108.6ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(230422273017) read took: 109.3ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-53s DEBUG: pose_idx: 55/64 +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read state: 1.3ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 4.0ms +2025y-06m-25d-12h-16m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.0025632, dtype=float32), 'left.joint_1.pos': Array(1.3339, dtype=float32), 'left.joint_2.pos': Array(0.8938692, dtype=float32), 'left.joint_3.pos': Array(-1.1115972, dtype=float32), 'left.joint_4.pos': Array(-0.00658385, dtype=float32), 'left.joint_5.pos': Array(0.5618309, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106964, dtype=float32), 'right.joint_1.pos': Array(1.2548888, dtype=float32), 'right.joint_2.pos': Array(0.8849528, dtype=float32), 'right.joint_3.pos': Array(-1.1819592, dtype=float32), 'right.joint_4.pos': Array(-0.01599498, dtype=float32), 'right.joint_5.pos': Array(0.33184847, dtype=float32), 'right.gripper.pos': Array(-0.00081083, dtype=float32)} +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9106964, dtype=float32), Array(1.2548888, dtype=float32), Array(0.8849528, dtype=float32), Array(-1.1819592, dtype=float32), Array(-0.01599498, dtype=float32), Array(0.33184847, dtype=float32), Array(-0.00081083, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(230422273017) read took: 8.4ms +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.882543683052063 0.8849527835845947 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.180094599723816 -1.1819591522216797 +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting left arm positions: [Array(-1.0025632, dtype=float32), Array(1.3339, dtype=float32), Array(0.8938692, dtype=float32), Array(-1.1115972, dtype=float32), Array(-0.00658385, dtype=float32), Array(0.5618309, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 106.6ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-53s DEBUG: pose_idx: 56/64 +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read state: 1.5ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9993444, dtype=float32), 'left.joint_1.pos': Array(1.332843, dtype=float32), 'left.joint_2.pos': Array(0.8930762, dtype=float32), 'left.joint_3.pos': Array(-1.1118765, dtype=float32), 'left.joint_4.pos': Array(-0.0066681, dtype=float32), 'left.joint_5.pos': Array(0.5649746, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107081, dtype=float32), 'right.joint_1.pos': Array(1.2544808, dtype=float32), 'right.joint_2.pos': Array(0.887407, dtype=float32), 'right.joint_3.pos': Array(-1.1847847, dtype=float32), 'right.joint_4.pos': Array(-0.01598578, dtype=float32), 'right.joint_5.pos': Array(0.33186084, dtype=float32), 'right.gripper.pos': Array(-0.00081081, dtype=float32)} +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9107081, dtype=float32), Array(1.2544808, dtype=float32), Array(0.887407, dtype=float32), Array(-1.1847847, dtype=float32), Array(-0.01598578, dtype=float32), Array(0.33186084, dtype=float32), Array(-0.00081081, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8844510316848755 0.8874070048332214 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.182383418083191 -1.1847846508026123 +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting left arm positions: [Array(-0.9993444, dtype=float32), Array(1.332843, dtype=float32), Array(0.8930762, dtype=float32), Array(-1.1118765, dtype=float32), Array(-0.0066681, dtype=float32), Array(0.5649746, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3345922231674194 1.3328429460525513 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8943694233894348 0.8930761814117432 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-53s DEBUG: pose_idx: 57/64 +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 15.1ms +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(230422273017) read took: 232.5ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense2: 16.3ms +2025y-06m-25d-12h-16m-53s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.99553126, dtype=float32), 'left.joint_1.pos': Array(1.3321416, dtype=float32), 'left.joint_2.pos': Array(0.89254797, dtype=float32), 'left.joint_3.pos': Array(-1.11206, dtype=float32), 'left.joint_4.pos': Array(-0.00676375, dtype=float32), 'left.joint_5.pos': Array(0.56870055, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107199, dtype=float32), 'right.joint_1.pos': Array(1.2540814, dtype=float32), 'right.joint_2.pos': Array(0.88986576, dtype=float32), 