diff --git "a/logs/episode_000010.txt" "b/logs/episode_000010.txt" new file mode 100644--- /dev/null +++ "b/logs/episode_000010.txt" @@ -0,0 +1,918 @@ +2025y-06m-25d-12h-17m-01s DEBUG: 🤖 sending arms to rest pose +2025y-06m-25d-12h-17m-01s 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-17m-01s 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-17m-01s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.9106203317642212 1.0 +2025y-06m-25d-12h-17m-01s ERROR: 🦾❌ Right arm position mismatch: right.joint_0 1.9106203317642212 1.0 +2025y-06m-25d-12h-17m-01s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2514305114746094 0.10000000149011612 +2025y-06m-25d-12h-17m-01s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 1.2514305114746094 0.10000000149011612 +2025y-06m-25d-12h-17m-01s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9046692848205566 0.5 +2025y-06m-25d-12h-17m-01s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.9046692848205566 0.5 +2025y-06m-25d-12h-17m-01s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.2045090198516846 -1.2000000476837158 +2025y-06m-25d-12h-17m-01s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 -0.016212711110711098 0.0 +2025y-06m-25d-12h-17m-01s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 0.33169299364089966 0.0 +2025y-06m-25d-12h-17m-01s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 0.33169299364089966 0.0 +2025y-06m-25d-12h-17m-01s WARNING: 🦾❌ Failed to set right arm positions: +: +right arm joints mismatch +No error +2025y-06m-25d-12h-17m-01s 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-17m-03s DEBUG: RealSenseCamera(230422273017) read took: 2003.2ms +2025y-06m-25d-12h-17m-03s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-03s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 0.0 +2025y-06m-25d-12h-17m-03s DEBUG: RealSenseCamera(218622278376) read took: 2007.4ms +2025y-06m-25d-12h-17m-03s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-03s INFO: 🤖 recording path 10 of 15 +2025y-06m-25d-12h-17m-03s DEBUG: pose_idx: 0/64 +2025y-06m-25d-12h-17m-03s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-17m-03s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-03s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-03s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107896, dtype=float32), 'left.joint_1.pos': Array(1.2518598, dtype=float32), 'left.joint_2.pos': Array(0.9047215, dtype=float32), 'left.joint_3.pos': Array(-1.2044624, dtype=float32), 'left.joint_4.pos': Array(0.015921, dtype=float32), 'left.joint_5.pos': Array(-0.33194628, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9863075, dtype=float32), 'right.joint_1.pos': Array(1.2851162, dtype=float32), 'right.joint_2.pos': Array(0.9073761, dtype=float32), 'right.joint_3.pos': Array(-1.1735129, dtype=float32), 'right.joint_4.pos': Array(0.00745219, dtype=float32), 'right.joint_5.pos': Array(-0.5775763, dtype=float32), 'right.gripper.pos': Array(0.04457928, dtype=float32)} +2025y-06m-25d-12h-17m-03s DEBUG: 🦾 Setting right arm positions: [Array(0.9863075, dtype=float32), Array(1.2851162, dtype=float32), Array(0.9073761, dtype=float32), Array(-1.1735129, dtype=float32), Array(0.00745219, dtype=float32), Array(-0.5775763, dtype=float32), Array(0.04457928, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-17m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.0000381469726562 0.9863075017929077 +2025y-06m-25d-12h-17m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 0.09937438368797302 1.285116195678711 +2025y-06m-25d-12h-17m-03s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 0.09937438368797302 1.285116195678711 +2025y-06m-25d-12h-17m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.499542236328125 0.9073761105537415 +2025y-06m-25d-12h-17m-03s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.499542236328125 0.9073761105537415 +2025y-06m-25d-12h-17m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.200312852859497 -1.1735129356384277 +2025y-06m-25d-12h-17m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 0.00019073777366429567 0.007452193181961775 +2025y-06m-25d-12h-17m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.000572213320992887 -0.5775762796401978 +2025y-06m-25d-12h-17m-03s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 -0.000572213320992887 -0.5775762796401978 +2025y-06m-25d-12h-17m-03s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 8.845515549182892e-05 0.04457928240299225 +2025y-06m-25d-12h-17m-03s WARNING: 🦾❌ Failed to set right arm positions: +: +right arm joints mismatch +No error +2025y-06m-25d-12h-17m-03s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107896, dtype=float32), Array(1.2518598, dtype=float32), Array(0.9047215, dtype=float32), Array(-1.2044624, dtype=float32), Array(0.015921, dtype=float32), Array(-0.33194628, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-17m-05s DEBUG: RealSenseCamera(230422273017) read took: 2007.8ms +2025y-06m-25d-12h-17m-05s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-05s DEBUG: RealSenseCamera(218622278376) read took: 2007.7ms +2025y-06m-25d-12h-17m-05s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_4 0.016975661739706993 0.01592099666595459 +2025y-06m-25d-12h-17m-05s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-05s DEBUG: pose_idx: 1/64 +2025y-06m-25d-12h-17m-05s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-17m-05s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-05s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-05s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108948, dtype=float32), 'left.joint_1.pos': Array(1.2521008, dtype=float32), 'left.joint_2.pos': Array(0.9022987, dtype=float32), 'left.joint_3.pos': Array(-1.2017905, dtype=float32), 'left.joint_4.pos': Array(0.01587006, dtype=float32), 'left.joint_5.pos': Array(-0.33206677, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.9861549, dtype=float32), 'right.joint_1.pos': Array(1.2944818, dtype=float32), 'right.joint_2.pos': Array(0.8651869, dtype=float32), 'right.joint_3.pos': Array(-1.1228584, dtype=float32), 'right.joint_4.pos': Array(0.00732047, dtype=float32), 'right.joint_5.pos': Array(-0.5777331, dtype=float32), 'right.gripper.pos': Array(0.0445814, dtype=float32)} +2025y-06m-25d-12h-17m-05s DEBUG: 🦾 Setting right arm positions: [Array(0.9861549, dtype=float32), Array(1.2944818, dtype=float32), Array(0.8651869, dtype=float32), Array(-1.1228584, dtype=float32), Array(0.00732047, dtype=float32), Array(-0.5777331, dtype=float32), Array(0.0445814, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-17m-05s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2850003242492676 1.2944817543029785 +2025y-06m-25d-12h-17m-05s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9069581031799316 0.8651869297027588 +2025y-06m-25d-12h-17m-05s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1732280254364014 -1.1228584051132202 +2025y-06m-25d-12h-17m-05s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.04004324972629547 0.04458140209317207 +2025y-06m-25d-12h-17m-05s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108948, dtype=float32), Array(1.2521008, dtype=float32), Array(0.9022987, dtype=float32), Array(-1.2017905, dtype=float32), Array(0.01587006, dtype=float32), Array(-0.33206677, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 2006.8ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 2005.9ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-07s DEBUG: pose_idx: 2/64 +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read state: 1.2ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108824, dtype=float32), 'left.joint_1.pos': Array(1.252442, dtype=float32), 'left.joint_2.pos': Array(0.8999334, dtype=float32), 'left.joint_3.pos': Array(-1.1991196, dtype=float32), 'left.joint_4.pos': Array(0.01587923, dtype=float32), 'left.joint_5.pos': Array(-0.3320539, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.9865423, dtype=float32), 'right.joint_1.pos': Array(1.2950063, dtype=float32), 'right.joint_2.pos': Array(0.8655584, dtype=float32), 'right.joint_3.pos': Array(-1.1226987, dtype=float32), 'right.joint_4.pos': Array(0.00730609, dtype=float32), 'right.joint_5.pos': Array(-0.57735646, dtype=float32), 'right.gripper.pos': Array(0.04458094, dtype=float32)} +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting right arm positions: [Array(0.9865423, dtype=float32), Array(1.2950063, dtype=float32), Array(0.8655584, dtype=float32), Array(-1.1226987, dtype=float32), Array(0.00730609, dtype=float32), Array(-0.57735646, dtype=float32), Array(0.04458094, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044580936431884766 +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108824, dtype=float32), Array(1.252442, dtype=float32), Array(0.8999334, dtype=float32), Array(-1.1991196, dtype=float32), Array(0.01587923, dtype=float32), Array(-0.3320539, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 106.6ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 106.9ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-07s DEBUG: pose_idx: 3/64 +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107565, dtype=float32), 'left.joint_1.pos': Array(1.2528802, dtype=float32), 'left.joint_2.pos': Array(0.8976257, dtype=float32), 'left.joint_3.pos': Array(-1.1964517, dtype=float32), 'left.joint_4.pos': Array(0.01594732, dtype=float32), 'left.joint_5.pos': Array(-0.33191153, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9869279, dtype=float32), 'right.joint_1.pos': Array(1.2955303, dtype=float32), 'right.joint_2.pos': Array(0.8659299, dtype=float32), 'right.joint_3.pos': Array(-1.1225392, dtype=float32), 'right.joint_4.pos': Array(0.00729108, dtype=float32), 'right.joint_5.pos': Array(-0.5769818, dtype=float32), 'right.gripper.pos': Array(0.04458046, dtype=float32)} +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 6.2ms +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting right arm positions: [Array(0.9869279, dtype=float32), Array(1.2955303, dtype=float32), Array(0.8659299, dtype=float32), Array(-1.1225392, dtype=float32), Array(0.00729108, dtype=float32), Array(-0.5769818, dtype=float32), Array(0.04458046, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.9859235286712646 0.9869279265403748 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044580455869436264 +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107565, dtype=float32), Array(1.2528802, dtype=float32), Array(0.8976257, dtype=float32), Array(-1.1964517, dtype=float32), Array(0.01594732, dtype=float32), Array(-0.33191153, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 8.9ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 103.0ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-07s DEBUG: pose_idx: 4/64 +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107453, dtype=float32), 'left.joint_1.pos': Array(1.2532352, dtype=float32), 'left.joint_2.pos': Array(0.8952689, dtype=float32), 'left.joint_3.pos': Array(-1.1937749, dtype=float32), 'left.joint_4.pos': Array(0.01595616, dtype=float32), 'left.joint_5.pos': Array(-0.33189994, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9873142, dtype=float32), 'right.joint_1.pos': Array(1.2960545, dtype=float32), 'right.joint_2.pos': Array(0.86630243, dtype=float32), 'right.joint_3.pos': Array(-1.1223806, dtype=float32), 'right.joint_4.pos': Array(0.00727675, dtype=float32), 'right.joint_5.pos': Array(-0.57660604, dtype=float32), 'right.gripper.pos': Array(0.04457999, dtype=float32)} +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting right arm positions: [Array(0.9873142, dtype=float32), Array(1.2960545, dtype=float32), Array(0.86630243, dtype=float32), Array(-1.1223806, dtype=float32), Array(0.00727675, dtype=float32), Array(-0.57660604, dtype=float32), Array(0.04457999, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.9863049983978271 0.9873142242431641 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.577744722366333 -0.576606035232544 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044579993933439255 +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107453, dtype=float32), Array(1.2532352, dtype=float32), Array(0.8952689, dtype=float32), Array(-1.1937749, dtype=float32), Array(0.01595616, dtype=float32), Array(-0.33189994, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 110.8ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-07s DEBUG: pose_idx: 5/64 +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107342, dtype=float32), 'left.joint_1.pos': Array(1.2535982, dtype=float32), 'left.joint_2.pos': Array(0.892917, dtype=float32), 'left.joint_3.pos': Array(-1.1910952, dtype=float32), 'left.joint_4.pos': Array(0.01596486, dtype=float32), 'left.joint_5.pos': Array(-0.3318881, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.98770005, dtype=float32), 'right.joint_1.pos': Array(1.2965794, dtype=float32), 'right.joint_2.pos': Array(0.8666749, dtype=float32), 