diff --git "a/logs/episode_000011.txt" "b/logs/episode_000011.txt"
new file mode 100644--- /dev/null
+++ "b/logs/episode_000011.txt"
@@ -0,0 +1,925 @@
+2025y-06m-25d-12h-17m-20s DEBUG: 🤖 sending arms to rest pose
+2025y-06m-25d-12h-17m-20s 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-20s 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-20s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.0099564790725708 1.0
+2025y-06m-25d-12h-17m-20s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.3181887865066528 0.10000000149011612
+2025y-06m-25d-12h-17m-20s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 1.3181887865066528 0.10000000149011612
+2025y-06m-25d-12h-17m-20s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9313725233078003 0.5
+2025y-06m-25d-12h-17m-20s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.9313725233078003 0.5
+2025y-06m-25d-12h-17m-20s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1636911630630493 -1.2000000476837158
+2025y-06m-25d-12h-17m-20s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 0.006294346414506435 0.0
+2025y-06m-25d-12h-17m-20s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 -0.5544747114181519 0.0
+2025y-06m-25d-12h-17m-20s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 -0.5544747114181519 0.0
+2025y-06m-25d-12h-17m-20s WARNING: 🦾⚠️ Right arm position mismatch: right.gripper 0.03999985754489899 0.0
+2025y-06m-25d-12h-17m-20s WARNING: 🦾❌ Failed to set right arm positions: 
+<class 'ValueError'>:
+right arm joints mismatch
+No error
+2025y-06m-25d-12h-17m-20s 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-22s DEBUG: RealSenseCamera(218622278376) read took: 2002.4ms
+2025y-06m-25d-12h-17m-22s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-22s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 0.0
+2025y-06m-25d-12h-17m-22s DEBUG: RealSenseCamera(230422273017) read took: 2033.1ms
+2025y-06m-25d-12h-17m-22s INFO: 🤖 recording path 11 of 15
+2025y-06m-25d-12h-17m-22s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-17m-22s DEBUG: pose_idx: 0/64
+2025y-06m-25d-12h-17m-22s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-17m-22s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-22s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-22s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9608792, dtype=float32), 'left.joint_1.pos': Array(1.3130336, dtype=float32), 'left.joint_2.pos': Array(0.9272717, dtype=float32), 'left.joint_3.pos': Array(-1.1650734, dtype=float32), 'left.joint_4.pos': Array(-0.00779288, dtype=float32), 'left.joint_5.pos': Array(0.60254276, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107894, dtype=float32), 'right.joint_1.pos': Array(1.2518599, dtype=float32), 'right.joint_2.pos': Array(0.9047216, dtype=float32), 'right.joint_3.pos': Array(-1.2044623, dtype=float32), 'right.joint_4.pos': Array(-0.01592097, dtype=float32), 'right.joint_5.pos': Array(0.33194605, dtype=float32), 'right.gripper.pos': Array(-0.00081068, dtype=float32)}
+2025y-06m-25d-12h-17m-22s DEBUG: 🦾 Setting right arm positions: [Array(1.9107894, dtype=float32), Array(1.2518599, dtype=float32), Array(0.9047216, dtype=float32), Array(-1.2044623, dtype=float32), Array(-0.01592097, dtype=float32), Array(0.33194605, dtype=float32), Array(-0.00081068, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-17m-22s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_0 1.0000381469726562 1.9107893705368042
+2025y-06m-25d-12h-17m-22s ERROR: 🦾❌ Right arm position mismatch: right.joint_0 1.0000381469726562 1.9107893705368042
+2025y-06m-25d-12h-17m-22s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 0.09937438368797302 1.2518599033355713
+2025y-06m-25d-12h-17m-22s ERROR: 🦾❌ Right arm position mismatch: right.joint_1 0.09937438368797302 1.2518599033355713
+2025y-06m-25d-12h-17m-22s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.499542236328125 0.9047216176986694
+2025y-06m-25d-12h-17m-22s ERROR: 🦾❌ Right arm position mismatch: right.joint_2 0.499542236328125 0.9047216176986694
+2025y-06m-25d-12h-17m-22s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.2006943225860596 -1.2044622898101807
+2025y-06m-25d-12h-17m-22s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_4 0.00019073777366429567 -0.0159209743142128
+2025y-06m-25d-12h-17m-22s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_5 0.00019073777366429567 0.3319460451602936
+2025y-06m-25d-12h-17m-22s ERROR: 🦾❌ Right arm position mismatch: right.joint_5 0.00019073777366429567 0.3319460451602936
+2025y-06m-25d-12h-17m-22s WARNING: 🦾❌ Failed to set right arm positions: 
+<class 'ValueError'>:
+right arm joints mismatch
+No error
+2025y-06m-25d-12h-17m-22s DEBUG: 🦾 Setting left arm positions: [Array(-0.9608792, dtype=float32), Array(1.3130336, dtype=float32), Array(0.9272717, dtype=float32), Array(-1.1650734, dtype=float32), Array(-0.00779288, dtype=float32), Array(0.60254276, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-17m-24s DEBUG: RealSenseCamera(218622278376) read took: 2008.5ms
+2025y-06m-25d-12h-17m-24s DEBUG: RealSenseCamera(230422273017) read took: 2007.5ms
+2025y-06m-25d-12h-17m-24s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-24s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-24s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-24s DEBUG: pose_idx: 1/64
+2025y-06m-25d-12h-17m-24s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-17m-24s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-24s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-24s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9607421, dtype=float32), 'left.joint_1.pos': Array(1.3227977, dtype=float32), 'left.joint_2.pos': Array(0.885598, dtype=float32), 'left.joint_3.pos': Array(-1.1145884, dtype=float32), 'left.joint_4.pos': Array(-0.00767258, dtype=float32), 'left.joint_5.pos': Array(0.60268116, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108948, dtype=float32), 'right.joint_1.pos': Array(1.2521012, dtype=float32), 'right.joint_2.pos': Array(0.9022987, dtype=float32), 'right.joint_3.pos': Array(-1.2017901, dtype=float32), 'right.joint_4.pos': Array(-0.01587011, dtype=float32), 'right.joint_5.pos': Array(0.33206666, dtype=float32), 'right.gripper.pos': Array(-0.00080986, dtype=float32)}
+2025y-06m-25d-12h-17m-24s DEBUG: 🦾 Setting right arm positions: [Array(1.9108948, dtype=float32), Array(1.2521012, dtype=float32), Array(0.9022987, dtype=float32), Array(-1.2017901, dtype=float32), Array(-0.01587011, dtype=float32), Array(0.33206666, dtype=float32), Array(-0.00080986, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-17m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9046692848205566 0.9022986888885498
+2025y-06m-25d-12h-17m-24s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.2045090198516846 -1.2017900943756104
+2025y-06m-25d-12h-17m-24s DEBUG: 🦾 Setting left arm positions: [Array(-0.9607421, dtype=float32), Array(1.3227977, dtype=float32), Array(0.885598, dtype=float32), Array(-1.1145884, dtype=float32), Array(-0.00767258, dtype=float32), Array(0.60268116, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(230422273017) read took: 2009.3ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(218622278376) read took: 2009.8ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-26s DEBUG: pose_idx: 2/64
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9599752, dtype=float32), 'left.joint_1.pos': Array(1.3240386, dtype=float32), 'left.joint_2.pos': Array(0.88651127, dtype=float32), 'left.joint_3.pos': Array(-1.1142441, dtype=float32), 'left.joint_4.pos': Array(-0.00767923, dtype=float32), 'left.joint_5.pos': Array(0.60343534, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108822, dtype=float32), 'right.joint_1.pos': Array(1.2524418, dtype=float32), 'right.joint_2.pos': Array(0.8999335, dtype=float32), 'right.joint_3.pos': Array(-1.1991197, dtype=float32), 'right.joint_4.pos': Array(-0.01587935, dtype=float32), 'right.joint_5.pos': Array(0.33205354, dtype=float32), 'right.gripper.pos': Array(-0.00080988, dtype=float32)}
+2025y-06m-25d-12h-17m-26s DEBUG: 🦾 Setting right arm positions: [Array(1.9108822, dtype=float32), Array(1.2524418, dtype=float32), Array(0.8999335, dtype=float32), Array(-1.1991197, dtype=float32), Array(-0.01587935, dtype=float32), Array(0.33205354, dtype=float32), Array(-0.00080988, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9023804068565369 0.8999335169792175
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.201838731765747 -1.1991196870803833
+2025y-06m-25d-12h-17m-26s DEBUG: 🦾 Setting left arm positions: [Array(-0.9599752, dtype=float32), Array(1.3240386, dtype=float32), Array(0.88651127, dtype=float32), Array(-1.1142441, dtype=float32), Array(-0.00767923, dtype=float32), Array(0.60343534, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(218622278376) read took: 107.3ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(230422273017) read took: 109.5ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8852140307426453 0.8865112662315369
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-26s DEBUG: pose_idx: 3/64
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(218622278376) read took: 3.7ms
+2025y-06m-25d-12h-17m-26s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9595986, dtype=float32), 'left.joint_1.pos': Array(1.3257864, dtype=float32), 'left.joint_2.pos': Array(0.88780016, dtype=float32), 'left.joint_3.pos': Array(-1.1137614, dtype=float32), 'left.joint_4.pos': Array(-0.00767078, dtype=float32), 'left.joint_5.pos': Array(0.6038106, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107562, dtype=float32), 'right.joint_1.pos': Array(1.2528801, dtype=float32), 'right.joint_2.pos': Array(0.89762557, dtype=float32), 'right.joint_3.pos': Array(-1.1964517, dtype=float32), 'right.joint_4.pos': Array(-0.01594742, dtype=float32), 'right.joint_5.pos': Array(0.3319115, dtype=float32), 'right.gripper.pos': Array(-0.00081073, dtype=float32)}
+2025y-06m-25d-12h-17m-26s DEBUG: 🦾 Setting right arm positions: [Array(1.9107562, dtype=float32), Array(1.2528801, dtype=float32), Array(0.89762557, dtype=float32), Array(-1.1964517, dtype=float32), Array(-0.01594742, dtype=float32), Array(0.3319115, dtype=float32), Array(-0.00081073, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(230422273017) read took: 6.4ms
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8997100591659546 0.8976255655288696
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1999313831329346 -1.1964516639709473
+2025y-06m-25d-12h-17m-26s DEBUG: 🦾 Setting left arm positions: [Array(-0.9595986, dtype=float32), Array(1.3257864, dtype=float32), Array(0.88780016, dtype=float32), Array(-1.1137614, dtype=float32), Array(-0.00767078, dtype=float32), Array(0.6038106, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(230422273017) read took: 102.3ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(218622278376) read took: 107.7ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8855955004692078 0.8878001570701599
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-26s DEBUG: pose_idx: 4/64
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.95922816, dtype=float32), 'left.joint_1.pos': Array(1.327534, dtype=float32), 'left.joint_2.pos': Array(0.88909245, dtype=float32), 'left.joint_3.pos': Array(-1.1132827, dtype=float32), 'left.joint_4.pos': Array(-0.00766425, dtype=float32), 'left.joint_5.pos': Array(0.6041785, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108586, dtype=float32), 'right.joint_1.pos': Array(1.2531453, dtype=float32), 'right.joint_2.pos': Array(0.89521646, dtype=float32), 'right.joint_3.pos': Array(-1.1937697, dtype=float32), 'right.joint_4.pos': Array(-0.01589788, dtype=float32), 'right.joint_5.pos': Array(0.33202857, dtype=float32), 'right.gripper.pos': Array(-0.00080993, dtype=float32)}