'right.joint_3.pos': Array(-1.1876062, dtype=float32), 'right.joint_4.pos': Array(-0.0159763, dtype=float32), 'right.joint_5.pos': Array(0.33187315, dtype=float32), 'right.gripper.pos': Array(-0.00081079, dtype=float32)} +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting right arm positions: [Array(1.9107199, dtype=float32), Array(1.2540814, dtype=float32), Array(0.88986576, dtype=float32), Array(-1.1876062, dtype=float32), Array(-0.0159763, dtype=float32), Array(0.33187315, dtype=float32), Array(-0.00081079, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8875028491020203 0.8898657560348511 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1854352951049805 -1.1876062154769897 +2025y-06m-25d-12h-16m-53s DEBUG: 🦾 Setting left arm positions: [Array(-0.99553126, dtype=float32), Array(1.3321416, dtype=float32), Array(0.89254797, dtype=float32), Array(-1.11206, dtype=float32), Array(-0.00676375, dtype=float32), Array(0.56870055, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-53s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3338292837142944 1.332141637802124 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8939879536628723 0.8925479650497437 +2025y-06m-25d-12h-16m-53s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-53s DEBUG: pose_idx: 58/64 +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-16m-53s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(218622278376) read took: 22.5ms +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(230422273017) read took: 133.2ms +2025y-06m-25d-12h-16m-54s DEBUG: None Tatbot read realsense2: 22.3ms +2025y-06m-25d-12h-16m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.99288553, dtype=float32), 'left.joint_1.pos': Array(1.3307575, dtype=float32), 'left.joint_2.pos': Array(0.891515, dtype=float32), 'left.joint_3.pos': Array(-1.1124308, dtype=float32), 'left.joint_4.pos': Array(-0.00683856, dtype=float32), 'left.joint_5.pos': Array(0.57128245, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108437, dtype=float32), 'right.joint_1.pos': Array(1.2536007, dtype=float32), 'right.joint_2.pos': Array(0.89227724, dtype=float32), 'right.joint_3.pos': Array(-1.1904194, dtype=float32), 'right.joint_4.pos': Array(-0.01590951, dtype=float32), 'right.joint_5.pos': Array(0.3320127, dtype=float32), 'right.gripper.pos': Array(-0.00080996, dtype=float32)} +2025y-06m-25d-12h-16m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.9108437, dtype=float32), Array(1.2536007, dtype=float32), Array(0.89227724, dtype=float32), Array(-1.1904194, dtype=float32), Array(-0.01590951, dtype=float32), Array(0.3320127, dtype=float32), Array(-0.00080996, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8901731967926025 0.8922772407531738 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1884870529174805 -1.1904194355010986 +2025y-06m-25d-12h-16m-54s DEBUG: 🦾 Setting left arm positions: [Array(-0.99288553, dtype=float32), Array(1.3307575, dtype=float32), Array(0.891515, dtype=float32), Array(-1.1124308, dtype=float32), Array(-0.00683856, dtype=float32), Array(0.57128245, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(230422273017) read took: 108.1ms +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(218622278376) read took: 111.9ms +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3323034048080444 1.33075749874115 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8936064839363098 0.8915150165557861 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.5701152086257935 0.5712824463844299 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-16m-54s DEBUG: pose_idx: 59/64 +2025y-06m-25d-12h-16m-54s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-16m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9904421, dtype=float32), 'left.joint_1.pos': Array(1.3285116, dtype=float32), 'left.joint_2.pos': Array(0.88984454, dtype=float32), 'left.joint_3.pos': Array(-1.1130371, dtype=float32), 'left.joint_4.pos': Array(-0.00691448, dtype=float32), 'left.joint_5.pos': Array(0.5736643, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107431, dtype=float32), 'right.joint_1.pos': Array(1.2533072, dtype=float32), 'right.joint_2.pos': Array(0.8947982, dtype=float32), 'right.joint_3.pos': Array(-1.1932392, dtype=float32), 'right.joint_4.pos': Array(-0.01595796, dtype=float32), 'right.joint_5.pos': Array(0.33189785, dtype=float32), 