'right.joint_3.pos': Array(-1.1222217, dtype=float32), 'right.joint_4.pos': Array(0.0072625, dtype=float32), 'right.joint_5.pos': Array(-0.5762308, dtype=float32), 'right.gripper.pos': Array(0.04457953, dtype=float32)} +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting right arm positions: [Array(0.98770005, dtype=float32), Array(1.2965794, dtype=float32), Array(0.8666749, dtype=float32), Array(-1.1222217, dtype=float32), Array(0.0072625, dtype=float32), Array(-0.5762308, dtype=float32), Array(0.04457953, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.9866865277290344 0.9877000451087952 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8653773069381714 0.8666749000549316 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.577744722366333 -0.5762308239936829 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044579531997442245 +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107342, dtype=float32), Array(1.2535982, dtype=float32), Array(0.892917, dtype=float32), Array(-1.1910952, dtype=float32), Array(0.01596486, dtype=float32), Array(-0.3318881, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 109.4ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-07s DEBUG: pose_idx: 6/64 +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107232, dtype=float32), 'left.joint_1.pos': Array(1.2539686, dtype=float32), 'left.joint_2.pos': Array(0.89056945, dtype=float32), 'left.joint_3.pos': Array(-1.1884121, dtype=float32), 'left.joint_4.pos': Array(0.0159736, dtype=float32), 'left.joint_5.pos': Array(-0.33187667, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.98808604, dtype=float32), 'right.joint_1.pos': Array(1.2971039, dtype=float32), 'right.joint_2.pos': Array(0.8670478, dtype=float32), 'right.joint_3.pos': Array(-1.1220632, dtype=float32), 'right.joint_4.pos': Array(0.00724813, dtype=float32), 'right.joint_5.pos': Array(-0.5758554, dtype=float32), 'right.gripper.pos': Array(0.04457907, dtype=float32)} +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting right arm positions: [Array(0.98808604, dtype=float32), Array(1.2971039, dtype=float32), Array(0.8670478, dtype=float32), Array(-1.1220632, dtype=float32), Array(0.00724813, dtype=float32), Array(-0.5758554, dtype=float32), Array(0.04457907, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.9870679974555969 0.9880860447883606 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8653773069381714 0.8670477867126465 +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 7.3ms +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5773632526397705 -0.5758553743362427 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044579070061445236 +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107232, dtype=float32), Array(1.2539686, dtype=float32), Array(0.89056945, dtype=float32), Array(-1.1884121, dtype=float32), Array(0.0159736, dtype=float32), Array(-0.33187667, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 101.6ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.2529563903808594 1.253968596458435 +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-07s DEBUG: pose_idx: 7/64 +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9108227, dtype=float32), 'left.joint_1.pos': Array(1.2542578, dtype=float32), 'left.joint_2.pos': Array(0.8881736, dtype=float32), 'left.joint_3.pos': Array(-1.1857201, dtype=float32), 'left.joint_4.pos': Array(0.01592565, dtype=float32), 'left.joint_5.pos': Array(-0.33199042, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.98847246, dtype=float32), 'right.joint_1.pos': Array(1.2976283, dtype=float32), 'right.joint_2.pos': Array(0.86742115, dtype=float32), 'right.joint_3.pos': Array(-1.1219054, dtype=float32), 'right.joint_4.pos': Array(0.00723452, dtype=float32), 'right.joint_5.pos': Array(-0.57547927, dtype=float32), 'right.gripper.pos': Array(0.04457862, dtype=float32)} +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting right arm positions: [Array(0.98847246, dtype=float32), Array(1.2976283, dtype=float32), Array(0.86742115, dtype=float32), Array(-1.1219054, dtype=float32), Array(0.00723452, dtype=float32), Array(-0.57547927, dtype=float32), Array(0.04457862, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.9874494671821594 0.9884724617004395 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8653773069381714 0.8674211502075195 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.576981782913208 -0.57547926902771 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457862302660942 +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting left arm positions: [Array(-1.9108227, dtype=float32), Array(1.2542578, dtype=float32), Array(0.8881736, dtype=float32), Array(-1.1857201, dtype=float32), Array(0.01592565, dtype=float32), Array(-0.33199042, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 108.6ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-07s DEBUG: pose_idx: 8/64 +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107008, dtype=float32), 'left.joint_1.pos': Array(1.2547327, dtype=float32), 'left.joint_2.pos': Array(0.88588727, dtype=float32), 'left.joint_3.pos': Array(-1.1830357, dtype=float32), 'left.joint_4.pos': Array(0.01599139, dtype=float32), 'left.joint_5.pos': Array(-0.33185327, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9888559, dtype=float32), 'right.joint_1.pos': Array(1.2981532, dtype=float32), 'right.joint_2.pos': Array(0.8677944, dtype=float32), 'right.joint_3.pos': Array(-1.1217473, dtype=float32), 'right.joint_4.pos': Array(0.00721948, dtype=float32), 'right.joint_5.pos': Array(-0.5751066, dtype=float32), 'right.gripper.pos': Array(0.04457815, dtype=float32)} +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting right arm positions: [Array(0.9888559, dtype=float32), Array(1.2981532, dtype=float32), Array(0.8677944, dtype=float32), Array(-1.1217473, dtype=float32), Array(0.00721948, dtype=float32), Array(-0.5751066, dtype=float32), Array(0.04457815, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8653773069381714 0.867794394493103 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5766003131866455 -0.5751066207885742 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04457814618945122 +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107008, dtype=float32), Array(1.2547327, dtype=float32), Array(0.88588727, dtype=float32), Array(-1.1830357, dtype=float32), Array(0.01599139, dtype=float32), Array(-0.33185327, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 0.8ms +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-07s DEBUG: pose_idx: 9/64 +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106898, dtype=float32), 'left.joint_1.pos': Array(1.2551256, dtype=float32), 'left.joint_2.pos': Array(0.88355273, dtype=float32), 'left.joint_3.pos': Array(-1.1803429, dtype=float32), 'left.joint_4.pos': Array(0.01600028, dtype=float32), 'left.joint_5.pos': Array(-0.33184147, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9892404, dtype=float32), 'right.joint_1.pos': Array(1.2986774, dtype=float32), 'right.joint_2.pos': Array(0.8681682, dtype=float32), 'right.joint_3.pos': Array(-1.1215895, dtype=float32), 'right.joint_4.pos': Array(0.00720539, dtype=float32), 'right.joint_5.pos': Array(-0.5747325, dtype=float32), 'right.gripper.pos': Array(0.04457768, dtype=float32)} +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting right arm positions: [Array(0.9892404, dtype=float32), Array(1.2986774, dtype=float32), Array(0.8681682, dtype=float32), Array(-1.1215895, dtype=float32), Array(0.00720539, dtype=float32), Array(-0.5747325, dtype=float32), Array(0.04457768, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.9882124066352844 0.9892404079437256 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8657587766647339 0.8681681752204895 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.576218843460083 -0.5747324824333191 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457768425345421 +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106898, dtype=float32), Array(1.2551256, dtype=float32), Array(0.88355273, dtype=float32), Array(-1.1803429, dtype=float32), Array(0.01600028, dtype=float32), Array(-0.33184147, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 110.4ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 0.5ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-07s DEBUG: pose_idx: 10/64 +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-07s DEBUG: RealSenseCamera(230422273017) read took: 3.2ms +2025y-06m-25d-12h-17m-07s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910787, dtype=float32), 'left.joint_1.pos': Array(1.2554392, dtype=float32), 'left.joint_2.pos': Array(0.88117105, dtype=float32), 'left.joint_3.pos': Array(-1.1776415, dtype=float32), 'left.joint_4.pos': Array(0.01595336, dtype=float32), 'left.joint_5.pos': Array(-0.33195257, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.98962575, dtype=float32), 'right.joint_1.pos': Array(1.299202, dtype=float32), 'right.joint_2.pos': Array(0.8685422, dtype=float32), 'right.joint_3.pos': Array(-1.1214323, dtype=float32), 'right.joint_4.pos': Array(0.0071919, dtype=float32), 'right.joint_5.pos': Array(-0.5743573, dtype=float32), 'right.gripper.pos': Array(0.04457724, dtype=float32)} +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting right arm positions: [Array(0.98962575, dtype=float32), Array(1.299202, dtype=float32), Array(0.8685422, dtype=float32), Array(-1.1214323, dtype=float32), Array(0.0071919, dtype=float32), Array(-0.5743573, dtype=float32), Array(0.04457724, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8657587766647339 0.8685421943664551 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.576218843460083 -0.574357271194458 +2025y-06m-25d-12h-17m-07s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457724094390869 +2025y-06m-25d-12h-17m-07s DEBUG: 🦾 Setting left arm positions: [Array(-1.910787, dtype=float32), Array(1.2554392, dtype=float32), Array(0.88117105, dtype=float32), Array(-1.1776415, dtype=float32), Array(0.01595336, dtype=float32), Array(-0.33195257, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 105.1ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 108.8ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-08s DEBUG: pose_idx: 11/64 +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read state: 2.0ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106671, dtype=float32), 'left.joint_1.pos': Array(1.2559355, dtype=float32), 'left.joint_2.pos': Array(0.8788974, dtype=float32), 'left.joint_3.pos': Array(-1.1749476, dtype=float32), 'left.joint_4.pos': Array(0.01601808, dtype=float32), 'left.joint_5.pos': Array(-0.3318178, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9900078, dtype=float32), 'right.joint_1.pos': Array(1.2997267, dtype=float32), 'right.joint_2.pos': Array(0.86891603, dtype=float32), 'right.joint_3.pos': Array(-1.1212746, dtype=float32), 'right.joint_4.pos': Array(0.00717706, dtype=float32), 'right.joint_5.pos': Array(-0.5739863, dtype=float32), 'right.gripper.pos': Array(0.04457676, dtype=float32)} +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting right arm positions: [Array(0.9900078, dtype=float32), Array(1.2997267, dtype=float32), Array(0.86891603, dtype=float32), Array(-1.1212746, dtype=float32), Array(0.00717706, dtype=float32), Array(-0.5739863, dtype=float32), Array(0.04457676, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.9889753460884094 0.9900078177452087 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8676661252975464 0.8689160346984863 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5758373141288757 -0.573986291885376 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457676410675049 +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106671, dtype=float32), Array(1.2559355, dtype=float32), Array(0.8788974, dtype=float32), Array(-1.1749476, dtype=float32), Array(0.01601808, dtype=float32), Array(-0.3318178, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 110.5ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 110.5ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-08s DEBUG: pose_idx: 12/64 +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106559, dtype=float32), 'left.joint_1.pos': Array(1.2563523, dtype=float32), 'left.joint_2.pos': Array(0.8765761, dtype=float32), 'left.joint_3.pos': Array(-1.1722442, dtype=float32), 'left.joint_4.pos': Array(0.01602688, dtype=float32), 'left.joint_5.pos': Array(-0.33180583, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.99077374, dtype=float32), 'right.joint_1.pos': Array(1.300776, dtype=float32), 'right.joint_2.pos': Array(0.86966544, dtype=float32), 'right.joint_3.pos': Array(-1.1209608, dtype=float32), 'right.joint_4.pos': Array(0.00714893, dtype=float32), 'right.joint_5.pos': Array(-0.5732411, dtype=float32), 'right.gripper.pos': Array(0.04457585, dtype=float32)} +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting right arm positions: [Array(0.99077374, dtype=float32), Array(1.300776, dtype=float32), Array(0.86966544, dtype=float32), Array(-1.1209608, dtype=float32), Array(0.00714893, dtype=float32), Array(-0.5732411, dtype=float32), Array(0.04457585, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.9897382855415344 0.9907737374305725 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2994964122772217 1.3007760047912598 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8676661252975464 0.8696654438972473 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5750743746757507 -0.573241114616394 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457584768533707 +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106559, dtype=float32), Array(1.2563523, dtype=float32), Array(0.8765761, dtype=float32), Array(-1.1722442, dtype=float32), Array(0.01602688, dtype=float32), Array(-0.33180583, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 109.3ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.6ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.5ms +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-08s DEBUG: pose_idx: 13/64 +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read state: 1.3ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 4.5ms +2025y-06m-25d-12h-17m-08s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107509, dtype=float32), 'left.joint_1.pos': Array(1.2566903, dtype=float32), 'left.joint_2.pos': Array(0.8742081, dtype=float32), 'left.joint_3.pos': Array(-1.1695324, dtype=float32), 'left.joint_4.pos': Array(0.01598131, dtype=float32), 'left.joint_5.pos': Array(-0.3319144, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.99115753, dtype=float32), 'right.joint_1.pos': Array(1.3013005, dtype=float32), 'right.joint_2.pos': Array(0.87004066, dtype=float32), 'right.joint_3.pos': Array(-1.1208049, dtype=float32), 'right.joint_4.pos': Array(0.00713548, dtype=float32), 'right.joint_5.pos': Array(-0.5728675, dtype=float32), 'right.gripper.pos': Array(0.0445754, dtype=float32)} +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting right arm positions: [Array(0.99115753, dtype=float32), Array(1.3013005, dtype=float32), Array(0.87004066, dtype=float32), Array(-1.1208049, dtype=float32), Array(0.00713548, dtype=float32), Array(-0.5728675, dtype=float32), Array(0.0445754, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8684290647506714 0.8700406551361084 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457540437579155 +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107509, dtype=float32), Array(1.2566903, dtype=float32), Array(0.8742081, dtype=float32), Array(-1.1695324, dtype=float32), Array(0.01598131, dtype=float32), Array(-0.3319144, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 106.4ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-08s DEBUG: pose_idx: 14/64 +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106332, dtype=float32), 'left.joint_1.pos': Array(1.257209, dtype=float32), 'left.joint_2.pos': Array(0.87194777, dtype=float32), 'left.joint_3.pos': Array(-1.1668288, dtype=float32), 'left.joint_4.pos': Array(0.01604481, dtype=float32), 'left.joint_5.pos': Array(-0.331782, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.99153775, dtype=float32), 'right.joint_1.pos': Array(1.3018254, dtype=float32), 'right.joint_2.pos': Array(0.8704162, dtype=float32), 'right.joint_3.pos': Array(-1.1206487, dtype=float32), 'right.joint_4.pos': Array(0.00712086, dtype=float32), 'right.joint_5.pos': Array(-0.572498, dtype=float32), 'right.gripper.pos': Array(0.04457493, dtype=float32)} +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting right arm positions: [Array(0.99153775, dtype=float32), Array(1.3018254, dtype=float32), Array(0.8704162, dtype=float32), Array(-1.1206487, dtype=float32), Array(0.00712086, dtype=float32), Array(-0.572498, dtype=float32), Array(0.04457493, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8691920638084412 0.8704162240028381 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044574934989213943 +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106332, dtype=float32), Array(1.257209, dtype=float32), Array(0.87194777, dtype=float32), Array(-1.1668288, dtype=float32), Array(0.01604481, dtype=float32), Array(-0.331782, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 105.6ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 105.6ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-08s DEBUG: pose_idx: 15/64 +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910635, dtype=float32), 'left.joint_1.pos': Array(1.2576442, dtype=float32), 'left.joint_2.pos': Array(0.86963475, dtype=float32), 'left.joint_3.pos': Array(-1.1641119, dtype=float32), 'left.joint_4.pos': Array(0.01604785, dtype=float32), 'left.joint_5.pos': Array(-0.3317857, dtype=float32), 'left.gripper.pos': Array(9.682874e-08, dtype=float32), 'right.joint_0.pos': Array(0.9919196, dtype=float32), 'right.joint_1.pos': Array(1.3023499, dtype=float32), 'right.joint_2.pos': Array(0.8707919, dtype=float32), 'right.joint_3.pos': Array(-1.1204929, dtype=float32), 'right.joint_4.pos': Array(0.00710693, dtype=float32), 'right.joint_5.pos': Array(-0.5721266, dtype=float32), 'right.gripper.pos': Array(0.04457448, dtype=float32)} +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting right arm positions: [Array(0.9919196, dtype=float32), Array(1.3023499, dtype=float32), Array(0.8707919, dtype=float32), Array(-1.1204929, dtype=float32), Array(0.00710693, dtype=float32), Array(-0.5721266, dtype=float32), Array(0.04457448, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8695735335350037 0.8707919120788574 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457448050379753 +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting left arm positions: [Array(-1.910635, dtype=float32), Array(1.2576442, dtype=float32), Array(0.86963475, dtype=float32), Array(-1.1641119, dtype=float32), Array(0.01604785, dtype=float32), Array(-0.3317857, dtype=float32), Array(9.682874e-08, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 105.3ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 105.5ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 9.682874235750205e-08 +2025y-06m-25d-12h-17m-08s DEBUG: pose_idx: 16/64 +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106104, dtype=float32), 'left.joint_1.pos': Array(1.258097, dtype=float32), 'left.joint_2.pos': Array(0.8673368, dtype=float32), 'left.joint_3.pos': Array(-1.1613992, dtype=float32), 'left.joint_4.pos': Array(0.01606267, dtype=float32), 'left.joint_5.pos': Array(-0.33175805, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9923002, dtype=float32), 'right.joint_1.pos': Array(1.3028748, dtype=float32), 'right.joint_2.pos': Array(0.8711679, dtype=float32), 'right.joint_3.pos': Array(-1.1203371, dtype=float32), 'right.joint_4.pos': Array(0.00709295, dtype=float32), 'right.joint_5.pos': Array(-0.5717566, dtype=float32), 'right.gripper.pos': Array(0.04457402, dtype=float32)} +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting right arm positions: [Array(0.9923002, dtype=float32), Array(1.3028748, dtype=float32), Array(0.8711679, dtype=float32), Array(-1.1203371, dtype=float32), Array(0.00709295, dtype=float32), Array(-0.5717566, dtype=float32), Array(0.04457402, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8699550032615662 0.8711678981781006 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457402229309082 +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106104, dtype=float32), Array(1.258097, dtype=float32), Array(0.8673368, dtype=float32), Array(-1.1613992, dtype=float32), Array(0.01606267, dtype=float32), Array(-0.33175805, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 111.0ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-08s DEBUG: pose_idx: 17/64 +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read state: 0.2ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 2.4ms +2025y-06m-25d-12h-17m-08s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910599, dtype=float32), 'left.joint_1.pos': Array(1.2585531, dtype=float32), 'left.joint_2.pos': Array(0.86503786, dtype=float32), 'left.joint_3.pos': Array(-1.1586788, dtype=float32), 'left.joint_4.pos': Array(0.01607183, dtype=float32), 'left.joint_5.pos': Array(-0.3317459, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9926809, dtype=float32), 'right.joint_1.pos': Array(1.3033997, dtype=float32), 'right.joint_2.pos': Array(0.8715443, dtype=float32), 'right.joint_3.pos': Array(-1.1201818, dtype=float32), 'right.joint_4.pos': Array(0.00707886, dtype=float32), 'right.joint_5.pos': Array(-0.5713863, dtype=float32), 'right.gripper.pos': Array(0.04457357, dtype=float32)} +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting right arm positions: [Array(0.9926809, dtype=float32), Array(1.3033997, dtype=float32), Array(0.8715443, dtype=float32), Array(-1.1201818, dtype=float32), Array(0.00707886, dtype=float32), Array(-0.5713863, dtype=float32), Array(0.04457357, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3021668195724487 1.303399682044983 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5724040865898132 -0.5713862776756287 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04457356780767441 +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting left arm positions: [Array(-1.910599, dtype=float32), Array(1.2585531, dtype=float32), Array(0.86503786, dtype=float32), Array(-1.1586788, dtype=float32), Array(0.01607183, dtype=float32), Array(-0.3317459, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 107.2ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-08s DEBUG: pose_idx: 18/64 +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105875, dtype=float32), 'left.joint_1.pos': Array(1.259017, dtype=float32), 'left.joint_2.pos': Array(0.8627438, dtype=float32), 'left.joint_3.pos': Array(-1.1559556, dtype=float32), 'left.joint_4.pos': Array(0.01608067, dtype=float32), 'left.joint_5.pos': Array(-0.33173388, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.993061, dtype=float32), 'right.joint_1.pos': Array(1.3039244, dtype=float32), 'right.joint_2.pos': Array(0.8719206, dtype=float32), 'right.joint_3.pos': Array(-1.1200264, dtype=float32), 'right.joint_4.pos': Array(0.0070649, dtype=float32), 'right.joint_5.pos': Array(-0.5710166, dtype=float32), 'right.gripper.pos': Array(0.04457311, dtype=float32)} +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting right arm positions: [Array(0.993061, dtype=float32), Array(1.3039244, dtype=float32), Array(0.8719206, dtype=float32), Array(-1.1200264, dtype=float32), Array(0.0070649, dtype=float32), Array(-0.5710166, dtype=float32), Array(0.04457311, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044573113322257996 +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105875, dtype=float32), Array(1.259017, dtype=float32), Array(0.8627438, dtype=float32), Array(-1.1559556, dtype=float32), Array(0.01608067, dtype=float32), Array(-0.33173388, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 109.3ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms +2025y-06m-25d-12h-17m-08s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-08s DEBUG: pose_idx: 19/64 +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-08s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105762, dtype=float32), 'left.joint_1.pos': Array(1.2594888, dtype=float32), 'left.joint_2.pos': Array(0.8604541, dtype=float32), 'left.joint_3.pos': Array(-1.1532286, dtype=float32), 'left.joint_4.pos': Array(0.01608971, dtype=float32), 'left.joint_5.pos': Array(-0.33172178, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.99344075, dtype=float32), 'right.joint_1.pos': Array(1.3044491, dtype=float32), 'right.joint_2.pos': Array(0.87229776, dtype=float32), 'right.joint_3.pos': Array(-1.1198719, dtype=float32), 'right.joint_4.pos': Array(0.00705095, dtype=float32), 'right.joint_5.pos': Array(-0.57064736, dtype=float32), 'right.gripper.pos': Array(0.04457266, dtype=float32)} +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting right arm positions: [Array(0.99344075, dtype=float32), Array(1.3044491, dtype=float32), Array(0.87229776, dtype=float32), Array(-1.1198719, dtype=float32), Array(0.00705095, dtype=float32), Array(-0.57064736, dtype=float32), Array(0.04457266, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3033112287521362 1.3044490814208984 +2025y-06m-25d-12h-17m-08s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457265883684158 +2025y-06m-25d-12h-17m-08s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105762, dtype=float32), Array(1.2594888, dtype=float32), Array(0.8604541, dtype=float32), Array(-1.1532286, dtype=float32), Array(0.01608971, dtype=float32), Array(-0.33172178, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 1.0ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 112.0ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.6ms +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-09s