+2025y-06m-25d-12h-17m-26s DEBUG: 🦾 Setting right arm positions: [Array(1.9108586, dtype=float32), Array(1.2531453, dtype=float32), Array(0.89521646, dtype=float32), Array(-1.1937697, dtype=float32), Array(-0.01589788, dtype=float32), Array(0.33202857, dtype=float32), Array(-0.00080993, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8981841802597046 0.8952164649963379
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.19611656665802 -1.1937696933746338
+2025y-06m-25d-12h-17m-26s DEBUG: 🦾 Setting left arm positions: [Array(-0.95922816, dtype=float32), Array(1.327534, dtype=float32), Array(0.88909245, dtype=float32), Array(-1.1132827, dtype=float32), Array(-0.00766425, dtype=float32), Array(0.6041785, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(230422273017) read took: 109.8ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8867399096488953 0.8890924453735352
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.6029220819473267 0.6041784882545471
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-26s DEBUG: pose_idx: 5/64
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9590399, dtype=float32), 'left.joint_1.pos': Array(1.3284066, dtype=float32), 'left.joint_2.pos': Array(0.88973904, dtype=float32), 'left.joint_3.pos': Array(-1.1130445, dtype=float32), 'left.joint_4.pos': Array(-0.00765936, dtype=float32), 'left.joint_5.pos': Array(0.6043664, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107342, dtype=float32), 'right.joint_1.pos': Array(1.2535982, dtype=float32), 'right.joint_2.pos': Array(0.89291686, dtype=float32), 'right.joint_3.pos': Array(-1.1910949, dtype=float32), 'right.joint_4.pos': Array(-0.01596499, dtype=float32), 'right.joint_5.pos': Array(0.3318881, dtype=float32), 'right.gripper.pos': Array(-0.00081076, dtype=float32)}
+2025y-06m-25d-12h-17m-26s DEBUG: 🦾 Setting right arm positions: [Array(1.9107342, dtype=float32), Array(1.2535982, dtype=float32), Array(0.89291686, dtype=float32), Array(-1.1910949, dtype=float32), Array(-0.01596499, dtype=float32), Array(0.3318881, dtype=float32), Array(-0.00081076, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8955138325691223 0.8929168581962585
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.19459068775177 -1.1910948753356934
+2025y-06m-25d-12h-17m-26s DEBUG: 🦾 Setting left arm positions: [Array(-0.9590399, dtype=float32), Array(1.3284066, dtype=float32), Array(0.88973904, dtype=float32), Array(-1.1130445, dtype=float32), Array(-0.00765936, dtype=float32), Array(0.6043664, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(230422273017) read took: 108.6ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(230422273017) read took: 0.7ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8875028491020203 0.8897390365600586
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.6033035516738892 0.6043664216995239
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-26s DEBUG: pose_idx: 6/64
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.95867157, dtype=float32), 'left.joint_1.pos': Array(1.330153, dtype=float32), 'left.joint_2.pos': Array(0.8910341, dtype=float32), 'left.joint_3.pos': Array(-1.1125698, dtype=float32), 'left.joint_4.pos': Array(-0.00765273, dtype=float32), 'left.joint_5.pos': Array(0.6047322, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108344, dtype=float32), 'right.joint_1.pos': Array(1.2538795, dtype=float32), 'right.joint_2.pos': Array(0.8905172, dtype=float32), 'right.joint_3.pos': Array(-1.1884068, dtype=float32), 'right.joint_4.pos': Array(-0.01591636, dtype=float32), 'right.joint_5.pos': Array(0.33200294, dtype=float32), 'right.gripper.pos': Array(-0.00080998, dtype=float32)}
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(218622278376) read took: 6.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: 🦾 Setting right arm positions: [Array(1.9108344, dtype=float32), Array(1.2538795, dtype=float32), Array(0.8905172, dtype=float32), Array(-1.1884068, dtype=float32), Array(-0.01591636, dtype=float32), Array(0.33200294, dtype=float32), Array(-0.00080998, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.892080545425415 0.8905171751976013
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(230422273017) read took: 8.1ms
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.191157341003418 -1.1884068250656128
+2025y-06m-25d-12h-17m-26s DEBUG: 🦾 Setting left arm positions: [Array(-0.95867157, dtype=float32), Array(1.330153, dtype=float32), Array(0.8910341, dtype=float32), Array(-1.1125698, dtype=float32), Array(-0.00765273, dtype=float32), Array(0.6047322, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(230422273017) read took: 102.8ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(218622278376) read took: 105.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.889028787612915 0.8910341262817383
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.6036850810050964 0.6047322154045105
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-26s DEBUG: pose_idx: 7/64
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-26s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9583003, dtype=float32), 'left.joint_1.pos': Array(1.3318967, dtype=float32), 'left.joint_2.pos': Array(0.89233065, dtype=float32), 'left.joint_3.pos': Array(-1.1120987, dtype=float32), 'left.joint_4.pos': Array(-0.0076442, dtype=float32), 'left.joint_5.pos': Array(0.6051024, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107119, dtype=float32), 'right.joint_1.pos': Array(1.2543468, dtype=float32), 'right.joint_2.pos': Array(0.8882263, dtype=float32), 'right.joint_3.pos': Array(-1.1857259, dtype=float32), 'right.joint_4.pos': Array(-0.01598262, dtype=float32), 'right.joint_5.pos': Array(0.33186522, dtype=float32), 'right.gripper.pos': Array(-0.0008108, dtype=float32)}
+2025y-06m-25d-12h-17m-26s DEBUG: 🦾 Setting right arm positions: [Array(1.9107119, dtype=float32), Array(1.2543468, dtype=float32), Array(0.8882263, dtype=float32), Array(-1.1857259, dtype=float32), Array(-0.01598262, dtype=float32), Array(0.33186522, dtype=float32), Array(-0.0008108, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2533378601074219 1.2543468475341797
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8901731967926025 0.8882262706756592
+2025y-06m-25d-12h-17m-26s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1884870529174805 -1.1857259273529053
+2025y-06m-25d-12h-17m-26s DEBUG: 🦾 Setting left arm positions: [Array(-0.9583003, dtype=float32), Array(1.3318967, dtype=float32), Array(0.89233065, dtype=float32), Array(-1.1120987, dtype=float32), Array(-0.0076442, dtype=float32), Array(0.6051024, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 0.5ms
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.89131760597229 0.8923306465148926
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.6040665507316589 0.6051024198532104
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-27s DEBUG: pose_idx: 8/64
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.95850456, dtype=float32), 'left.joint_1.pos': Array(1.3332741, dtype=float32), 'left.joint_2.pos': Array(0.8933578, dtype=float32), 'left.joint_3.pos': Array(-1.1117294, dtype=float32), 'left.joint_4.pos': Array(-0.00762666, dtype=float32), 'left.joint_5.pos': Array(0.60490763, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107008, dtype=float32), 'right.joint_1.pos': Array(1.2547324, dtype=float32), 'right.joint_2.pos': Array(0.8858871, dtype=float32), 'right.joint_3.pos': Array(-1.1830359, dtype=float32), 'right.joint_4.pos': Array(-0.0159914, dtype=float32), 'right.joint_5.pos': Array(0.33185327, dtype=float32), 'right.gripper.pos': Array(-0.00081082, dtype=float32)}
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting right arm positions: [Array(1.9107008, dtype=float32), Array(1.2547324, dtype=float32), Array(0.8858871, dtype=float32), Array(-1.1830359, dtype=float32), Array(-0.0159914, dtype=float32), Array(0.33185327, dtype=float32), Array(-0.00081082, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2537193298339844 1.254732370376587
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8878843188285828 0.885887086391449
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1854352951049805 -1.1830358505249023
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting left arm positions: [Array(-0.95850456, dtype=float32), Array(1.3332741, dtype=float32), Array(0.8933578, dtype=float32), Array(-1.1117294, dtype=float32), Array(-0.00762666, dtype=float32), Array(0.60490763, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 110.8ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-27s DEBUG: pose_idx: 9/64
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9581374, dtype=float32), 'left.joint_1.pos': Array(1.3350161, dtype=float32), 'left.joint_2.pos': Array(0.89465845, dtype=float32), 'left.joint_3.pos': Array(-1.1112641, dtype=float32), 'left.joint_4.pos': Array(-0.00761903, dtype=float32), 'left.joint_5.pos': Array(0.605273, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106896, dtype=float32), 'right.joint_1.pos': Array(1.2551256, dtype=float32), 'right.joint_2.pos': Array(0.88355255, dtype=float32), 'right.joint_3.pos': Array(-1.1803427, dtype=float32), 'right.joint_4.pos': Array(-0.01600034, dtype=float32), 'right.joint_5.pos': Array(0.33184144, dtype=float32), 'right.gripper.pos': Array(-0.00081085, dtype=float32)}
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 6.6ms
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting right arm positions: [Array(1.9106896, dtype=float32), Array(1.2551256, dtype=float32), Array(0.88355255, dtype=float32), Array(-1.1803427, dtype=float32), Array(-0.01600034, dtype=float32), Array(0.33184144, dtype=float32), Array(-0.00081085, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8852140307426453 0.8835525512695312
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 9.1ms
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.183146357536316 -1.180342674255371
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting left arm positions: [Array(-0.9581374, dtype=float32), Array(1.3350161, dtype=float32), Array(0.89465845, dtype=float32), Array(-1.1112641, dtype=float32), Array(-0.00761903, dtype=float32), Array(0.605273, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 101.9ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 103.6ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-27s DEBUG: pose_idx: 10/64
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.95834136, dtype=float32), 'left.joint_1.pos': Array(1.3363917, dtype=float32), 'left.joint_2.pos': Array(0.8956882, dtype=float32), 'left.joint_3.pos': Array(-1.110899, dtype=float32), 'left.joint_4.pos': Array(-0.00760164, dtype=float32), 'left.joint_5.pos': Array(0.6050787, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106784, dtype=float32), 'right.joint_1.pos': Array(1.2555268, dtype=float32), 'right.joint_2.pos': Array(0.8812228, dtype=float32), 'right.joint_3.pos': Array(-1.1776468, dtype=float32), 'right.joint_4.pos': Array(-0.01600935, dtype=float32), 'right.joint_5.pos': Array(0.33182967, dtype=float32), 'right.gripper.pos': Array(-0.00081087, dtype=float32)}