'right.gripper.pos': Array(-0.00081075, dtype=float32)} +2025y-06m-25d-12h-16m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.9107431, dtype=float32), Array(1.2533072, dtype=float32), Array(0.8947982, dtype=float32), Array(-1.1932392, dtype=float32), Array(-0.01595796, dtype=float32), Array(0.33189785, dtype=float32), Array(-0.00081075, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.892080545425415 0.894798219203949 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1907758712768555 -1.1932392120361328 +2025y-06m-25d-12h-16m-54s DEBUG: 🦾 Setting left arm positions: [Array(-0.9904421, dtype=float32), Array(1.3285116, dtype=float32), Array(0.88984454, dtype=float32), Array(-1.1130371, dtype=float32), Array(-0.00691448, dtype=float32), Array(0.5736643, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(230422273017) read took: 108.4ms +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(218622278376) read took: 107.9ms +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8916990756988525 0.889844536781311 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-54s DEBUG: pose_idx: 60/64 +2025y-06m-25d-12h-16m-54s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-16m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9874022, dtype=float32), 'left.joint_1.pos': Array(1.3266205, dtype=float32), 'left.joint_2.pos': Array(0.88844085, dtype=float32), 'left.joint_3.pos': Array(-1.1135509, dtype=float32), 'left.joint_4.pos': Array(-0.00700275, dtype=float32), 'left.joint_5.pos': Array(0.57662976, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107547, dtype=float32), 'right.joint_1.pos': Array(1.2529328, dtype=float32), 'right.joint_2.pos': Array(0.89727175, dtype=float32), 'right.joint_3.pos': Array(-1.1960505, dtype=float32), 'right.joint_4.pos': Array(-0.01594863, dtype=float32), 'right.joint_5.pos': Array(0.33190975, dtype=float32), 'right.gripper.pos': Array(-0.00081073, dtype=float32)} +2025y-06m-25d-12h-16m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.9107547, dtype=float32), Array(1.2529328, dtype=float32), Array(0.89727175, dtype=float32), Array(-1.1960505, dtype=float32), Array(-0.01594863, dtype=float32), Array(0.33190975, dtype=float32), Array(-0.00081073, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8947508931159973 0.8972717523574829 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1934462785720825 -1.1960505247116089 +2025y-06m-25d-12h-16m-54s DEBUG: 🦾 Setting left arm positions: [Array(-0.9874022, dtype=float32), Array(1.3266205, dtype=float32), Array(0.88844085, dtype=float32), Array(-1.1135509, dtype=float32), Array(-0.00700275, dtype=float32), Array(0.57662976, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(218622278376) read took: 107.9ms +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(230422273017) read took: 108.2ms +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-54s DEBUG: pose_idx: 61/64 +2025y-06m-25d-12h-16m-54s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-16m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-54s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(218622278376) read took: 3.4ms +2025y-06m-25d-12h-16m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.98531336, dtype=float32), 'left.joint_1.pos': Array(1.3249017, dtype=float32), 'left.joint_2.pos': Array(0.88716894, dtype=float32), 'left.joint_3.pos': Array(-1.1140217, dtype=float32), 'left.joint_4.pos': Array(-0.00706721, dtype=float32), 'left.joint_5.pos': Array(0.57866603, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107662, dtype=float32), 'right.joint_1.pos': Array(1.252567, dtype=float32), 'right.joint_2.pos': Array(0.8997503, dtype=float32), 'right.joint_3.pos': Array(-1.1988578, dtype=float32), 'right.joint_4.pos': Array(-0.0159395, dtype=float32), 'right.joint_5.pos': Array(0.3319219, dtype=float32), 'right.gripper.pos': Array(-0.00081071, dtype=float32)} +2025y-06m-25d-12h-16m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.9107662, dtype=float32), Array(1.252567, dtype=float32), Array(0.8997503, dtype=float32), Array(-1.1988578, dtype=float32), Array(-0.0159395, dtype=float32), Array(0.3319219, dtype=float32), Array(-0.00081071, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8974212408065796 0.899750292301178 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1964980363845825 -1.1988577842712402 +2025y-06m-25d-12h-16m-54s DEBUG: 🦾 Setting left arm positions: [Array(-0.98531336, dtype=float32), Array(1.3249017, dtype=float32), Array(0.88716894, dtype=float32), Array(-1.1140217, dtype=float32), Array(-0.00706721, dtype=float32), Array(0.57866603, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-54s DEBUG: pose_idx: 62/64 +2025y-06m-25d-12h-16m-54s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-16m-54s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(218622278376) read took: 133.2ms +2025y-06m-25d-12h-16m-54s DEBUG: RealSenseCamera(230422273017) read took: 139.8ms +2025y-06m-25d-12h-16m-54s DEBUG: None Tatbot read realsense2: 25.8ms +2025y-06m-25d-12h-16m-54s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.98283845, dtype=float32), 'left.joint_1.pos': Array(1.322668, dtype=float32), 'left.joint_2.pos': Array(0.88552105, dtype=float32), 'left.joint_3.pos': Array(-1.1146379, dtype=float32), 'left.joint_4.pos': Array(-0.00714569, dtype=float32), 'left.joint_5.pos': Array(0.58107793, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107777, dtype=float32), 'right.joint_1.pos': Array(1.2522091, dtype=float32), 'right.joint_2.pos': Array(0.90223354, dtype=float32), 'right.joint_3.pos': Array(-1.2016622, dtype=float32), 'right.joint_4.pos': Array(-0.01593033, dtype=float32), 'right.joint_5.pos': Array(0.33193395, dtype=float32), 'right.gripper.pos': Array(-0.0008107, dtype=float32)} +2025y-06m-25d-12h-16m-54s DEBUG: 🦾 Setting right arm positions: [Array(1.9107777, dtype=float32), Array(1.2522091, dtype=float32), Array(0.90223354, dtype=float32), Array(-1.2016622, dtype=float32), Array(-0.01593033, dtype=float32), Array(0.33193395, dtype=float32), Array(-0.0008107, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8997100591659546 0.9022335410118103 +2025y-06m-25d-12h-16m-54s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.198405385017395 -1.2016621828079224 +2025y-06m-25d-12h-16m-54s DEBUG: 🦾 Setting left arm positions: [Array(-0.98283845, dtype=float32), Array(1.322668, dtype=float32), Array(0.88552105, dtype=float32), Array(-1.1146379, dtype=float32), Array(-0.00714569, dtype=float32), Array(0.58107793, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-16m-56s DEBUG: RealSenseCamera(218622278376) read took: 2010.2ms +2025y-06m-25d-12h-16m-56s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-56s DEBUG: RealSenseCamera(230422273017) read took: 2008.5ms +2025y-06m-25d-12h-16m-56s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-16m-56s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-56s DEBUG: pose_idx: 63/64 +2025y-06m-25d-12h-16m-56s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-16m-56s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-16m-56s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-16m-56s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9829894, dtype=float32), 'left.joint_1.pos': Array(1.3129103, dtype=float32), 'left.joint_2.pos': Array(0.92720085, dtype=float32), 'left.joint_3.pos': Array(-1.165126, dtype=float32), 'left.joint_4.pos': Array(-0.00727718, dtype=float32), 'left.joint_5.pos': Array(0.58092517, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107894, dtype=float32), 'right.joint_1.pos': Array(1.2518599, dtype=float32), 'right.joint_2.pos': Array(0.9047216, dtype=float32), 'right.joint_3.pos': Array(-1.2044623, dtype=float32), 'right.joint_4.pos': Array(-0.01592097, dtype=float32), 'right.joint_5.pos': Array(0.33194605, dtype=float32), 'right.gripper.pos': Array(-0.00081068, dtype=float32)} +2025y-06m-25d-12h-16m-56s DEBUG: 🦾 Setting right arm positions: [Array(1.9107894, dtype=float32), Array(1.2518599, dtype=float32), Array(0.9047216, dtype=float32), Array(-1.2044623, dtype=float32), Array(-0.01592097, dtype=float32), Array(0.33194605, dtype=float32), Array(-0.00081068, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-16m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9027618765830994 0.9047216176986694 +2025y-06m-25d-12h-16m-56s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.201838731765747 -1.2044622898101807 +2025y-06m-25d-12h-16m-56s DEBUG: 🦾 Setting left arm positions: [Array(-0.9829894, dtype=float32), Array(1.3129103, dtype=float32), Array(0.92720085, dtype=float32), Array(-1.165126, dtype=float32), Array(-0.00727718, dtype=float32), Array(0.58092517, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-16m-58s DEBUG: RealSenseCamera(218622278376) read took: 2009.4ms +2025y-06m-25d-12h-16m-58s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-16m-58s DEBUG: RealSenseCamera(230422273017) read took: 2009.0ms +2025y-06m-25d-12h-16m-58s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-16m-58s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-16m-58s INFO: 🤖🗃️ Writing episode log to /home/trossen-ai/tatbot/output/record/plan-bench-2025y-06m-25d-12h-13m-57s/logs/episode_000009.txt