DEBUG: pose_idx: 20/64 +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105649, dtype=float32), 'left.joint_1.pos': Array(1.2599683, dtype=float32), 'left.joint_2.pos': Array(0.8581688, dtype=float32), 'left.joint_3.pos': Array(-1.1504984, dtype=float32), 'left.joint_4.pos': Array(0.01609865, dtype=float32), 'left.joint_5.pos': Array(-0.33171, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(0.99382025, dtype=float32), 'right.joint_1.pos': Array(1.3049741, dtype=float32), 'right.joint_2.pos': Array(0.8726751, dtype=float32), 'right.joint_3.pos': Array(-1.1197176, dtype=float32), 'right.joint_4.pos': Array(0.00703719, dtype=float32), 'right.joint_5.pos': Array(-0.57027805, dtype=float32), 'right.gripper.pos': Array(0.0445722, dtype=float32)} +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 5.1ms +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting right arm positions: [Array(0.99382025, dtype=float32), Array(1.3049741, dtype=float32), Array(0.8726751, dtype=float32), Array(-1.1197176, dtype=float32), Array(0.00703719, dtype=float32), Array(-0.57027805, dtype=float32), Array(0.0445722, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8714808821678162 0.8726751208305359 +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457220435142517 +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105649, dtype=float32), Array(1.2599683, dtype=float32), Array(0.8581688, dtype=float32), Array(-1.1504984, dtype=float32), Array(0.01609865, dtype=float32), Array(-0.33171, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 108.4ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 103.4ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-17m-09s DEBUG: pose_idx: 21/64 +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.9942002, dtype=float32), 'right.joint_1.pos': Array(1.3054994, dtype=float32), 'right.joint_2.pos': Array(0.8730528, dtype=float32), 'right.joint_3.pos': Array(-1.1195631, dtype=float32), 'right.joint_4.pos': Array(0.00702398, dtype=float32), 'right.joint_5.pos': Array(-0.5699081, dtype=float32), 'right.gripper.pos': Array(0.04457177, dtype=float32)} +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting right arm positions: [Array(0.9942002, dtype=float32), Array(1.3054994, dtype=float32), Array(0.8730528, dtype=float32), Array(-1.1195631, dtype=float32), Array(0.00702398, dtype=float32), Array(-0.5699081, dtype=float32), Array(0.04457177, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457176849246025 +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 110.8ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-09s DEBUG: pose_idx: 22/64 +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.99457717, dtype=float32), 'right.joint_1.pos': Array(1.3060244, dtype=float32), 'right.joint_2.pos': Array(0.87343043, dtype=float32), 'right.joint_3.pos': Array(-1.1194087, dtype=float32), 'right.joint_4.pos': Array(0.00700946, dtype=float32), 'right.joint_5.pos': Array(-0.5695417, dtype=float32), 'right.gripper.pos': Array(0.0445713, dtype=float32)} +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting right arm positions: [Array(0.99457717, dtype=float32), Array(1.3060244, dtype=float32), Array(0.87343043, dtype=float32), Array(-1.1194087, dtype=float32), Array(0.00700946, dtype=float32), Array(-0.5695417, dtype=float32), Array(0.0445713, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457130283117294 +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 110.4ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-09s DEBUG: pose_idx: 23/64 +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 4.5ms +2025y-06m-25d-12h-17m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.9949569, dtype=float32), 'right.joint_1.pos': Array(1.3065494, dtype=float32), 'right.joint_2.pos': Array(0.8738086, dtype=float32), 'right.joint_3.pos': Array(-1.1192552, dtype=float32), 'right.joint_4.pos': Array(0.00699633, dtype=float32), 'right.joint_5.pos': Array(-0.569172, dtype=float32), 'right.gripper.pos': Array(0.04457086, dtype=float32)} +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting right arm positions: [Array(0.9949569, dtype=float32), Array(1.3065494, dtype=float32), Array(0.8738086, dtype=float32), Array(-1.1192552, dtype=float32), Array(0.00699633, dtype=float32), Array(-0.569172, dtype=float32), Array(0.04457086, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 7.2ms +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.044570863246917725 +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 101.9ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 106.5ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-09s DEBUG: pose_idx: 24/64 +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.9953344, dtype=float32), 'right.joint_1.pos': Array(1.3070742, dtype=float32), 'right.joint_2.pos': Array(0.87418664, dtype=float32), 'right.joint_3.pos': Array(-1.1191015, dtype=float32), 'right.joint_4.pos': Array(0.00698256, dtype=float32), 'right.joint_5.pos': Array(-0.56880474, dtype=float32), 'right.gripper.pos': Array(0.04457042, dtype=float32)} +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting right arm positions: [Array(0.9953344, dtype=float32), Array(1.3070742, dtype=float32), Array(0.87418664, dtype=float32), Array(-1.1191015, dtype=float32), Array(0.00698256, dtype=float32), Array(-0.56880474, dtype=float32), Array(0.04457042, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04457041621208191 +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-09s DEBUG: pose_idx: 25/64 +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read state: 1.5ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.9957117, dtype=float32), 'right.joint_1.pos': Array(1.3075992, dtype=float32), 'right.joint_2.pos': Array(0.8745654, dtype=float32), 'right.joint_3.pos': Array(-1.1189485, dtype=float32), 'right.joint_4.pos': Array(0.00696881, dtype=float32), 'right.joint_5.pos': Array(-0.5684378, dtype=float32), 'right.gripper.pos': Array(0.04456997, dtype=float32)} +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting right arm positions: [Array(0.9957117, dtype=float32), Array(1.3075992, dtype=float32), Array(0.8745654, dtype=float32), Array(-1.1189485, dtype=float32), Array(0.00696881, dtype=float32), Array(-0.5684378, dtype=float32), Array(0.04456997, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 0.9946975111961365 0.9957116842269897 +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8733882904052734 0.8745654225349426 +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044569965451955795 +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 111.5ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 111.5ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-09s DEBUG: pose_idx: 26/64 +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read state: 0.2ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 4.6ms +2025y-06m-25d-12h-17m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9960872, dtype=float32), 'right.joint_1.pos': Array(1.3081242, dtype=float32), 'right.joint_2.pos': Array(0.8749444, dtype=float32), 'right.joint_3.pos': Array(-1.1187952, dtype=float32), 'right.joint_4.pos': Array(0.00695437, dtype=float32), 'right.joint_5.pos': Array(-0.5680731, dtype=float32), 'right.gripper.pos': Array(0.0445695, dtype=float32)} +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting right arm positions: [Array(0.9960872, dtype=float32), Array(1.3081242, dtype=float32), Array(0.8749444, dtype=float32), Array(-1.1187952, dtype=float32), Array(0.00695437, dtype=float32), Array(-0.5680731, dtype=float32), Array(0.0445695, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456949979066849 +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 103.6ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-09s DEBUG: pose_idx: 27/64 +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9964636, dtype=float32), 'right.joint_1.pos': Array(1.3086491, dtype=float32), 'right.joint_2.pos': Array(0.8753235, dtype=float32), 'right.joint_3.pos': Array(-1.1186426, dtype=float32), 'right.joint_4.pos': Array(0.00694062, dtype=float32), 'right.joint_5.pos': Array(-0.5677069, dtype=float32), 'right.gripper.pos': Array(0.04456905, dtype=float32)} +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting right arm positions: [Array(0.9964636, dtype=float32), Array(1.3086491, dtype=float32), Array(0.8753235, dtype=float32), Array(-1.1186426, dtype=float32), Array(0.00694062, dtype=float32), Array(-0.5677069, dtype=float32), Array(0.04456905, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04456905275583267 +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 108.6ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: RealSenseCamera(230422273017) read took: 0.5ms +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-09s DEBUG: pose_idx: 28/64 +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-09s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9968396, dtype=float32), 'right.joint_1.pos': Array(1.3091741, dtype=float32), 'right.joint_2.pos': Array(0.875703, dtype=float32), 'right.joint_3.pos': Array(-1.11849, dtype=float32), 'right.joint_4.pos': Array(0.00692713, dtype=float32), 'right.joint_5.pos': Array(-0.56734115, dtype=float32), 'right.gripper.pos': Array(0.0445686, dtype=float32)} +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting right arm positions: [Array(0.9968396, dtype=float32), Array(1.3091741, dtype=float32), Array(0.875703, dtype=float32), Array(-1.11849, dtype=float32), Array(0.00692713, dtype=float32), Array(-0.56734115, dtype=float32), Array(0.0445686, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5685893297195435 -0.567341148853302 +2025y-06m-25d-12h-17m-09s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04456860199570656 +2025y-06m-25d-12h-17m-09s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 111.9ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-10s DEBUG: pose_idx: 29/64 +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(0.9972166, dtype=float32), 'right.joint_1.pos': Array(1.3096992, dtype=float32), 'right.joint_2.pos': Array(0.87608314, dtype=float32), 'right.joint_3.pos': Array(-1.1183382, dtype=float32), 'right.joint_4.pos': Array(0.00691405, dtype=float32), 'right.joint_5.pos': Array(-0.566974, dtype=float32), 'right.gripper.pos': Array(0.04456817, dtype=float32)} +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.9972166, dtype=float32), Array(1.3096992, dtype=float32), Array(0.87608314, dtype=float32), Array(-1.1183382, dtype=float32), Array(0.00691405, dtype=float32), Array(-0.566974, dtype=float32), Array(0.04456817, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3086519241333008 1.3096991777420044 +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5682078003883362 -0.5669739842414856 +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04456816986203194 +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(230422273017) read took: 108.4ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 106.6ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.4ms +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-10s DEBUG: pose_idx: 30/64 +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(230422273017) read took: 3.6ms +2025y-06m-25d-12h-17m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.99759036, dtype=float32), 'right.joint_1.pos': Array(1.3102242, dtype=float32), 'right.joint_2.pos': Array(0.8764629, dtype=float32), 'right.joint_3.pos': Array(-1.1181859, dtype=float32), 'right.joint_4.pos': Array(0.00689989, dtype=float32), 'right.joint_5.pos': Array(-0.56661075, dtype=float32), 'right.gripper.pos': Array(0.04456771, dtype=float32)} +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.99759036, dtype=float32), Array(1.3102242, dtype=float32), Array(0.8764629, dtype=float32), Array(-1.1181859, dtype=float32), Array(0.00689989, dtype=float32), Array(-0.56661075, dtype=float32), Array(0.04456771, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8752956390380859 0.8764628767967224 +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04456770792603493 +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 108.8ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(230422273017) read took: 107.1ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-10s DEBUG: pose_idx: 31/64 +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105535, dtype=float32), 'left.joint_1.pos': Array(1.2604564, dtype=float32), 'left.joint_2.pos': Array(0.8558877, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610757, dtype=float32), 'left.joint_5.pos': Array(-0.3316979, dtype=float32), 'left.gripper.pos': Array(8.543708e-09, dtype=float32), 'right.joint_0.pos': Array(0.9979651, dtype=float32), 'right.joint_1.pos': Array(1.3107494, dtype=float32), 'right.joint_2.pos': Array(0.8768437, dtype=float32), 'right.joint_3.pos': Array(-1.1180345, dtype=float32), 'right.joint_4.pos': Array(0.00688609, dtype=float32), 