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting right arm positions: [Array(1.9106784, dtype=float32), Array(1.2555268, dtype=float32), Array(0.8812228, dtype=float32), Array(-1.1776468, dtype=float32), Array(-0.01600935, dtype=float32), Array(0.33182967, dtype=float32), Array(-0.00081087, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.883306622505188 0.8812227845191956
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1812390089035034 -1.1776467561721802
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting left arm positions: [Array(-0.95834136, dtype=float32), Array(1.3363917, dtype=float32), Array(0.8956882, dtype=float32), Array(-1.110899, dtype=float32), Array(-0.00760164, dtype=float32), Array(0.6050787, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 111.2ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 0.6ms
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-27s DEBUG: pose_idx: 11/64
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9581608, dtype=float32), 'left.joint_1.pos': Array(1.3372625, dtype=float32), 'left.joint_2.pos': Array(0.8963405, dtype=float32), 'left.joint_3.pos': Array(-1.1106689, dtype=float32), 'left.joint_4.pos': Array(-0.00759903, dtype=float32), 'left.joint_5.pos': Array(0.6052575, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107748, dtype=float32), 'right.joint_1.pos': Array(1.2558485, dtype=float32), 'right.joint_2.pos': Array(0.8788455, dtype=float32), 'right.joint_3.pos': Array(-1.1749417, dtype=float32), 'right.joint_4.pos': Array(-0.01596265, dtype=float32), 'right.joint_5.pos': Array(0.33193985, dtype=float32), 'right.gripper.pos': Array(-0.00081012, dtype=float32)}
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting right arm positions: [Array(1.9107748, dtype=float32), Array(1.2558485, dtype=float32), Array(0.8788455, dtype=float32), Array(-1.1749417, dtype=float32), Array(-0.01596265, dtype=float32), Array(0.33193985, dtype=float32), Array(-0.00081012, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8821622133255005 0.8788455128669739
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.177805781364441 -1.1749416589736938
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting left arm positions: [Array(-0.9581608, dtype=float32), Array(1.3372625, dtype=float32), Array(0.8963405, dtype=float32), Array(-1.1106689, dtype=float32), Array(-0.00759903, dtype=float32), Array(0.6052575, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.8951323628425598 0.8963404893875122
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-27s DEBUG: pose_idx: 12/64
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9577938, dtype=float32), 'left.joint_1.pos': Array(1.3390008, dtype=float32), 'left.joint_2.pos': Array(0.8976456, dtype=float32), 'left.joint_3.pos': Array(-1.1102115, dtype=float32), 'left.joint_4.pos': Array(-0.00759044, dtype=float32), 'left.joint_5.pos': Array(0.6056235, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910656, dtype=float32), 'right.joint_1.pos': Array(1.2563524, dtype=float32), 'right.joint_2.pos': Array(0.8765762, dtype=float32), 'right.joint_3.pos': Array(-1.1722444, dtype=float32), 'right.joint_4.pos': Array(-0.01602681, dtype=float32), 'right.joint_5.pos': Array(0.3318059, dtype=float32), 'right.gripper.pos': Array(-0.00081092, dtype=float32)}
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting right arm positions: [Array(1.910656, dtype=float32), Array(1.2563524, dtype=float32), Array(0.8765762, dtype=float32), Array(-1.1722444, dtype=float32), Array(-0.01602681, dtype=float32), Array(0.3318059, dtype=float32), Array(-0.00081092, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 6.9ms
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8783474564552307 0.8765761852264404
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1751353740692139 -1.1722444295883179
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting left arm positions: [Array(-0.9577938, dtype=float32), Array(1.3390008, dtype=float32), Array(0.8976456, dtype=float32), Array(-1.1102115, dtype=float32), Array(-0.00759044, dtype=float32), Array(0.6056235, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 102.8ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 110.4ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-27s DEBUG: pose_idx: 13/64
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9574305, dtype=float32), 'left.joint_1.pos': Array(1.340739, dtype=float32), 'left.joint_2.pos': Array(0.89895344, dtype=float32), 'left.joint_3.pos': Array(-1.109757, dtype=float32), 'left.joint_4.pos': Array(-0.00758296, dtype=float32), 'left.joint_5.pos': Array(0.605985, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106447, dtype=float32), 'right.joint_1.pos': Array(1.2567767, dtype=float32), 'right.joint_2.pos': Array(0.8742597, dtype=float32), 'right.joint_3.pos': Array(-1.1695381, dtype=float32), 'right.joint_4.pos': Array(-0.01603584, dtype=float32), 'right.joint_5.pos': Array(0.3317941, dtype=float32), 'right.gripper.pos': Array(-0.00081094, dtype=float32)}
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting right arm positions: [Array(1.9106447, dtype=float32), Array(1.2567767, dtype=float32), Array(0.8742597, dtype=float32), Array(-1.1695381, dtype=float32), Array(-0.01603584, dtype=float32), Array(0.3317941, dtype=float32), Array(-0.00081094, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8760585784912109 0.8742597103118896
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1717021465301514 -1.169538140296936
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting left arm positions: [Array(-0.9574305, dtype=float32), Array(1.340739, dtype=float32), Array(0.89895344, dtype=float32), Array(-1.109757, dtype=float32), Array(-0.00758296, dtype=float32), Array(0.605985, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 109.6ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 110.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-27s DEBUG: pose_idx: 14/64
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.95763457, dtype=float32), 'left.joint_1.pos': Array(1.3421108, dtype=float32), 'left.joint_2.pos': Array(0.8999882, dtype=float32), 'left.joint_3.pos': Array(-1.1094003, dtype=float32), 'left.joint_4.pos': Array(-0.00756583, dtype=float32), 'left.joint_5.pos': Array(0.6057903, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106331, dtype=float32), 'right.joint_1.pos': Array(1.257209, dtype=float32), 'right.joint_2.pos': Array(0.87194735, dtype=float32), 'right.joint_3.pos': Array(-1.1668285, dtype=float32), 'right.joint_4.pos': Array(-0.01604482, dtype=float32), 'right.joint_5.pos': Array(0.33178198, dtype=float32), 'right.gripper.pos': Array(-0.00081097, dtype=float32)}
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting right arm positions: [Array(1.9106331, dtype=float32), Array(1.257209, dtype=float32), Array(0.87194735, dtype=float32), Array(-1.1668285, dtype=float32), Array(-0.01604482, dtype=float32), Array(0.33178198, dtype=float32), Array(-0.00081097, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8737697601318359 0.8719473481178284
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1701762676239014 -1.1668285131454468
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting left arm positions: [Array(-0.95763457, dtype=float32), Array(1.3421108, dtype=float32), Array(0.8999882, dtype=float32), Array(-1.1094003, dtype=float32), Array(-0.00756583, dtype=float32), Array(0.6057903, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 108.8ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-27s DEBUG: pose_idx: 15/64
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.95727533, dtype=float32), 'left.joint_1.pos': Array(1.3438473, dtype=float32), 'left.joint_2.pos': Array(0.9013001, dtype=float32), 'left.joint_3.pos': Array(-1.1089519, dtype=float32), 'left.joint_4.pos': Array(-0.00755942, dtype=float32), 'left.joint_5.pos': Array(0.606147, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107269, dtype=float32), 'right.joint_1.pos': Array(1.257563, dtype=float32), 'right.joint_2.pos': Array(0.86958855, dtype=float32), 'right.joint_3.pos': Array(-1.1641096, dtype=float32), 'right.joint_4.pos': Array(-0.01599974, dtype=float32), 'right.joint_5.pos': Array(0.33188885, dtype=float32), 'right.gripper.pos': Array(-0.00081024, dtype=float32)}
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting right arm positions: [Array(1.9107269, dtype=float32), Array(1.257563, dtype=float32), Array(0.86958855, dtype=float32), Array(-1.1641096, dtype=float32), Array(-0.01599974, dtype=float32), Array(0.33188885, dtype=float32), Array(-0.00081024, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8714808821678162 0.8695885539054871
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1667429208755493 -1.1641095876693726
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting left arm positions: [Array(-0.95727533, dtype=float32), Array(1.3438473, dtype=float32), Array(0.9013001, dtype=float32), Array(-1.1089519, dtype=float32), Array(-0.00755942, dtype=float32), Array(0.606147, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 7.9ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 109.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-27s DEBUG: RealSenseCamera(230422273017) read took: 1.6ms
+2025y-06m-25d-12h-17m-27s DEBUG: pose_idx: 16/64
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-27s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.95652807, dtype=float32), 'left.joint_1.pos': Array(1.3450781, dtype=float32), 'left.joint_2.pos': Array(0.90223175, dtype=float32), 'left.joint_3.pos': Array(-1.1086353, dtype=float32), 'left.joint_4.pos': Array(-0.00756445, dtype=float32), 'left.joint_5.pos': Array(0.6068828, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106106, dtype=float32), 'right.joint_1.pos': Array(1.2580973, dtype=float32), 'right.joint_2.pos': Array(0.86733675, dtype=float32), 'right.joint_3.pos': Array(-1.1613991, dtype=float32), 'right.joint_4.pos': Array(-0.01606267, dtype=float32), 'right.joint_5.pos': Array(0.33175793, dtype=float32), 'right.gripper.pos': Array(-0.00081102, dtype=float32)}
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting right arm positions: [Array(1.9106106, dtype=float32), Array(1.2580973, dtype=float32), Array(0.86733675, dtype=float32), Array(-1.1613991, dtype=float32), Array(-0.01606267, dtype=float32), Array(0.33175793, dtype=float32), Array(-0.00081102, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8691920638084412 0.8673367500305176
+2025y-06m-25d-12h-17m-27s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1636911630630493 -1.1613991260528564
+2025y-06m-25d-12h-17m-27s DEBUG: 🦾 Setting left arm positions: [Array(-0.95652807, dtype=float32), Array(1.3450781, dtype=float32), Array(0.90223175, dtype=float32), Array(-1.1086353, dtype=float32), Array(-0.00756445, dtype=float32), Array(0.6068828, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 109.5ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 108.5ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-28s DEBUG: pose_idx: 17/64
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9567357, dtype=float32), 'left.joint_1.pos': Array(1.346448, dtype=float32), 'left.joint_2.pos': Array(0.9032706, dtype=float32), 'left.joint_3.pos': Array(-1.1082852, dtype=float32), 'left.joint_4.pos': Array(-0.00754837, dtype=float32), 'left.joint_5.pos': Array(0.6066841, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107028, dtype=float32), 'right.joint_1.pos': Array(1.2584674, dtype=float32), 'right.joint_2.pos': Array(0.86498666, dtype=float32), 'right.joint_3.pos': Array(-1.1586729, dtype=float32), 'right.joint_4.pos': Array(-0.01601834, dtype=float32), 'right.joint_5.pos': Array(0.33186334, dtype=float32), 'right.gripper.pos': Array(-0.00081031, dtype=float32)}
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.9107028, dtype=float32), Array(1.2584674, dtype=float32), Array(0.86498666, dtype=float32), Array(-1.1586729, dtype=float32), Array(-0.01601834, dtype=float32), Array(0.33186334, dtype=float32), Array(-0.00081031, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8672846555709839 0.8649866580963135
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1621652841567993 -1.1586729288101196
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting left arm positions: [Array(-0.9567357, dtype=float32), Array(1.346448, dtype=float32), Array(0.9032706, dtype=float32), Array(-1.1082852, dtype=float32), Array(-0.00754837, dtype=float32), Array(0.6066841, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 108.6ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 109.6ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-28s DEBUG: pose_idx: 18/64
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.95637536, dtype=float32), 'left.joint_1.pos': Array(1.3481802, dtype=float32), 'left.joint_2.pos': Array(0.904587, dtype=float32), 'left.joint_3.pos': Array(-1.1078447, dtype=float32), 'left.joint_4.pos': Array(-0.00753989, dtype=float32), 'left.joint_5.pos': Array(0.60704345, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105877, dtype=float32), 'right.joint_1.pos': Array(1.2590169, dtype=float32), 'right.joint_2.pos': Array(0.8627436, dtype=float32), 'right.joint_3.pos': Array(-1.1559553, dtype=float32), 'right.joint_4.pos': Array(-0.01608064, dtype=float32), 'right.joint_5.pos': Array(0.33173394, dtype=float32), 'right.gripper.pos': Array(-0.00081108, dtype=float32)}
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.9105877, dtype=float32), Array(1.2590169, dtype=float32), Array(0.8627436, dtype=float32), Array(-1.1559553, dtype=float32), Array(-0.01608064, dtype=float32), Array(0.33173394, dtype=float32), Array(-0.00081108, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_1 1.2579156160354614 1.2590168714523315
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8653773069381714 0.862743616104126
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1579689979553223 -1.1559553146362305
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting left arm positions: [Array(-0.95637536, dtype=float32), Array(1.3481802, dtype=float32), Array(0.904587, dtype=float32), Array(-1.1078447, dtype=float32), Array(-0.00753989, dtype=float32), Array(0.60704345, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 108.8ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 108.9ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 1.0ms
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-28s DEBUG: pose_idx: 19/64
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 5.1ms
+2025y-06m-25d-12h-17m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.95525163, dtype=float32), 'left.joint_1.pos': Array(1.3489083, dtype=float32), 'left.joint_2.pos': Array(0.9051408, dtype=float32), 'left.joint_3.pos': Array(-1.10766, dtype=float32), 'left.joint_4.pos': Array(-0.00755912, dtype=float32), 'left.joint_5.pos': Array(0.60814464, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105762, dtype=float32), 'right.joint_1.pos': Array(1.2594888, dtype=float32), 'right.joint_2.pos': Array(0.860454, dtype=float32), 'right.joint_3.pos': Array(-1.1532286, dtype=float32), 'right.joint_4.pos': Array(-0.01608971, dtype=float32), 'right.joint_5.pos': Array(0.33172187, dtype=float32), 'right.gripper.pos': Array(-0.00081111, dtype=float32)}
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.9105762, dtype=float32), Array(1.2594888, dtype=float32), Array(0.860454, dtype=float32), Array(-1.1532286, dtype=float32), Array(-0.01608971, dtype=float32), Array(0.33172187, dtype=float32), Array(-0.00081111, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8627069592475891 0.8604540228843689
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1560616493225098 -1.1532286405563354
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting left arm positions: [Array(-0.95525163, dtype=float32), Array(1.3489083, dtype=float32), Array(0.9051408, dtype=float32), Array(-1.10766, dtype=float32), Array(-0.00755912, dtype=float32), Array(0.60814464, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 108.3ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 105.2ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.6071183085441589 0.6081446409225464
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-28s DEBUG: pose_idx: 20/64
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9539537, dtype=float32), 'left.joint_1.pos': Array(1.3505033, dtype=float32), 'left.joint_2.pos': Array(0.90635616, dtype=float32), 'left.joint_3.pos': Array(-1.1072578, dtype=float32), 'left.joint_4.pos': Array(-0.0075747, dtype=float32), 'left.joint_5.pos': Array(0.60941947, dtype=float32), 'left.gripper.pos': Array(1.6138117e-08, dtype=float32), 'right.joint_0.pos': Array(1.9105654, dtype=float32), 'right.joint_1.pos': Array(1.2599684, dtype=float32), 'right.joint_2.pos': Array(0.85816836, dtype=float32), 'right.joint_3.pos': Array(-1.150498, dtype=float32), 'right.joint_4.pos': Array(-0.01609848, dtype=float32), 'right.joint_5.pos': Array(0.33171058, dtype=float32), 'right.gripper.pos': Array(-0.00081113, dtype=float32)}
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.9105654, dtype=float32), Array(1.2599684, dtype=float32), Array(0.85816836, dtype=float32), Array(-1.150498, dtype=float32), Array(-0.01609848, dtype=float32), Array(0.33171058, dtype=float32), Array(-0.00081113, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8600366115570068 0.858168363571167
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1530098915100098 -1.1504980325698853
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting left arm positions: [Array(-0.9539537, dtype=float32), Array(1.3505033, dtype=float32), Array(0.90635616, dtype=float32), Array(-1.1072578, dtype=float32), Array(-0.0075747, dtype=float32), Array(0.60941947, dtype=float32), Array(1.6138117e-08, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 110.1ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.6138116620822984e-08
+2025y-06m-25d-12h-17m-28s DEBUG: pose_idx: 21/64
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9528373, dtype=float32), 'left.joint_1.pos': Array(1.3512337, dtype=float32), 'left.joint_2.pos': Array(0.90691316, dtype=float32), 'left.joint_3.pos': Array(-1.1070747, dtype=float32), 'left.joint_4.pos': Array(-0.00759532, dtype=float32), 'left.joint_5.pos': Array(0.61051303, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8577477931976318 0.8558371663093567
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1507209539413452 -1.147758960723877
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting left arm positions: [Array(-0.9528373, dtype=float32), Array(1.3512337, dtype=float32), Array(0.90691316, dtype=float32), Array(-1.1070747, dtype=float32), Array(-0.00759532, dtype=float32), Array(0.61051303, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 109.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-28s DEBUG: pose_idx: 22/64
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 3.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9513328, dtype=float32), 'left.joint_1.pos': Array(1.3514643, dtype=float32), 'left.joint_2.pos': Array(0.90708894, dtype=float32), 'left.joint_3.pos': Array(-1.1070167, dtype=float32), 'left.joint_4.pos': Array(-0.00762664, dtype=float32), 'left.joint_5.pos': Array(0.61198574, dtype=float32), 'left.gripper.pos': Array(4.841438e-08, dtype=float32), 'right.joint_0.pos': Array(1.9105564, dtype=float32), 'right.joint_1.pos': Array(1.2604553, dtype=float32), 'right.joint_2.pos': Array(0.85588664, dtype=float32), 'right.joint_3.pos': Array(-1.1477634, dtype=float32), 'right.joint_4.pos': Array(-0.01610628, dtype=float32), 'right.joint_5.pos': Array(0.33170155, dtype=float32), 'right.gripper.pos': Array(-0.00081113, dtype=float32)}
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.9105564, dtype=float32), Array(1.2604553, dtype=float32), Array(0.85588664, dtype=float32), Array(-1.1477634, dtype=float32), Array(-0.01610628, dtype=float32), Array(0.33170155, dtype=float32), Array(-0.00081113, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 6.1ms
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting left arm positions: [Array(-0.9513328, dtype=float32), Array(1.3514643, dtype=float32), Array(0.90708894, dtype=float32), Array(-1.1070167, dtype=float32), Array(-0.00762664, dtype=float32), Array(0.61198574, dtype=float32), Array(4.841438e-08, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 102.2ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 107.3ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.841437828417838e-08
+2025y-06m-25d-12h-17m-28s DEBUG: pose_idx: 23/64
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9496593, dtype=float32), 'left.joint_1.pos': Array(1.3525637, dtype=float32), 'left.joint_2.pos': Array(0.9079283, dtype=float32), 'left.joint_3.pos': Array(-1.106741, dtype=float32), 'left.joint_4.pos': Array(-0.00765509, dtype=float32), 'left.joint_5.pos': Array(0.6136258, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting left arm positions: [Array(-0.9496593, dtype=float32), Array(1.3525637, dtype=float32), Array(0.9079283, dtype=float32), Array(-1.106741, dtype=float32), Array(-0.00765509, dtype=float32), Array(0.6136258, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 109.5ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-28s DEBUG: pose_idx: 24/64
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9477764, dtype=float32), 'left.joint_1.pos': Array(1.3523016, dtype=float32), 'left.joint_2.pos': Array(0.90772694, dtype=float32), 'left.joint_3.pos': Array(-1.106806, dtype=float32), 'left.joint_4.pos': Array(-0.00770239, dtype=float32), 'left.joint_5.pos': Array(0.6154653, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting left arm positions: [Array(-0.9477764, dtype=float32), Array(1.3523016, dtype=float32), Array(0.90772694, dtype=float32), Array(-1.106806, dtype=float32), Array(-0.00770239, dtype=float32), Array(0.6154653, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 109.6ms
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_5 0.614366352558136 0.6154652833938599
+2025y-06m-25d-12h-17m-28s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-28s DEBUG: pose_idx: 25/64
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-28s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9462741, dtype=float32), 'left.joint_1.pos': Array(1.3525392, dtype=float32), 'left.joint_2.pos': Array(0.90790874, dtype=float32), 'left.joint_3.pos': Array(-1.1067472, dtype=float32), 'left.joint_4.pos': Array(-0.00773332, dtype=float32), 'left.joint_5.pos': Array(0.61693585, dtype=float32), 'left.gripper.pos': Array(8.543708e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105535, dtype=float32), 'right.joint_1.pos': Array(1.2604563, dtype=float32), 'right.joint_2.pos': Array(0.8558878, dtype=float32), 'right.joint_3.pos': Array(-1.1477641, dtype=float32), 'right.joint_4.pos': Array(-0.01610768, dtype=float32), 'right.joint_5.pos': Array(0.33169788, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-17m-28s DEBUG: RealSenseCamera(218622278376) read took: 5.6ms