'right.joint_5.pos': Array(-0.56624645, dtype=float32), 'right.gripper.pos': Array(0.04456726, dtype=float32)} +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.9979651, dtype=float32), Array(1.3107494, dtype=float32), Array(0.8768437, dtype=float32), Array(-1.1180345, dtype=float32), Array(0.00688609, dtype=float32), Array(-0.56624645, dtype=float32), Array(0.04456726, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04456726089119911 +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105535, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558877, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610757, dtype=float32), Array(-0.3316979, dtype=float32), Array(8.543708e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(230422273017) read took: 110.5ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 111.2ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 8.543707963326597e-09 +2025y-06m-25d-12h-17m-10s DEBUG: pose_idx: 32/64 +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read state: 0.1ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.9987132, dtype=float32), 'right.joint_1.pos': Array(1.3117996, dtype=float32), 'right.joint_2.pos': Array(0.877605, dtype=float32), 'right.joint_3.pos': Array(-1.1177317, dtype=float32), 'right.joint_4.pos': Array(0.00685897, dtype=float32), 'right.joint_5.pos': Array(-0.5655187, dtype=float32), 'right.gripper.pos': Array(0.04456637, dtype=float32)} +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.9987132, dtype=float32), Array(1.3117996, dtype=float32), Array(0.877605, dtype=float32), Array(-1.1177317, dtype=float32), Array(0.00685897, dtype=float32), Array(-0.5655187, dtype=float32), Array(0.04456637, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3105592727661133 1.3117996454238892 +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456637054681778 +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 107.3ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(230422273017) read took: 108.7ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 1.7ms +2025y-06m-25d-12h-17m-10s DEBUG: pose_idx: 33/64 +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.999087, dtype=float32), 'right.joint_1.pos': Array(1.3123251, dtype=float32), 'right.joint_2.pos': Array(0.8779865, dtype=float32), 'right.joint_3.pos': Array(-1.1175807, dtype=float32), 'right.joint_4.pos': Array(0.00684572, dtype=float32), 'right.joint_5.pos': Array(-0.565155, dtype=float32), 'right.gripper.pos': Array(0.04456593, dtype=float32)} +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(230422273017) read took: 5.3ms +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.999087, dtype=float32), Array(1.3123251, dtype=float32), Array(0.8779865, dtype=float32), Array(-1.1175807, dtype=float32), Array(0.00684572, dtype=float32), Array(-0.565155, dtype=float32), Array(0.04456593, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456592723727226 +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 107.3ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-10s DEBUG: pose_idx: 34/64 +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.99946004, dtype=float32), 'right.joint_1.pos': Array(1.31285, dtype=float32), 'right.joint_2.pos': Array(0.8783679, dtype=float32), 'right.joint_3.pos': Array(-1.1174301, dtype=float32), 'right.joint_4.pos': Array(0.0068321, dtype=float32), 'right.joint_5.pos': Array(-0.5647923, dtype=float32), 'right.gripper.pos': Array(0.04456548, dtype=float32)} +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.99946004, dtype=float32), Array(1.31285, dtype=float32), Array(0.8783679, dtype=float32), Array(-1.1174301, dtype=float32), Array(0.0068321, dtype=float32), Array(-0.5647923, dtype=float32), Array(0.04456548, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044565483927726746 +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 110.7ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(230422273017) read took: 213.9ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-10s DEBUG: pose_idx: 35/64 +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read state: 1.3ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(0.99983263, dtype=float32), 'right.joint_1.pos': Array(1.3133754, dtype=float32), 'right.joint_2.pos': Array(0.87874955, dtype=float32), 'right.joint_3.pos': Array(-1.1172794, dtype=float32), 'right.joint_4.pos': Array(0.00681881, dtype=float32), 'right.joint_5.pos': Array(-0.5644297, dtype=float32), 'right.gripper.pos': Array(0.04456504, dtype=float32)} +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting right arm positions: [Array(0.99983263, dtype=float32), Array(1.3133754, dtype=float32), Array(0.87874955, dtype=float32), Array(-1.1172794, dtype=float32), Array(0.00681881, dtype=float32), Array(-0.5644297, dtype=float32), Array(0.04456504, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456504061818123 +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(230422273017) read took: 110.9ms +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-10s DEBUG: pose_idx: 36/64 +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 2.9ms +2025y-06m-25d-12h-17m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0002062, dtype=float32), 'right.joint_1.pos': Array(1.3139007, dtype=float32), 'right.joint_2.pos': Array(0.8791318, dtype=float32), 'right.joint_3.pos': Array(-1.1171294, dtype=float32), 'right.joint_4.pos': Array(0.00680586, dtype=float32), 'right.joint_5.pos': Array(-0.56406564, dtype=float32), 'right.gripper.pos': Array(0.04456461, dtype=float32)} +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting right arm positions: [Array(1.0002062, dtype=float32), Array(1.3139007, dtype=float32), Array(0.8791318, dtype=float32), Array(-1.1171294, dtype=float32), Array(0.00680586, dtype=float32), Array(-0.56406564, dtype=float32), Array(0.04456461, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044564612209796906 +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(230422273017) read took: 109.1ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 106.6ms +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-10s DEBUG: pose_idx: 37/64 +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-10s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0005782, dtype=float32), 'right.joint_1.pos': Array(1.3144262, dtype=float32), 'right.joint_2.pos': Array(0.8795141, dtype=float32), 'right.joint_3.pos': Array(-1.1169792, dtype=float32), 'right.joint_4.pos': Array(0.00679238, dtype=float32), 'right.joint_5.pos': Array(-0.56370413, dtype=float32), 'right.gripper.pos': Array(0.04456417, dtype=float32)} +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting right arm positions: [Array(1.0005782, dtype=float32), Array(1.3144262, dtype=float32), Array(0.8795141, dtype=float32), Array(-1.1169792, dtype=float32), Array(0.00679238, dtype=float32), Array(-0.56370413, dtype=float32), Array(0.04456417, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5647745728492737 -0.5637041330337524 +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456416890025139 +2025y-06m-25d-12h-17m-10s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 111.3ms +2025y-06m-25d-12h-17m-10s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-10s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-10s DEBUG: pose_idx: 38/64 +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-17m-10s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(218622278376) read took: 15.2ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(230422273017) read took: 130.2ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense2: 16.5ms +2025y-06m-25d-12h-17m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0009495, dtype=float32), 'right.joint_1.pos': Array(1.3149513, dtype=float32), 'right.joint_2.pos': Array(0.8798971, dtype=float32), 'right.joint_3.pos': Array(-1.11683, dtype=float32), 'right.joint_4.pos': Array(0.00677901, dtype=float32), 'right.joint_5.pos': Array(-0.56334287, dtype=float32), 'right.gripper.pos': Array(0.04456373, dtype=float32)} +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.0009495, dtype=float32), Array(1.3149513, dtype=float32), Array(0.8798971, dtype=float32), Array(-1.11683, dtype=float32), Array(0.00677901, dtype=float32), Array(-0.56334287, dtype=float32), Array(0.04456373, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456372931599617 +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(230422273017) read took: 105.5ms +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-11s DEBUG: pose_idx: 39/64 +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0013194, dtype=float32), 'right.joint_1.pos': Array(1.3154765, dtype=float32), 'right.joint_2.pos': Array(0.88028014, dtype=float32), 'right.joint_3.pos': Array(-1.1166809, dtype=float32), 'right.joint_4.pos': Array(0.006765, dtype=float32), 'right.joint_5.pos': Array(-0.5629835, dtype=float32), 'right.gripper.pos': Array(0.04456327, dtype=float32)} +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.0013194, dtype=float32), Array(1.3154765, dtype=float32), Array(0.88028014, dtype=float32), Array(-1.1166809, dtype=float32), Array(0.006765, dtype=float32), Array(-0.5629835, dtype=float32), Array(0.04456327, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04456327483057976 +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(218622278376) read took: 220.2ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-11s DEBUG: pose_idx: 40/64 +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(218622278376) read took: 12.9ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(230422273017) read took: 127.1ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense2: 14.0ms +2025y-06m-25d-12h-17m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105532, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.8558878, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610767, dtype=float32), 'left.joint_5.pos': Array(-0.33169764, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0016903, dtype=float32), 'right.joint_1.pos': Array(1.3160015, dtype=float32), 'right.joint_2.pos': Array(0.88066286, dtype=float32), 'right.joint_3.pos': Array(-1.1165314, dtype=float32), 'right.joint_4.pos': Array(0.00675188, dtype=float32), 'right.joint_5.pos': Array(-0.56262285, dtype=float32), 'right.gripper.pos': Array(0.04456283, dtype=float32)} +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.0016903, dtype=float32), Array(1.3160015, dtype=float32), Array(0.88066286, dtype=float32), Array(-1.1165314, dtype=float32), Array(0.00675188, dtype=float32), Array(-0.56262285, dtype=float32), Array(0.04456283, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456283152103424 +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105532, dtype=float32), Array(1.2604566, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610767, dtype=float32), Array(-0.33169764, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(230422273017) read took: 106.8ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(218622278376) read took: 110.4ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-17m-11s DEBUG: pose_idx: 41/64 +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105531, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.85588783, dtype=float32), 'left.joint_3.pos': Array(-1.1477641, dtype=float32), 'left.joint_4.pos': Array(0.01610772, dtype=float32), 'left.joint_5.pos': Array(-0.33169752, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0020602, dtype=float32), 'right.joint_1.pos': Array(1.3165269, dtype=float32), 'right.joint_2.pos': Array(0.88104683, dtype=float32), 'right.joint_3.pos': Array(-1.116383, dtype=float32), 'right.joint_4.pos': Array(0.00673849, dtype=float32), 'right.joint_5.pos': Array(-0.5622629, dtype=float32), 'right.gripper.pos': Array(0.04456239, dtype=float32)} +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.0020602, dtype=float32), Array(1.3165269, dtype=float32), Array(0.88104683, dtype=float32), Array(-1.116383, dtype=float32), Array(0.00673849, dtype=float32), Array(-0.5622629, dtype=float32), Array(0.04456239, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456239193677902 +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105531, dtype=float32), Array(1.2604566, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(0.01610772, dtype=float32), Array(-0.33169752, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-11s DEBUG: pose_idx: 42/64 +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105532, dtype=float32), 'left.joint_1.pos': Array(1.2604566, dtype=float32), 'left.joint_2.pos': Array(0.8558878, dtype=float32), 'left.joint_3.pos': Array(-1.147764, dtype=float32), 'left.joint_4.pos': Array(0.01610767, dtype=float32), 'left.joint_5.pos': Array(-0.33169764, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.0024303, dtype=float32), 'right.joint_1.pos': Array(1.3170525, dtype=float32), 