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting right arm positions: [Array(1.9105535, dtype=float32), Array(1.2604563, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.1477641, dtype=float32), Array(-0.01610768, dtype=float32), Array(0.33169788, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-28s DEBUG: 🦾 Setting left arm positions: [Array(-0.9462741, dtype=float32), Array(1.3525392, dtype=float32), Array(0.90790874, dtype=float32), Array(-1.1067472, dtype=float32), Array(-0.00773332, dtype=float32), Array(0.61693585, dtype=float32), Array(8.543708e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 102.4ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 109.5ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.5ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 8.543707963326597e-09
+2025y-06m-25d-12h-17m-29s DEBUG: pose_idx: 26/64
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9449428, dtype=float32), 'left.joint_1.pos': Array(1.3519138, dtype=float32), 'left.joint_2.pos': Array(0.90742964, dtype=float32), 'left.joint_3.pos': Array(-1.1069026, dtype=float32), 'left.joint_4.pos': Array(-0.00776983, dtype=float32), 'left.joint_5.pos': Array(0.6182353, dtype=float32), 'left.gripper.pos': Array(1.6138117e-08, dtype=float32), 'right.joint_0.pos': Array(1.9105539, dtype=float32), 'right.joint_1.pos': Array(1.2604562, dtype=float32), 'right.joint_2.pos': Array(0.8558876, dtype=float32), 'right.joint_3.pos': Array(-1.147764, dtype=float32), 'right.joint_4.pos': Array(-0.01610748, dtype=float32), 'right.joint_5.pos': Array(0.33169842, dtype=float32), 'right.gripper.pos': Array(-0.00081116, dtype=float32)}
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.9105539, dtype=float32), Array(1.2604562, dtype=float32), Array(0.8558876, dtype=float32), Array(-1.147764, dtype=float32), Array(-0.01610748, dtype=float32), Array(0.33169842, dtype=float32), Array(-0.00081116, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting left arm positions: [Array(-0.9449428, dtype=float32), Array(1.3519138, dtype=float32), Array(0.90742964, dtype=float32), Array(-1.1069026, dtype=float32), Array(-0.00776983, dtype=float32), Array(0.6182353, dtype=float32), Array(1.6138117e-08, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 108.8ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.7ms
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.6138116620822984e-08
+2025y-06m-25d-12h-17m-29s DEBUG: pose_idx: 27/64
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read state: 0.3ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.94305706, dtype=float32), 'left.joint_1.pos': Array(1.3516604, dtype=float32), 'left.joint_2.pos': Array(0.9072353, dtype=float32), 'left.joint_3.pos': Array(-1.1069661, dtype=float32), 'left.joint_4.pos': Array(-0.00781722, dtype=float32), 'left.joint_5.pos': Array(0.6200773, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting left arm positions: [Array(-0.94305706, dtype=float32), Array(1.3516604, dtype=float32), Array(0.9072353, dtype=float32), Array(-1.1069661, dtype=float32), Array(-0.00781722, dtype=float32), Array(0.6200773, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 109.2ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.7ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.6ms
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3529030084609985 1.3516603708267212
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-29s DEBUG: pose_idx: 28/64
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read state: 0.4ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.94116735, dtype=float32), 'left.joint_1.pos': Array(1.3514097, dtype=float32), 'left.joint_2.pos': Array(0.9070432, dtype=float32), 'left.joint_3.pos': Array(-1.1070285, dtype=float32), 'left.joint_4.pos': Array(-0.00786311, dtype=float32), 'left.joint_5.pos': Array(0.62192416, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting left arm positions: [Array(-0.94116735, dtype=float32), Array(1.3514097, dtype=float32), Array(0.9070432, dtype=float32), Array(-1.1070285, dtype=float32), Array(-0.00786311, dtype=float32), Array(0.62192416, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 8.7ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 109.9ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.1ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.5ms
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.352521538734436 1.351409673690796
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9081025123596191 0.9070432186126709
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-29s DEBUG: pose_idx: 29/64
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.940219, dtype=float32), 'left.joint_1.pos': Array(1.351285, dtype=float32), 'left.joint_2.pos': Array(0.90694773, dtype=float32), 'left.joint_3.pos': Array(-1.1070595, dtype=float32), 'left.joint_4.pos': Array(-0.00788458, dtype=float32), 'left.joint_5.pos': Array(0.62285197, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting left arm positions: [Array(-0.940219, dtype=float32), Array(1.351285, dtype=float32), Array(0.90694773, dtype=float32), Array(-1.1070595, dtype=float32), Array(-0.00788458, dtype=float32), Array(0.62285197, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 108.6ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.352521538734436 1.3512849807739258
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-29s DEBUG: pose_idx: 30/64
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9388818, dtype=float32), 'left.joint_1.pos': Array(1.3506669, dtype=float32), 'left.joint_2.pos': Array(0.906475, dtype=float32), 'left.joint_3.pos': Array(-1.1072139, dtype=float32), 'left.joint_4.pos': Array(-0.00792149, dtype=float32), 'left.joint_5.pos': Array(0.62415725, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting left arm positions: [Array(-0.9388818, dtype=float32), Array(1.3506669, dtype=float32), Array(0.906475, dtype=float32), Array(-1.1072139, dtype=float32), Array(-0.00792149, dtype=float32), Array(0.62415725, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.351758599281311 1.350666880607605
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9077210426330566 0.9064750075340271
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-29s DEBUG: pose_idx: 31/64
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.93699145, dtype=float32), 'left.joint_1.pos': Array(1.3504242, dtype=float32), 'left.joint_2.pos': Array(0.9062898, dtype=float32), 'left.joint_3.pos': Array(-1.1072756, dtype=float32), 'left.joint_4.pos': Array(-0.00796882, dtype=float32), 'left.joint_5.pos': Array(0.62600356, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting left arm positions: [Array(-0.93699145, dtype=float32), Array(1.3504242, dtype=float32), Array(0.9062898, dtype=float32), Array(-1.1072756, dtype=float32), Array(-0.00796882, dtype=float32), Array(0.62600356, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 110.6ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 110.5ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9077210426330566 0.90628981590271
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-29s DEBUG: pose_idx: 32/64
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 3.9ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9350975, dtype=float32), 'left.joint_1.pos': Array(1.3501844, dtype=float32), 'left.joint_2.pos': Array(0.90610635, dtype=float32), 'left.joint_3.pos': Array(-1.1073358, dtype=float32), 'left.joint_4.pos': Array(-0.00801496, dtype=float32), 'left.joint_5.pos': Array(0.6278544, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting left arm positions: [Array(-0.9350975, dtype=float32), Array(1.3501844, dtype=float32), Array(0.90610635, dtype=float32), Array(-1.1073358, dtype=float32), Array(-0.00801496, dtype=float32), Array(0.6278544, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 106.6ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9077210426330566 0.9061063528060913
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-29s DEBUG: pose_idx: 33/64
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.93319905, dtype=float32), 'left.joint_1.pos': Array(1.349947, dtype=float32), 'left.joint_2.pos': Array(0.90592515, dtype=float32), 'left.joint_3.pos': Array(-1.107395, dtype=float32), 'left.joint_4.pos': Array(-0.00805969, dtype=float32), 'left.joint_5.pos': Array(0.6297108, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting left arm positions: [Array(-0.93319905, dtype=float32), Array(1.349947, dtype=float32), Array(0.90592515, dtype=float32), Array(-1.107395, dtype=float32), Array(-0.00805969, dtype=float32), Array(0.6297108, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9073395729064941 0.9059251546859741
+2025y-06m-25d-12h-17m-29s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-29s DEBUG: pose_idx: 34/64
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-29s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9318552, dtype=float32), 'left.joint_1.pos': Array(1.3493372, dtype=float32), 'left.joint_2.pos': Array(0.9054601, dtype=float32), 'left.joint_3.pos': Array(-1.1075491, dtype=float32), 'left.joint_4.pos': Array(-0.00809649, dtype=float32), 'left.joint_5.pos': Array(0.6310227, dtype=float32), 'left.gripper.pos': Array(8.543708e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105535, dtype=float32), 'right.joint_1.pos': Array(1.2604563, dtype=float32), 'right.joint_2.pos': Array(0.8558878, dtype=float32), 'right.joint_3.pos': Array(-1.1477641, dtype=float32), 'right.joint_4.pos': Array(-0.01610768, dtype=float32), 'right.joint_5.pos': Array(0.33169788, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting right arm positions: [Array(1.9105535, dtype=float32), Array(1.2604563, dtype=float32), Array(0.8558878, dtype=float32), Array(-1.1477641, dtype=float32), Array(-0.01610768, dtype=float32), Array(0.33169788, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-29s DEBUG: 🦾 Setting left arm positions: [Array(-0.9318552, dtype=float32), Array(1.3493372, dtype=float32), Array(0.9054601, dtype=float32), Array(-1.1075491, dtype=float32), Array(-0.00809649, dtype=float32), Array(0.6310227, dtype=float32), Array(8.543708e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(230422273017) read took: 108.7ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.2ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.2ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.6ms
+2025y-06m-25d-12h-17m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 8.543707963326597e-09
+2025y-06m-25d-12h-17m-30s DEBUG: pose_idx: 35/64
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(230422273017) read took: 4.5ms
+2025y-06m-25d-12h-17m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9309064, dtype=float32), 'left.joint_1.pos': Array(1.3492213, dtype=float32), 'left.joint_2.pos': Array(0.9053718, dtype=float32), 'left.joint_3.pos': Array(-1.1075784, dtype=float32), 'left.joint_4.pos': Array(-0.00811958, dtype=float32), 'left.joint_5.pos': Array(0.63195, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.9309064, dtype=float32), Array(1.3492213, dtype=float32), Array(0.9053718, dtype=float32), Array(-1.1075784, dtype=float32), Array(-0.00811958, dtype=float32), Array(0.63195, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(230422273017) read took: 105.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 108.5ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-30s DEBUG: pose_idx: 36/64
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9290079, dtype=float32), 'left.joint_1.pos': Array(1.3489926, dtype=float32), 'left.joint_2.pos': Array(0.9051973, dtype=float32), 'left.joint_3.pos': Array(-1.1076362, dtype=float32), 'left.joint_4.pos': Array(-0.0081656, dtype=float32), 'left.joint_5.pos': Array(0.63380533, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.9290079, dtype=float32), Array(1.3489926, dtype=float32), Array(0.9051973, dtype=float32), Array(-1.1076362, dtype=float32), Array(-0.0081656, dtype=float32), Array(0.63380533, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(230422273017) read took: 109.7ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-30s DEBUG: pose_idx: 37/64
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read state: 1.3ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9271086, dtype=float32), 'left.joint_1.pos': Array(1.3487669, dtype=float32), 'left.joint_2.pos': Array(0.90502554, dtype=float32), 'left.joint_3.pos': Array(-1.1076937, dtype=float32), 'left.joint_4.pos': Array(-0.00821203, dtype=float32), 'left.joint_5.pos': Array(0.6356615, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.9271086, dtype=float32), Array(1.3487669, dtype=float32), Array(0.90502554, dtype=float32), Array(-1.1076937, dtype=float32), Array(-0.00821203, dtype=float32), Array(0.6356615, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(230422273017) read took: 109.6ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-30s DEBUG: pose_idx: 38/64
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read state: 0.2ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 3.5ms
+2025y-06m-25d-12h-17m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.925759, dtype=float32), 'left.joint_1.pos': Array(1.3481648, dtype=float32), 'left.joint_2.pos': Array(0.9045673, dtype=float32), 'left.joint_3.pos': Array(-1.1078465, dtype=float32), 'left.joint_4.pos': Array(-0.00824915, dtype=float32), 'left.joint_5.pos': Array(0.63697875, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(230422273017) read took: 7.2ms
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.925759, dtype=float32), Array(1.3481648, dtype=float32), Array(0.9045673, dtype=float32), Array(-1.1078465, dtype=float32), Array(-0.00824915, dtype=float32), Array(0.63697875, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 105.8ms
+2025y-06m-25d-12h-17m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-30s DEBUG: pose_idx: 39/64
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.92425746, dtype=float32), 'left.joint_1.pos': Array(1.3484347, dtype=float32), 'left.joint_2.pos': Array(0.90477276, dtype=float32), 'left.joint_3.pos': Array(-1.1077784, dtype=float32), 'left.joint_4.pos': Array(-0.00828129, dtype=float32), 'left.joint_5.pos': Array(0.63844776, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105531, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.8558879, dtype=float32), 'right.joint_3.pos': Array(-1.1477642, dtype=float32), 'right.joint_4.pos': Array(-0.01610784, dtype=float32), 'right.joint_5.pos': Array(0.33169746, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9105531, dtype=float32), Array(1.2604564, dtype=float32), Array(0.8558879, dtype=float32), Array(-1.1477642, dtype=float32), Array(-0.01610784, dtype=float32), Array(0.33169746, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.92425746, dtype=float32), Array(1.3484347, dtype=float32), Array(0.90477276, dtype=float32), Array(-1.1077784, dtype=float32), Array(-0.00828129, dtype=float32), Array(0.63844776, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(230422273017) read took: 213.1ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 111.7ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-30s DEBUG: pose_idx: 40/64
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9223554, dtype=float32), 'left.joint_1.pos': Array(1.3482172, dtype=float32), 'left.joint_2.pos': Array(0.90460736, dtype=float32), 'left.joint_3.pos': Array(-1.1078339, dtype=float32), 'left.joint_4.pos': Array(-0.00832734, dtype=float32), 'left.joint_5.pos': Array(0.64030665, dtype=float32), 'left.gripper.pos': Array(2.9048628e-08, dtype=float32), 'right.joint_0.pos': Array(1.9105548, dtype=float32), 'right.joint_1.pos': Array(1.2604558, dtype=float32), 'right.joint_2.pos': Array(0.8558873, dtype=float32), 'right.joint_3.pos': Array(-1.1477637, dtype=float32), 'right.joint_4.pos': Array(-0.01610707, dtype=float32), 'right.joint_5.pos': Array(0.3316995, dtype=float32), 'right.gripper.pos': Array(-0.00081115, dtype=float32)}
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9105548, dtype=float32), Array(1.2604558, dtype=float32), Array(0.8558873, dtype=float32), Array(-1.1477637, dtype=float32), Array(-0.01610707, dtype=float32), Array(0.3316995, dtype=float32), Array(-0.00081115, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.9223554, dtype=float32), Array(1.3482172, dtype=float32), Array(0.90460736, dtype=float32), Array(-1.1078339, dtype=float32), Array(-0.00832734, dtype=float32), Array(0.64030665, dtype=float32), Array(2.9048628e-08, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 108.7ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.90486283915925e-08
+2025y-06m-25d-12h-17m-30s DEBUG: pose_idx: 41/64
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 6.2ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(230422273017) read took: 119.3ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense2: 6.5ms
+2025y-06m-25d-12h-17m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9207087, dtype=float32), 'left.joint_1.pos': Array(1.3493623, dtype=float32), 'left.joint_2.pos': Array(0.90547943, dtype=float32), 'left.joint_3.pos': Array(-1.1075451, dtype=float32), 'left.joint_4.pos': Array(-0.00835425, dtype=float32), 'left.joint_5.pos': Array(0.641921, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105532, dtype=float32), 'right.joint_1.pos': Array(1.2604564, dtype=float32), 'right.joint_2.pos': Array(0.85588783, dtype=float32), 'right.joint_3.pos': Array(-1.1477641, dtype=float32), 'right.joint_4.pos': Array(-0.01610778, dtype=float32), 'right.joint_5.pos': Array(0.3316976, dtype=float32), 'right.gripper.pos': Array(-0.00081117, dtype=float32)}
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9105532, dtype=float32), Array(1.2604564, dtype=float32), Array(0.85588783, dtype=float32), Array(-1.1477641, dtype=float32), Array(-0.01610778, dtype=float32), Array(0.3316976, dtype=float32), Array(-0.00081117, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.9207087, dtype=float32), Array(1.3493623, dtype=float32), Array(0.90547943, dtype=float32), Array(-1.1075451, dtype=float32), Array(-0.00835425, dtype=float32), Array(0.641921, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms
+2025y-06m-25d-12h-17m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3483253717422485 1.3493622541427612
+2025y-06m-25d-12h-17m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9039062857627869 0.9054794311523438
+2025y-06m-25d-12h-17m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09
+2025y-06m-25d-12h-17m-30s DEBUG: pose_idx: 42/64
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 23.3ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense2: 23.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9192102, dtype=float32), 'left.joint_1.pos': Array(1.3496388, dtype=float32), 'left.joint_2.pos': Array(0.9056905, dtype=float32), 'left.joint_3.pos': Array(-1.1074758, dtype=float32), 'left.joint_4.pos': Array(-0.0083861, dtype=float32), 'left.joint_5.pos': Array(0.643387, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting left arm positions: [Array(-0.9192102, dtype=float32), Array(1.3496388, dtype=float32), Array(0.9056905, dtype=float32), Array(-1.1074758, dtype=float32), Array(-0.0083861, dtype=float32), Array(0.643387, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: RealSenseCamera(230422273017) read took: 106.7ms
+2025y-06m-25d-12h-17m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3483253717422485 1.349638819694519
+2025y-06m-25d-12h-17m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9039062857627869 0.9056904911994934
+2025y-06m-25d-12h-17m-30s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-30s DEBUG: pose_idx: 43/64
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-30s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.918116, dtype=float32), 'left.joint_1.pos': Array(1.3504046, dtype=float32), 'left.joint_2.pos': Array(0.9062747, dtype=float32), 'left.joint_3.pos': Array(-1.1072832, dtype=float32), 'left.joint_4.pos': Array(-0.00840377, dtype=float32), 'left.joint_5.pos': Array(0.6444599, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9106548, dtype=float32), 'right.joint_1.pos': Array(1.260371, dtype=float32), 'right.joint_2.pos': Array(0.85583717, dtype=float32), 'right.joint_3.pos': Array(-1.147759, dtype=float32), 'right.joint_4.pos': Array(-0.01605557, dtype=float32), 'right.joint_5.pos': Array(0.33181208, dtype=float32), 'right.gripper.pos': Array(-0.00081044, dtype=float32)}
+2025y-06m-25d-12h-17m-30s DEBUG: 🦾 Setting right arm positions: [Array(1.9106548, dtype=float32), Array(1.260371, dtype=float32), Array(0.85583717, dtype=float32), Array(-1.147759, dtype=float32), Array(-0.01605557, dtype=float32), Array(0.33181208, dtype=float32), Array(-0.00081044, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting left arm positions: [Array(-0.918116, dtype=float32), Array(1.3504046, dtype=float32), Array(0.9062747, dtype=float32), Array(-1.1072832, dtype=float32), Array(-0.00840377, dtype=float32), Array(0.6444599, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 111.8ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3483253717422485 1.3504046201705933
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9042877554893494 0.906274676322937
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-31s DEBUG: pose_idx: 44/64
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 11.2ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(230422273017) read took: 126.5ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense2: 12.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9168811, dtype=float32), 'left.joint_1.pos': Array(1.352041, dtype=float32), 'left.joint_2.pos': Array(0.9075247, dtype=float32), 'left.joint_3.pos': Array(-1.1068741, dtype=float32), 'left.joint_4.pos': Array(-0.0084158, dtype=float32), 'left.joint_5.pos': Array(0.64567345, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105651, dtype=float32), 'right.joint_1.pos': Array(1.2599444, dtype=float32), 'right.joint_2.pos': Array(0.85828304, dtype=float32), 'right.joint_3.pos': Array(-1.150635, dtype=float32), 'right.joint_4.pos': Array(-0.01609833, dtype=float32), 'right.joint_5.pos': Array(0.33171028, dtype=float32), 'right.gripper.pos': Array(-0.00081114, dtype=float32)}
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.9105651, dtype=float32), Array(1.2599444, dtype=float32), Array(0.85828304, dtype=float32), Array(-1.150635, dtype=float32), Array(-0.01609833, dtype=float32), Array(0.33171028, dtype=float32), Array(-0.00081114, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8554589152336121 0.8582830429077148
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1480506658554077 -1.150635004043579