'right.joint_2.pos': Array(0.8814307, dtype=float32), 'right.joint_3.pos': Array(-1.1162343, dtype=float32), 'right.joint_4.pos': Array(0.00672523, dtype=float32), 'right.joint_5.pos': Array(-0.5619028, dtype=float32), 'right.gripper.pos': Array(0.04456196, dtype=float32)} +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.0024303, dtype=float32), Array(1.3170525, dtype=float32), Array(0.8814307, dtype=float32), Array(-1.1162343, dtype=float32), Array(0.00672523, dtype=float32), Array(-0.5619028, dtype=float32), Array(0.04456196, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0445619560778141 +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105532, dtype=float32), Array(1.2604566, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.147764, dtype=float32), Array(0.01610767, dtype=float32), Array(-0.33169764, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(218622278376) read took: 107.9ms +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09 +2025y-06m-25d-12h-17m-11s DEBUG: pose_idx: 43/64 +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(230422273017) read took: 116.1ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense2: 4.4ms +2025y-06m-25d-12h-17m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106548, dtype=float32), 'left.joint_1.pos': Array(1.2603712, dtype=float32), 'left.joint_2.pos': Array(0.85583705, dtype=float32), 'left.joint_3.pos': Array(-1.1477587, dtype=float32), 'left.joint_4.pos': Array(0.01605555, dtype=float32), 'left.joint_5.pos': Array(-0.33181214, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0028008, dtype=float32), 'right.joint_1.pos': Array(1.317578, dtype=float32), 'right.joint_2.pos': Array(0.8818151, dtype=float32), 'right.joint_3.pos': Array(-1.1160861, dtype=float32), 'right.joint_4.pos': Array(0.00671259, dtype=float32), 'right.joint_5.pos': Array(-0.56154174, dtype=float32), 'right.gripper.pos': Array(0.04456153, dtype=float32)} +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.0028008, dtype=float32), Array(1.317578, dtype=float32), Array(0.8818151, dtype=float32), Array(-1.1160861, dtype=float32), Array(0.00671259, dtype=float32), Array(-0.56154174, dtype=float32), Array(0.04456153, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456153139472008 +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106548, dtype=float32), Array(1.2603712, dtype=float32), Array(0.85583705, dtype=float32), Array(-1.1477587, dtype=float32), Array(0.01605555, dtype=float32), Array(-0.33181214, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(218622278376) read took: 114.7ms +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-11s DEBUG: pose_idx: 44/64 +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(218622278376) read took: 23.1ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense2: 23.8ms +2025y-06m-25d-12h-17m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106673, dtype=float32), 'left.joint_1.pos': Array(1.2598591, dtype=float32), 'left.joint_2.pos': Array(0.8582319, dtype=float32), 'left.joint_3.pos': Array(-1.1506293, dtype=float32), 'left.joint_4.pos': Array(0.01604566, dtype=float32), 'left.joint_5.pos': Array(-0.3318258, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0031698, dtype=float32), 'right.joint_1.pos': Array(1.3181034, dtype=float32), 'right.joint_2.pos': Array(0.88219935, dtype=float32), 'right.joint_3.pos': Array(-1.1159381, dtype=float32), 'right.joint_4.pos': Array(0.00669923, dtype=float32), 'right.joint_5.pos': Array(-0.5611829, dtype=float32), 'right.gripper.pos': Array(0.04456109, dtype=float32)} +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.0031698, dtype=float32), Array(1.3181034, dtype=float32), Array(0.88219935, dtype=float32), Array(-1.1159381, dtype=float32), Array(0.00669923, dtype=float32), Array(-0.5611829, dtype=float32), Array(0.04456109, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3170443773269653 1.3181034326553345 +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04456109181046486 +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106673, dtype=float32), Array(1.2598591, dtype=float32), Array(0.8582319, dtype=float32), Array(-1.1506293, dtype=float32), Array(0.01604566, dtype=float32), Array(-0.3318258, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(218622278376) read took: 110.7ms +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8566033244132996 0.8582319021224976 +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-11s DEBUG: pose_idx: 45/64 +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(218622278376) read took: 22.5ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense2: 22.4ms +2025y-06m-25d-12h-17m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105773, dtype=float32), 'left.joint_1.pos': Array(1.2594413, dtype=float32), 'left.joint_2.pos': Array(0.8606828, dtype=float32), 'left.joint_3.pos': Array(-1.1535014, dtype=float32), 'left.joint_4.pos': Array(0.01608882, dtype=float32), 'left.joint_5.pos': Array(-0.33172303, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0035372, dtype=float32), 'right.joint_1.pos': Array(1.3186288, dtype=float32), 'right.joint_2.pos': Array(0.882584, dtype=float32), 'right.joint_3.pos': Array(-1.1157899, dtype=float32), 'right.joint_4.pos': Array(0.00668558, dtype=float32), 'right.joint_5.pos': Array(-0.5608259, dtype=float32), 'right.gripper.pos': Array(0.04456064, dtype=float32)} +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.0035372, dtype=float32), Array(1.3186288, dtype=float32), Array(0.882584, dtype=float32), Array(-1.1157899, dtype=float32), Array(0.00668558, dtype=float32), Array(-0.5608259, dtype=float32), Array(0.04456064, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044560641050338745 +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105773, dtype=float32), Array(1.2594413, dtype=float32), Array(0.8606828, dtype=float32), Array(-1.1535014, dtype=float32), Array(0.01608882, dtype=float32), Array(-0.33172303, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(230422273017) read took: 107.2ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(218622278376) read took: 110.7ms +2025y-06m-25d-12h-17m-11s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8596551418304443 0.8606827855110168 +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-11s DEBUG: pose_idx: 46/64 +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-11s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-11s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9105895, dtype=float32), 'left.joint_1.pos': Array(1.258947, dtype=float32), 'left.joint_2.pos': Array(0.8630875, dtype=float32), 'left.joint_3.pos': Array(-1.1563638, dtype=float32), 'left.joint_4.pos': Array(0.01607932, dtype=float32), 'left.joint_5.pos': Array(-0.3317357, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0039055, dtype=float32), 'right.joint_1.pos': Array(1.3191538, dtype=float32), 'right.joint_2.pos': Array(0.88296896, dtype=float32), 'right.joint_3.pos': Array(-1.1156427, dtype=float32), 'right.joint_4.pos': Array(0.00667236, dtype=float32), 'right.joint_5.pos': Array(-0.56046784, dtype=float32), 'right.gripper.pos': Array(0.04456021, dtype=float32)} +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting right arm positions: [Array(1.0039055, dtype=float32), Array(1.3191538, dtype=float32), Array(0.88296896, dtype=float32), Array(-1.1156427, dtype=float32), Array(0.00667236, dtype=float32), Array(-0.56046784, dtype=float32), Array(0.04456021, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-11s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044560205191373825 +2025y-06m-25d-12h-17m-11s DEBUG: 🦾 Setting left arm positions: [Array(-1.9105895, dtype=float32), Array(1.258947, dtype=float32), Array(0.8630875, dtype=float32), Array(-1.1563638, dtype=float32), Array(0.01607932, dtype=float32), Array(-0.3317357, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(218622278376) read took: 108.4ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8619440197944641 0.8630874752998352 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-12s DEBUG: pose_idx: 47/64 +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(218622278376) read took: 12.1ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(230422273017) read took: 125.2ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense2: 13.1ms +2025y-06m-25d-12h-17m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107051, dtype=float32), 'left.joint_1.pos': Array(1.2583755, dtype=float32), 'left.joint_2.pos': Array(0.8654462, dtype=float32), 'left.joint_3.pos': Array(-1.1592175, dtype=float32), 'left.joint_4.pos': Array(0.01601633, dtype=float32), 'left.joint_5.pos': Array(-0.33186573, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0042745, dtype=float32), 'right.joint_1.pos': Array(1.3196796, dtype=float32), 'right.joint_2.pos': Array(0.88335437, dtype=float32), 'right.joint_3.pos': Array(-1.1154953, dtype=float32), 'right.joint_4.pos': Array(0.00665979, dtype=float32), 'right.joint_5.pos': Array(-0.56010836, dtype=float32), 'right.gripper.pos': Array(0.04455978, dtype=float32)} +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.0042745, dtype=float32), Array(1.3196796, dtype=float32), Array(0.88335437, dtype=float32), Array(-1.1154953, dtype=float32), Array(0.00665979, dtype=float32), Array(-0.56010836, dtype=float32), Array(0.04455978, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3185702562332153 1.319679617881775 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0445597805082798 +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107051, dtype=float32), Array(1.2583755, dtype=float32), Array(0.8654462, dtype=float32), Array(-1.1592175, dtype=float32), Array(0.01601633, dtype=float32), Array(-0.33186573, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(230422273017) read took: 107.8ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(218622278376) read took: 111.4ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-12s DEBUG: pose_idx: 48/64 +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read state: 0.9ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106133, dtype=float32), 'left.joint_1.pos': Array(1.2579844, dtype=float32), 'left.joint_2.pos': Array(0.86791205, dtype=float32), 'left.joint_3.pos': Array(-1.1620785, dtype=float32), 'left.joint_4.pos': Array(0.01606051, dtype=float32), 'left.joint_5.pos': Array(-0.33176106, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0046407, dtype=float32), 'right.joint_1.pos': Array(1.3202049, dtype=float32), 'right.joint_2.pos': Array(0.88373995, dtype=float32), 'right.joint_3.pos': Array(-1.1153485, dtype=float32), 'right.joint_4.pos': Array(0.0066461, dtype=float32), 'right.joint_5.pos': Array(-0.55975246, dtype=float32), 'right.gripper.pos': Array(0.04455933, dtype=float32)} +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.0046407, dtype=float32), Array(1.3202049, dtype=float32), Array(0.88373995, dtype=float32), Array(-1.1153485, dtype=float32), Array(0.0066461, dtype=float32), Array(-0.55975246, dtype=float32), Array(0.04455933, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3189517259597778 1.3202048540115356 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044559333473443985 +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106133, dtype=float32), Array(1.2579844, dtype=float32), Array(0.86791205, dtype=float32), Array(-1.1620785, dtype=float32), Array(0.01606051, dtype=float32), Array(-0.33176106, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(218622278376) read took: 106.0ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(230422273017) read took: 105.9ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-12s DEBUG: pose_idx: 49/64 +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read state: 0.4ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107304, dtype=float32), 'left.joint_1.pos': Array(1.25743, dtype=float32), 'left.joint_2.pos': Array(0.87028015, dtype=float32), 'left.joint_3.pos': Array(-1.1649237, dtype=float32), 'left.joint_4.pos': Array(0.01599704, dtype=float32), 'left.joint_5.pos': Array(-0.33189243, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0050089, dtype=float32), 'right.joint_1.pos': Array(1.3207306, dtype=float32), 'right.joint_2.pos': Array(0.8841259, dtype=float32), 'right.joint_3.pos': Array(-1.1152016, dtype=float32), 'right.joint_4.pos': Array(0.00663357, dtype=float32), 'right.joint_5.pos': Array(-0.559394, dtype=float32), 'right.gripper.pos': Array(0.04455891, dtype=float32)} +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.0050089, dtype=float32), Array(1.3207306, dtype=float32), Array(0.8841259, dtype=float32), Array(-1.1152016, dtype=float32), Array(0.00663357, dtype=float32), Array(-0.559394, dtype=float32), Array(0.04455891, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04455891251564026 +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107304, dtype=float32), Array(1.25743, dtype=float32), Array(0.87028015, dtype=float32), Array(-1.1649237, dtype=float32), Array(0.01599704, dtype=float32), Array(-0.33189243, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(218622278376) read took: 107.4ms +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8691920638084412 0.8702801465988159 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-12s DEBUG: pose_idx: 50/64 +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(218622278376) read took: 5.8ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(230422273017) read took: 117.9ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense2: 7.1ms +2025y-06m-25d-12h-17m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106373, dtype=float32), 'left.joint_1.pos': Array(1.2570568, dtype=float32), 'left.joint_2.pos': Array(0.8727563, dtype=float32), 'left.joint_3.pos': Array(-1.1677773, dtype=float32), 'left.joint_4.pos': Array(0.01604163, dtype=float32), 'left.joint_5.pos': Array(-0.33178633, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0053742, dtype=float32), 'right.joint_1.pos': Array(1.3212557, dtype=float32), 'right.joint_2.pos': Array(0.884512, dtype=float32), 'right.joint_3.pos': Array(-1.1150554, dtype=float32), 'right.joint_4.pos': Array(0.00661988, dtype=float32), 'right.joint_5.pos': Array(-0.5590388, dtype=float32), 'right.gripper.pos': Array(0.04455847, dtype=float32)} +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.0053742, dtype=float32), Array(1.3212557, dtype=float32), Array(0.884512, dtype=float32), Array(-1.1150554, dtype=float32), Array(0.00661988, dtype=float32), Array(-0.5590388, dtype=float32), Array(0.04455847, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455846548080444 +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106373, dtype=float32), Array(1.2570568, dtype=float32), Array(0.8727563, dtype=float32), Array(-1.1677773, dtype=float32), Array(0.01604163, dtype=float32), Array(-0.33178633, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(230422273017) read took: 107.2ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(218622278376) read took: 110.7ms +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-12s DEBUG: pose_idx: 51/64 +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106494, dtype=float32), 'left.joint_1.pos': Array(1.2566062, dtype=float32), 'left.joint_2.pos': Array(0.8751858, dtype=float32), 'left.joint_3.pos': Array(-1.1706212, dtype=float32), 'left.joint_4.pos': Array(0.01603216, dtype=float32), 'left.joint_5.pos': Array(-0.33179882, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0057406, dtype=float32), 'right.joint_1.pos': Array(1.3217812, dtype=float32), 'right.joint_2.pos': Array(0.88489825, dtype=float32), 'right.joint_3.pos': Array(-1.1149092, dtype=float32), 'right.joint_4.pos': Array(0.00660682, dtype=float32), 'right.joint_5.pos': Array(-0.55868244, dtype=float32), 'right.gripper.pos': Array(0.04455803, dtype=float32)} +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.0057406, dtype=float32), Array(1.3217812, dtype=float32), Array(0.88489825, dtype=float32), Array(-1.1149092, dtype=float32), Array(0.00660682, dtype=float32), Array(-0.55868244, dtype=float32), Array(0.04455803, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455802962183952 +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106494, dtype=float32), Array(1.2566062, dtype=float32), Array(0.8751858, dtype=float32), Array(-1.1706212, dtype=float32), Array(0.01603216, dtype=float32), Array(-0.33179882, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(218622278376) read took: 108.8ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(218622278376) read took: 0.7ms +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-12s DEBUG: pose_idx: 52/64 +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(218622278376) read took: 12.4ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(230422273017) read took: 125.8ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense2: 12.9ms +2025y-06m-25d-12h-17m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.910661, dtype=float32), 'left.joint_1.pos': Array(1.2561642, dtype=float32), 'left.joint_2.pos': Array(0.87762016, dtype=float32), 'left.joint_3.pos': Array(-1.1734607, dtype=float32), 'left.joint_4.pos': Array(0.0160228, dtype=float32), 'left.joint_5.pos': Array(-0.33181128, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0064718, dtype=float32), 'right.joint_1.pos': Array(1.3228321, dtype=float32), 'right.joint_2.pos': Array(0.8856718, dtype=float32), 'right.joint_3.pos': Array(-1.1146175, dtype=float32), 'right.joint_4.pos': Array(0.00658074, dtype=float32), 'right.joint_5.pos': Array(-0.5579711, dtype=float32), 'right.gripper.pos': Array(0.04455717, dtype=float32)} +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.0064718, dtype=float32), Array(1.3228321, dtype=float32), Array(0.8856718, dtype=float32), Array(-1.1146175, dtype=float32), Array(0.00658074, dtype=float32), Array(-0.5579711, dtype=float32), Array(0.04455717, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3216220140457153 1.3228321075439453 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8844510316848755 0.8856717944145203 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04455716535449028 +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.910661, dtype=float32), Array(1.2561642, dtype=float32), Array(0.87762016, dtype=float32), Array(-1.1734607, dtype=float32), Array(0.0160228, dtype=float32), Array(-0.33181128, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(218622278376) read took: 111.9ms +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-12s DEBUG: pose_idx: 53/64 +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(218622278376) read took: 20.7ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense2: 21.7ms +2025y-06m-25d-12h-17m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107809, dtype=float32), 'left.joint_1.pos': Array(1.2556428, dtype=float32), 'left.joint_2.pos': Array(0.8800079, dtype=float32), 'left.joint_3.pos': Array(-1.1762921, dtype=float32), 'left.joint_4.pos': Array(0.01595801, dtype=float32), 'left.joint_5.pos': Array(-0.3319461, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0068381, dtype=float32), 'right.joint_1.pos': Array(1.3233578, dtype=float32), 'right.joint_2.pos': Array(0.8860595, dtype=float32), 'right.joint_3.pos': Array(-1.1144724, dtype=float32), 'right.joint_4.pos': Array(0.0065684, dtype=float32), 'right.joint_5.pos': Array(-0.55761445, dtype=float32), 'right.gripper.pos': Array(0.04455675, dtype=float32)} +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.0068381, dtype=float32), Array(1.3233578, dtype=float32), Array(0.8860595, dtype=float32), Array(-1.1144724, dtype=float32), Array(0.0065684, dtype=float32), Array(-0.55761445, dtype=float32), Array(0.04455675, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8848325610160828 0.8860595226287842 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04455674812197685 +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107809, dtype=float32), Array(1.2556428, dtype=float32), Array(0.8800079, dtype=float32), Array(-1.1762921, dtype=float32), Array(0.01595801, dtype=float32), Array(-0.3319461, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(230422273017) read took: 110.6ms +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.1774243116378784 -1.176292061805725 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-12s DEBUG: pose_idx: 54/64 +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read state: 0.2ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-12s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-12s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107935, dtype=float32), 'left.joint_1.pos': Array(1.2552176, dtype=float32), 'left.joint_2.pos': Array(0.88245195, dtype=float32), 'left.joint_3.pos': Array(-1.1791246, dtype=float32), 'left.joint_4.pos': Array(0.01594825, dtype=float32), 'left.joint_5.pos': Array(-0.3319597, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.0072026, dtype=float32), 'right.joint_1.pos': Array(1.3238837, dtype=float32), 'right.joint_2.pos': Array(0.8864471, dtype=float32), 'right.joint_3.pos': Array(-1.1143271, dtype=float32), 'right.joint_4.pos': Array(0.00655544, dtype=float32), 'right.joint_5.pos': Array(-0.5572598, dtype=float32), 'right.gripper.pos': Array(0.04455632, dtype=float32)} +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting right arm positions: [Array(1.0072026, dtype=float32), Array(1.3238837, dtype=float32), Array(0.8864471, dtype=float32), Array(-1.1143271, dtype=float32), Array(0.00655544, dtype=float32), Array(-0.5572598, dtype=float32), Array(0.04455632, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455631598830223 +2025y-06m-25d-12h-17m-12s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107935, dtype=float32), Array(1.2552176, dtype=float32), Array(0.88245195, dtype=float32), Array(-1.1791246, dtype=float32), Array(0.01594825, dtype=float32), Array(-0.3319597, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-12s DEBUG: RealSenseCamera(230422273017) read took: 109.1ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 223.2ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07 +2025y-06m-25d-12h-17m-13s DEBUG: pose_idx: 55/64 +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9106963, dtype=float32), 'left.joint_1.pos': Array(1.2548889, dtype=float32), 'left.joint_2.pos': Array(0.88495296, dtype=float32), 'left.joint_3.pos': Array(-1.181959, dtype=float32), 'left.joint_4.pos': Array(0.01599506, dtype=float32), 'left.joint_5.pos': Array(-0.33184847, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0075655, dtype=float32), 'right.joint_1.pos': Array(1.3244091, dtype=float32), 'right.joint_2.pos': Array(0.88683504, dtype=float32), 'right.joint_3.pos': Array(-1.1141822, dtype=float32), 'right.joint_4.pos': Array(0.00654203, dtype=float32), 'right.joint_5.pos': Array(-0.556907, dtype=float32), 'right.gripper.pos': Array(0.04455587, dtype=float32)} +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.0075655, dtype=float32), Array(1.3244091, dtype=float32), Array(0.88683504, dtype=float32), Array(-1.1141822, dtype=float32), Array(0.00654203, dtype=float32), Array(-0.556907, dtype=float32), Array(0.04455587, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5579079985618591 -0.5569069981575012 +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.044555872678756714 +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9106963, dtype=float32), Array(1.2548889, dtype=float32), Array(0.88495296, dtype=float32), Array(-1.181959, dtype=float32), Array(0.01599506, dtype=float32), Array(-0.33184847, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(230422273017) read took: 110.2ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 110.6ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-13s DEBUG: pose_idx: 56/64 +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read state: 0.7ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107082, dtype=float32), 'left.joint_1.pos': Array(1.2544805, dtype=float32), 'left.joint_2.pos': Array(0.88740677, dtype=float32), 'left.joint_3.pos': Array(-1.1847847, dtype=float32), 'left.joint_4.pos': Array(0.0159857, dtype=float32), 'left.joint_5.pos': Array(-0.33186108, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0079293, dtype=float32), 'right.joint_1.pos': Array(1.3249347, dtype=float32), 'right.joint_2.pos': Array(0.887223, dtype=float32), 'right.joint_3.pos': Array(-1.1140375, dtype=float32), 'right.joint_4.pos': Array(0.00652904, dtype=float32), 'right.joint_5.pos': Array(-0.5565531, dtype=float32), 'right.gripper.pos': Array(0.04455544, dtype=float32)} +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.0079293, dtype=float32), Array(1.3249347, dtype=float32), Array(0.887223, dtype=float32), Array(-1.1140375, dtype=float32), Array(0.00652904, dtype=float32), Array(-0.5565531, dtype=float32), Array(0.04455544, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455544427037239 +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107082, dtype=float32), Array(1.2544805, dtype=float32), Array(0.88740677, dtype=float32), Array(-1.1847847, dtype=float32), Array(0.0159857, dtype=float32), Array(-0.33186108, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.186579704284668 -1.1847846508026123 +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-13s DEBUG: pose_idx: 57/64 +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read state: 1.0ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 21.9ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(230422273017) read took: 136.0ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense2: 22.2ms +2025y-06m-25d-12h-17m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107196, dtype=float32), 'left.joint_1.pos': Array(1.2540814, dtype=float32), 'left.joint_2.pos': Array(0.88986576, dtype=float32), 'left.joint_3.pos': Array(-1.1876063, dtype=float32), 