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting left arm positions: [Array(-0.9168811, dtype=float32), Array(1.352041, dtype=float32), Array(0.9075247, dtype=float32), Array(-1.1068741, dtype=float32), Array(-0.0084158, dtype=float32), Array(0.64567345, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(230422273017) read took: 107.1ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 110.6ms
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.350232720375061 1.3520410060882568
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9058136940002441 0.9075247049331665
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-31s DEBUG: pose_idx: 45/64
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.91579145, dtype=float32), 'left.joint_1.pos': Array(1.352808, dtype=float32), 'left.joint_2.pos': Array(0.90811193, dtype=float32), 'left.joint_3.pos': Array(-1.1066833, dtype=float32), 'left.joint_4.pos': Array(-0.00843325, dtype=float32), 'left.joint_5.pos': Array(0.64674187, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105775, dtype=float32), 'right.joint_1.pos': Array(1.2594413, dtype=float32), 'right.joint_2.pos': Array(0.86068267, dtype=float32), 'right.joint_3.pos': Array(-1.1535014, dtype=float32), 'right.joint_4.pos': Array(-0.01608886, dtype=float32), 'right.joint_5.pos': Array(0.3317231, dtype=float32), 'right.gripper.pos': Array(-0.00081111, dtype=float32)}
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.9105775, dtype=float32), Array(1.2594413, dtype=float32), Array(0.86068267, dtype=float32), Array(-1.1535014, dtype=float32), Array(-0.01608886, dtype=float32), Array(0.3317231, dtype=float32), Array(-0.00081111, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8566033244132996 0.8606826663017273
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1503394842147827 -1.1535013914108276
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting left arm positions: [Array(-0.91579145, dtype=float32), Array(1.352808, dtype=float32), Array(0.90811193, dtype=float32), Array(-1.1066833, dtype=float32), Array(-0.00843325, dtype=float32), Array(0.64674187, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(230422273017) read took: 110.1ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 109.2ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3513771295547485 1.3528079986572266
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9065766334533691 0.9081119298934937
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-31s DEBUG: pose_idx: 46/64
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.91550964, dtype=float32), 'left.joint_1.pos': Array(1.3545461, dtype=float32), 'left.joint_2.pos': Array(0.90944403, dtype=float32), 'left.joint_3.pos': Array(-1.1062523, dtype=float32), 'left.joint_4.pos': Array(-0.00842224, dtype=float32), 'left.joint_5.pos': Array(0.6470237, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9105892, dtype=float32), 'right.joint_1.pos': Array(1.2589469, dtype=float32), 'right.joint_2.pos': Array(0.86308753, dtype=float32), 'right.joint_3.pos': Array(-1.1563642, dtype=float32), 'right.joint_4.pos': Array(-0.0160794, dtype=float32), 'right.joint_5.pos': Array(0.33173555, dtype=float32), 'right.gripper.pos': Array(-0.00081108, dtype=float32)}
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.9105892, dtype=float32), Array(1.2589469, dtype=float32), Array(0.86308753, dtype=float32), Array(-1.1563642, dtype=float32), Array(-0.0160794, dtype=float32), Array(0.33173555, dtype=float32), Array(-0.00081108, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8592736721038818 0.86308753490448
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1530098915100098 -1.1563642024993896
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting left arm positions: [Array(-0.91550964, dtype=float32), Array(1.3545461, dtype=float32), Array(0.90944403, dtype=float32), Array(-1.1062523, dtype=float32), Array(-0.00842224, dtype=float32), Array(0.6470237, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 110.4ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.353284478187561 1.354546070098877
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9081025123596191 0.9094440340995789
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.8ms
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-31s DEBUG: pose_idx: 47/64
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 33.4ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(230422273017) read took: 149.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense2: 35.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.91577184, dtype=float32), 'left.joint_1.pos': Array(1.3558999, dtype=float32), 'left.joint_2.pos': Array(0.9104832, dtype=float32), 'left.joint_3.pos': Array(-1.1059182, dtype=float32), 'left.joint_4.pos': Array(-0.00840292, dtype=float32), 'left.joint_5.pos': Array(0.6467726, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107052, dtype=float32), 'right.joint_1.pos': Array(1.2583753, dtype=float32), 'right.joint_2.pos': Array(0.8654464, dtype=float32), 'right.joint_3.pos': Array(-1.1592178, dtype=float32), 'right.joint_4.pos': Array(-0.01601636, dtype=float32), 'right.joint_5.pos': Array(0.33186588, dtype=float32), 'right.gripper.pos': Array(-0.0008103, dtype=float32)}
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.9107052, dtype=float32), Array(1.2583753, dtype=float32), Array(0.8654464, dtype=float32), Array(-1.1592178, dtype=float32), Array(-0.01601636, dtype=float32), Array(0.33186588, dtype=float32), Array(-0.0008103, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8623254895210266 0.8654463887214661
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1564431190490723 -1.1592178344726562
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting left arm positions: [Array(-0.91577184, dtype=float32), Array(1.3558999, dtype=float32), Array(0.9104832, dtype=float32), Array(-1.1059182, dtype=float32), Array(-0.00840292, dtype=float32), Array(0.6467726, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(230422273017) read took: 108.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 111.7ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-31s DEBUG: pose_idx: 48/64
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9150895, dtype=float32), 'left.joint_1.pos': Array(1.3571512, dtype=float32), 'left.joint_2.pos': Array(0.91144574, dtype=float32), 'left.joint_3.pos': Array(-1.1056114, dtype=float32), 'left.joint_4.pos': Array(-0.00840592, dtype=float32), 'left.joint_5.pos': Array(0.64744455, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106135, dtype=float32), 'right.joint_1.pos': Array(1.2579843, dtype=float32), 'right.joint_2.pos': Array(0.86791193, dtype=float32), 'right.joint_3.pos': Array(-1.1620783, dtype=float32), 'right.joint_4.pos': Array(-0.01606037, dtype=float32), 'right.joint_5.pos': Array(0.3317613, dtype=float32), 'right.gripper.pos': Array(-0.00081102, dtype=float32)}
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.9106135, dtype=float32), Array(1.2579843, dtype=float32), Array(0.86791193, dtype=float32), Array(-1.1620783, dtype=float32), Array(-0.01606037, dtype=float32), Array(0.3317613, dtype=float32), Array(-0.00081102, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8649957776069641 0.8679119348526001
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1591134071350098 -1.1620782613754272
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting left arm positions: [Array(-0.9150895, dtype=float32), Array(1.3571512, dtype=float32), Array(0.91144574, dtype=float32), Array(-1.1056114, dtype=float32), Array(-0.00840592, dtype=float32), Array(0.64744455, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(230422273017) read took: 110.2ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 109.1ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_2 0.9100099205970764 0.9114457368850708
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-31s DEBUG: pose_idx: 49/64
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read state: 1.4ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9148108, dtype=float32), 'left.joint_1.pos': Array(1.3588864, dtype=float32), 'left.joint_2.pos': Array(0.91278285, dtype=float32), 'left.joint_3.pos': Array(-1.1051884, dtype=float32), 'left.joint_4.pos': Array(-0.00839501, dtype=float32), 'left.joint_5.pos': Array(0.6477233, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107305, dtype=float32), 'right.joint_1.pos': Array(1.2574298, dtype=float32), 'right.joint_2.pos': Array(0.8702801, dtype=float32), 'right.joint_3.pos': Array(-1.1649239, dtype=float32), 'right.joint_4.pos': Array(-0.01599696, dtype=float32), 'right.joint_5.pos': Array(0.33189267, dtype=float32), 'right.gripper.pos': Array(-0.00081023, dtype=float32)}
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.9107305, dtype=float32), Array(1.2574298, dtype=float32), Array(0.8702801, dtype=float32), Array(-1.1649239, dtype=float32), Array(-0.01599696, dtype=float32), Array(0.33189267, dtype=float32), Array(-0.00081023, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8672846555709839 0.8702800869941711
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1625467538833618 -1.164923906326294
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting left arm positions: [Array(-0.9148108, dtype=float32), Array(1.3588864, dtype=float32), Array(0.91278285, dtype=float32), Array(-1.1051884, dtype=float32), Array(-0.00839501, dtype=float32), Array(0.6477233, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(230422273017) read took: 110.4ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 110.4ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 0.8ms
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.joint_1 1.3578622341156006 1.3588863611221313
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-31s DEBUG: pose_idx: 50/64
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(230422273017) read took: 4.1ms
+2025y-06m-25d-12h-17m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9150729, dtype=float32), 'left.joint_1.pos': Array(1.3602374, dtype=float32), 'left.joint_2.pos': Array(0.9138263, dtype=float32), 'left.joint_3.pos': Array(-1.104861, dtype=float32), 'left.joint_4.pos': Array(-0.00837557, dtype=float32), 'left.joint_5.pos': Array(0.6474721, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106371, dtype=float32), 'right.joint_1.pos': Array(1.257057, dtype=float32), 'right.joint_2.pos': Array(0.8727563, dtype=float32), 'right.joint_3.pos': Array(-1.1677775, dtype=float32), 'right.joint_4.pos': Array(-0.01604162, dtype=float32), 'right.joint_5.pos': Array(0.33178625, dtype=float32), 'right.gripper.pos': Array(-0.00081096, dtype=float32)}
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.9106371, dtype=float32), Array(1.257057, dtype=float32), Array(0.8727563, dtype=float32), Array(-1.1677775, dtype=float32), Array(-0.01604162, dtype=float32), Array(0.33178625, dtype=float32), Array(-0.00081096, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8695735335350037 0.87275630235672
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1655985116958618 -1.1677775382995605
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting left arm positions: [Array(-0.9150729, dtype=float32), Array(1.3602374, dtype=float32), Array(0.9138263, dtype=float32), Array(-1.104861, dtype=float32), Array(-0.00837557, dtype=float32), Array(0.6474721, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s DEBUG: RealSenseCamera(218622278376) read took: 109.9ms
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-31s DEBUG: pose_idx: 51/64