'left.joint_4.pos': Array(0.01597639, dtype=float32), 'left.joint_5.pos': Array(-0.33187303, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.008293, dtype=float32), 'right.joint_1.pos': Array(1.3254601, dtype=float32), 'right.joint_2.pos': Array(0.8876112, dtype=float32), 'right.joint_3.pos': Array(-1.1138932, dtype=float32), 'right.joint_4.pos': Array(0.00651627, dtype=float32), 'right.joint_5.pos': Array(-0.5561994, dtype=float32), 'right.gripper.pos': Array(0.04455502, dtype=float32)} +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.008293, dtype=float32), Array(1.3254601, dtype=float32), Array(0.8876112, dtype=float32), Array(-1.1138932, dtype=float32), Array(0.00651627, dtype=float32), Array(-0.5561994, dtype=float32), Array(0.04455502, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5575265288352966 -0.5561993718147278 +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04455501586198807 +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107196, dtype=float32), Array(1.2540814, dtype=float32), Array(0.88986576, dtype=float32), Array(-1.1876063, dtype=float32), Array(0.01597639, dtype=float32), Array(-0.33187303, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(230422273017) read took: 107.5ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 111.1ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_3 -1.188868522644043 -1.1876063346862793 +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-13s DEBUG: pose_idx: 58/64 +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read state: 0.6ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107312, dtype=float32), 'left.joint_1.pos': Array(1.25369, dtype=float32), 'left.joint_2.pos': Array(0.8923296, dtype=float32), 'left.joint_3.pos': Array(-1.1904248, dtype=float32), 'left.joint_4.pos': Array(0.01596713, dtype=float32), 'left.joint_5.pos': Array(-0.33188513, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0086559, dtype=float32), 'right.joint_1.pos': Array(1.3259858, dtype=float32), 'right.joint_2.pos': Array(0.88800037, dtype=float32), 'right.joint_3.pos': Array(-1.1137493, dtype=float32), 'right.joint_4.pos': Array(0.0065034, dtype=float32), 'right.joint_5.pos': Array(-0.55584615, dtype=float32), 'right.gripper.pos': Array(0.04455458, dtype=float32)} +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.0086559, dtype=float32), Array(1.3259858, dtype=float32), Array(0.88800037, dtype=float32), Array(-1.1137493, dtype=float32), Array(0.0065034, dtype=float32), Array(-0.55584615, dtype=float32), Array(0.04455458, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5571450591087341 -0.5558461546897888 +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044554583728313446 +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107312, dtype=float32), Array(1.25369, dtype=float32), Array(0.8923296, dtype=float32), Array(-1.1904248, dtype=float32), Array(0.01596713, dtype=float32), Array(-0.33188513, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 1.1ms +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-13s DEBUG: pose_idx: 59/64 +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read state: 0.5ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 10.3ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(230422273017) read took: 125.4ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense2: 11.4ms +2025y-06m-25d-12h-17m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107429, dtype=float32), 'left.joint_1.pos': Array(1.2533073, dtype=float32), 'left.joint_2.pos': Array(0.8947984, dtype=float32), 'left.joint_3.pos': Array(-1.1932393, dtype=float32), 'left.joint_4.pos': Array(0.01595795, dtype=float32), 'left.joint_5.pos': Array(-0.33189756, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0090185, dtype=float32), 'right.joint_1.pos': Array(1.3265115, dtype=float32), 'right.joint_2.pos': Array(0.8883891, dtype=float32), 'right.joint_3.pos': Array(-1.1136053, dtype=float32), 'right.joint_4.pos': Array(0.00649049, dtype=float32), 'right.joint_5.pos': Array(-0.55549365, dtype=float32), 'right.gripper.pos': Array(0.04455416, dtype=float32)} +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.0090185, dtype=float32), Array(1.3265115, dtype=float32), Array(0.8883891, dtype=float32), Array(-1.1136053, dtype=float32), Array(0.00649049, dtype=float32), Array(-0.55549365, dtype=float32), Array(0.04455416, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5567635893821716 -0.5554936528205872 +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.04455415904521942 +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107429, dtype=float32), Array(1.2533073, dtype=float32), Array(0.8947984, dtype=float32), Array(-1.1932393, dtype=float32), Array(0.01595795, dtype=float32), Array(-0.33189756, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 110.6ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(230422273017) read took: 107.5ms +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-13s DEBUG: pose_idx: 60/64 +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read state: 0.8ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107547, dtype=float32), 'left.joint_1.pos': Array(1.2529329, dtype=float32), 'left.joint_2.pos': Array(0.89727175, dtype=float32), 'left.joint_3.pos': Array(-1.1960503, dtype=float32), 'left.joint_4.pos': Array(0.01594868, dtype=float32), 'left.joint_5.pos': Array(-0.33190972, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0093808, dtype=float32), 'right.joint_1.pos': Array(1.327037, dtype=float32), 'right.joint_2.pos': Array(0.8887785, dtype=float32), 'right.joint_3.pos': Array(-1.1134619, dtype=float32), 'right.joint_4.pos': Array(0.00647775, dtype=float32), 'right.joint_5.pos': Array(-0.5551411, dtype=float32), 'right.gripper.pos': Array(0.04455373, dtype=float32)} +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.0093808, dtype=float32), Array(1.327037, dtype=float32), Array(0.8887785, dtype=float32), Array(-1.1134619, dtype=float32), Array(0.00647775, dtype=float32), Array(-0.5551411, dtype=float32), Array(0.04455373, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.039996519684791565 0.0445537306368351 +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107547, dtype=float32), Array(1.2529329, dtype=float32), Array(0.89727175, dtype=float32), Array(-1.1960503, dtype=float32), Array(0.01594868, dtype=float32), Array(-0.33190972, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-13s DEBUG: pose_idx: 61/64 +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read state: 0.3ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 13.7ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(230422273017) read took: 125.5ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense2: 15.1ms +2025y-06m-25d-12h-17m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107661, dtype=float32), 'left.joint_1.pos': Array(1.2525668, dtype=float32), 'left.joint_2.pos': Array(0.89975023, dtype=float32), 'left.joint_3.pos': Array(-1.198858, dtype=float32), 'left.joint_4.pos': Array(0.01593957, dtype=float32), 'left.joint_5.pos': Array(-0.33192173, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0097427, dtype=float32), 'right.joint_1.pos': Array(1.3275627, dtype=float32), 'right.joint_2.pos': Array(0.8891681, dtype=float32), 'right.joint_3.pos': Array(-1.1133186, dtype=float32), 'right.joint_4.pos': Array(0.00646502, dtype=float32), 'right.joint_5.pos': Array(-0.55478907, dtype=float32), 'right.gripper.pos': Array(0.0445533, dtype=float32)} +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.0097427, dtype=float32), Array(1.3275627, dtype=float32), Array(0.8891681, dtype=float32), Array(-1.1133186, dtype=float32), Array(0.00646502, dtype=float32), Array(-0.55478907, dtype=float32), Array(0.0445533, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.044553302228450775 +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107661, dtype=float32), Array(1.2525668, dtype=float32), Array(0.89975023, dtype=float32), Array(-1.198858, dtype=float32), Array(0.01593957, dtype=float32), Array(-0.33192173, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612 +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(230422273017) read took: 106.8ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms +2025y-06m-25d-12h-17m-13s DEBUG: RealSenseCamera(218622278376) read took: 110.3ms +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-13s DEBUG: pose_idx: 62/64 +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read state: 1.1ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-13s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-13s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107779, dtype=float32), 'left.joint_1.pos': Array(1.2522092, dtype=float32), 'left.joint_2.pos': Array(0.90223366, dtype=float32), 'left.joint_3.pos': Array(-1.2016622, dtype=float32), 'left.joint_4.pos': Array(0.01593037, dtype=float32), 'left.joint_5.pos': Array(-0.33193398, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0101041, dtype=float32), 'right.joint_1.pos': Array(1.3280883, dtype=float32), 'right.joint_2.pos': Array(0.8895581, dtype=float32), 'right.joint_3.pos': Array(-1.1131757, dtype=float32), 'right.joint_4.pos': Array(0.00645218, dtype=float32), 'right.joint_5.pos': Array(-0.55443734, dtype=float32), 'right.gripper.pos': Array(0.04455288, dtype=float32)} +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting right arm positions: [Array(1.0101041, dtype=float32), Array(1.3280883, dtype=float32), Array(0.8895581, dtype=float32), Array(-1.1131757, dtype=float32), Array(0.00645218, dtype=float32), Array(-0.55443734, dtype=float32), Array(0.04455288, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-17m-13s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455287754535675 +2025y-06m-25d-12h-17m-13s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107779, dtype=float32), Array(1.2522092, dtype=float32), Array(0.90223366, dtype=float32), Array(-1.2016622, dtype=float32), Array(0.01593037, dtype=float32), Array(-0.33193398, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-17m-15s DEBUG: RealSenseCamera(218622278376) read took: 2010.1ms +2025y-06m-25d-12h-17m-15s DEBUG: RealSenseCamera(230422273017) read took: 2010.6ms +2025y-06m-25d-12h-17m-15s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms +2025y-06m-25d-12h-17m-15s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-15s DEBUG: pose_idx: 63/64 +2025y-06m-25d-12h-17m-15s DEBUG: None Tatbot read state: 1.4ms +2025y-06m-25d-12h-17m-15s DEBUG: None Tatbot read realsense1: 0.0ms +2025y-06m-25d-12h-17m-15s DEBUG: None Tatbot read realsense2: 0.0ms +2025y-06m-25d-12h-17m-15s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-1.9107896, dtype=float32), 'left.joint_1.pos': Array(1.2518598, dtype=float32), 'left.joint_2.pos': Array(0.9047215, dtype=float32), 'left.joint_3.pos': Array(-1.2044624, dtype=float32), 'left.joint_4.pos': Array(0.015921, dtype=float32), 'left.joint_5.pos': Array(-0.33194628, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.0102683, dtype=float32), 'right.joint_1.pos': Array(1.318267, dtype=float32), 'right.joint_2.pos': Array(0.9311458, dtype=float32), 'right.joint_3.pos': Array(-1.1636292, dtype=float32), 'right.joint_4.pos': Array(0.00659597, dtype=float32), 'right.joint_5.pos': Array(-0.554272, dtype=float32), 'right.gripper.pos': Array(0.04455177, dtype=float32)} +2025y-06m-25d-12h-17m-15s DEBUG: 🦾 Setting right arm positions: [Array(1.0102683, dtype=float32), Array(1.318267, dtype=float32), Array(0.9311458, dtype=float32), Array(-1.1636292, dtype=float32), Array(0.00659597, dtype=float32), Array(-0.554272, dtype=float32), Array(0.04455177, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-17m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3277256488800049 1.3182669878005981 +2025y-06m-25d-12h-17m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8894102573394775 0.9311457872390747 +2025y-06m-25d-12h-17m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.113336443901062 -1.163629174232483 +2025y-06m-25d-12h-17m-15s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.04455177113413811 +2025y-06m-25d-12h-17m-15s DEBUG: 🦾 Setting left arm positions: [Array(-1.9107896, dtype=float32), Array(1.2518598, dtype=float32), Array(0.9047215, dtype=float32), Array(-1.2044624, dtype=float32), Array(0.015921, dtype=float32), Array(-0.33194628, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0 +2025y-06m-25d-12h-17m-17s DEBUG: RealSenseCamera(218622278376) read took: 2009.6ms +2025y-06m-25d-12h-17m-17s WARNING: Error reading frame in background thread for RealSenseCamera(230422273017): RealSenseCamera(230422273017) read failed (status=False). +2025y-06m-25d-12h-17m-17s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09 +2025y-06m-25d-12h-17m-17s INFO: 🤖🗃️ Writing episode log to /home/trossen-ai/tatbot/output/record/plan-bench-2025y-06m-25d-12h-13m-57s/logs/episode_000010.txt