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read state: 0.7ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-31s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.91479534, dtype=float32), 'left.joint_1.pos': Array(1.3619698, dtype=float32), 'left.joint_2.pos': Array(0.9151668, dtype=float32), 'left.joint_3.pos': Array(-1.1044434, dtype=float32), 'left.joint_4.pos': Array(-0.00836483, dtype=float32), 'left.joint_5.pos': Array(0.6477498, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106491, dtype=float32), 'right.joint_1.pos': Array(1.2566061, dtype=float32), 'right.joint_2.pos': Array(0.87518555, dtype=float32), 'right.joint_3.pos': Array(-1.1706208, dtype=float32), 'right.joint_4.pos': Array(-0.01603231, dtype=float32), 'right.joint_5.pos': Array(0.3317988, dtype=float32), 'right.gripper.pos': Array(-0.00081093, dtype=float32)}
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting right arm positions: [Array(1.9106491, dtype=float32), Array(1.2566061, dtype=float32), Array(0.87518555, dtype=float32), Array(-1.1706208, dtype=float32), Array(-0.01603231, dtype=float32), Array(0.3317988, dtype=float32), Array(-0.00081093, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8722438216209412 0.8751855492591858
+2025y-06m-25d-12h-17m-31s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1675058603286743 -1.1706207990646362
+2025y-06m-25d-12h-17m-31s DEBUG: 🦾 Setting left arm positions: [Array(-0.91479534, dtype=float32), Array(1.3619698, dtype=float32), Array(0.9151668, dtype=float32), Array(-1.1044434, dtype=float32), Array(-0.00836483, dtype=float32), Array(0.6477498, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 109.4ms
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-32s DEBUG: pose_idx: 52/64
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 13.6ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(230422273017) read took: 233.4ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense2: 12.9ms
+2025y-06m-25d-12h-17m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9145192, dtype=float32), 'left.joint_1.pos': Array(1.3637016, dtype=float32), 'left.joint_2.pos': Array(0.9165097, dtype=float32), 'left.joint_3.pos': Array(-1.1040297, dtype=float32), 'left.joint_4.pos': Array(-0.00835419, dtype=float32), 'left.joint_5.pos': Array(0.6480265, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.910661, dtype=float32), 'right.joint_1.pos': Array(1.2561642, dtype=float32), 'right.joint_2.pos': Array(0.8776202, dtype=float32), 'right.joint_3.pos': Array(-1.173461, dtype=float32), 'right.joint_4.pos': Array(-0.01602288, dtype=float32), 'right.joint_5.pos': Array(0.33181128, dtype=float32), 'right.gripper.pos': Array(-0.00081091, dtype=float32)}
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.910661, dtype=float32), Array(1.2561642, dtype=float32), Array(0.8776202, dtype=float32), Array(-1.173461, dtype=float32), Array(-0.01602288, dtype=float32), Array(0.33181128, dtype=float32), Array(-0.00081091, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8752956390380859 0.8776202201843262
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1709392070770264 -1.1734609603881836
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting left arm positions: [Array(-0.9145192, dtype=float32), Array(1.3637016, dtype=float32), Array(0.9165097, dtype=float32), Array(-1.1040297, dtype=float32), Array(-0.00835419, dtype=float32), Array(0.6480265, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(230422273017) read took: 107.7ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 111.7ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.3ms
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-32s DEBUG: pose_idx: 53/64
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.914381, dtype=float32), 'left.joint_1.pos': Array(1.3645668, dtype=float32), 'left.joint_2.pos': Array(0.9171822, dtype=float32), 'left.joint_3.pos': Array(-1.1038239, dtype=float32), 'left.joint_4.pos': Array(-0.00834879, dtype=float32), 'left.joint_5.pos': Array(0.6481645, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9107808, dtype=float32), 'right.joint_1.pos': Array(1.2556431, dtype=float32), 'right.joint_2.pos': Array(0.8800077, dtype=float32), 'right.joint_3.pos': Array(-1.1762917, dtype=float32), 'right.joint_4.pos': Array(-0.01595813, dtype=float32), 'right.joint_5.pos': Array(0.33194607, dtype=float32), 'right.gripper.pos': Array(-0.0008101, dtype=float32)}
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9107808, dtype=float32), Array(1.2556431, dtype=float32), Array(0.8800077, dtype=float32), Array(-1.1762917, dtype=float32), Array(-0.01595813, dtype=float32), Array(0.33194607, dtype=float32), Array(-0.0008101, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8772030472755432 0.8800076842308044
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1739909648895264 -1.1762917041778564
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting left arm positions: [Array(-0.914381, dtype=float32), Array(1.3645668, dtype=float32), Array(0.9171822, dtype=float32), Array(-1.1038239, dtype=float32), Array(-0.00834879, dtype=float32), Array(0.6481645, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(230422273017) read took: 110.6ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 110.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-32s DEBUG: pose_idx: 54/64
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9146425, dtype=float32), 'left.joint_1.pos': Array(1.3659146, dtype=float32), 'left.joint_2.pos': Array(0.91823024, dtype=float32), 'left.joint_3.pos': Array(-1.1035043, dtype=float32), 'left.joint_4.pos': Array(-0.00832971, dtype=float32), 'left.joint_5.pos': Array(0.647914, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106846, dtype=float32), 'right.joint_1.pos': Array(1.2553054, dtype=float32), 'right.joint_2.pos': Array(0.88250375, dtype=float32), 'right.joint_3.pos': Array(-1.17913, dtype=float32), 'right.joint_4.pos': Array(-0.01600421, dtype=float32), 'right.joint_5.pos': Array(0.33183604, dtype=float32), 'right.gripper.pos': Array(-0.00081086, dtype=float32)}
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9106846, dtype=float32), Array(1.2553054, dtype=float32), Array(0.88250375, dtype=float32), Array(-1.17913, dtype=float32), Array(-0.01600421, dtype=float32), Array(0.33183604, dtype=float32), Array(-0.00081086, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8798733353614807 0.8825037479400635
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.176279902458191 -1.179129958152771
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting left arm positions: [Array(-0.9146425, dtype=float32), Array(1.3659146, dtype=float32), Array(0.91823024, dtype=float32), Array(-1.1035043, dtype=float32), Array(-0.00832971, dtype=float32), Array(0.647914, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(230422273017) read took: 110.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-32s DEBUG: pose_idx: 55/64
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9143681, dtype=float32), 'left.joint_1.pos': Array(1.367643, dtype=float32), 'left.joint_2.pos': Array(0.9195779, dtype=float32), 'left.joint_3.pos': Array(-1.1030982, dtype=float32), 'left.joint_4.pos': Array(-0.00831894, dtype=float32), 'left.joint_5.pos': Array(0.64818877, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9106964, dtype=float32), 'right.joint_1.pos': Array(1.2548888, dtype=float32), 'right.joint_2.pos': Array(0.8849528, dtype=float32), 'right.joint_3.pos': Array(-1.1819592, dtype=float32), 'right.joint_4.pos': Array(-0.01599498, dtype=float32), 'right.joint_5.pos': Array(0.33184847, dtype=float32), 'right.gripper.pos': Array(-0.00081083, dtype=float32)}
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9106964, dtype=float32), Array(1.2548888, dtype=float32), Array(0.8849528, dtype=float32), Array(-1.1819592, dtype=float32), Array(-0.01599498, dtype=float32), Array(0.33184847, dtype=float32), Array(-0.00081083, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8829251527786255 0.8849527835845947
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1797131299972534 -1.1819591522216797
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting left arm positions: [Array(-0.9143681, dtype=float32), Array(1.367643, dtype=float32), Array(0.9195779, dtype=float32), Array(-1.1030982, dtype=float32), Array(-0.00831894, dtype=float32), Array(0.64818877, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 110.9ms
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-32s DEBUG: pose_idx: 56/64
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 23.1ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(230422273017) read took: 137.6ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense2: 24.1ms
+2025y-06m-25d-12h-17m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.91462874, dtype=float32), 'left.joint_1.pos': Array(1.368989, dtype=float32), 'left.joint_2.pos': Array(0.92062896, dtype=float32), 'left.joint_3.pos': Array(-1.102783, dtype=float32), 'left.joint_4.pos': Array(-0.00829992, dtype=float32), 'left.joint_5.pos': Array(0.64793897, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107081, dtype=float32), 'right.joint_1.pos': Array(1.2544808, dtype=float32), 'right.joint_2.pos': Array(0.887407, dtype=float32), 'right.joint_3.pos': Array(-1.1847847, dtype=float32), 'right.joint_4.pos': Array(-0.01598578, dtype=float32), 'right.joint_5.pos': Array(0.33186084, dtype=float32), 'right.gripper.pos': Array(-0.00081081, dtype=float32)}
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9107081, dtype=float32), Array(1.2544808, dtype=float32), Array(0.887407, dtype=float32), Array(-1.1847847, dtype=float32), Array(-0.01598578, dtype=float32), Array(0.33186084, dtype=float32), Array(-0.00081081, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8844510316848755 0.8874070048332214
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.182383418083191 -1.1847846508026123
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting left arm positions: [Array(-0.91462874, dtype=float32), Array(1.368989, dtype=float32), Array(0.92062896, dtype=float32), Array(-1.102783, dtype=float32), Array(-0.00829992, dtype=float32), Array(0.64793897, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 111.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-32s DEBUG: pose_idx: 57/64
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read state: 1.2ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 22.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(230422273017) read took: 133.4ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense2: 22.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.91435504, dtype=float32), 'left.joint_1.pos': Array(1.3707153, dtype=float32), 'left.joint_2.pos': Array(0.9219799, dtype=float32), 'left.joint_3.pos': Array(-1.1023821, dtype=float32), 'left.joint_4.pos': Array(-0.00828922, dtype=float32), 'left.joint_5.pos': Array(0.6482128, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107199, dtype=float32), 'right.joint_1.pos': Array(1.2540814, dtype=float32), 'right.joint_2.pos': Array(0.88986576, dtype=float32), 'right.joint_3.pos': Array(-1.1876062, dtype=float32), 'right.joint_4.pos': Array(-0.0159763, dtype=float32), 'right.joint_5.pos': Array(0.33187315, dtype=float32), 'right.gripper.pos': Array(-0.00081079, dtype=float32)}
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9107199, dtype=float32), Array(1.2540814, dtype=float32), Array(0.88986576, dtype=float32), Array(-1.1876062, dtype=float32), Array(-0.0159763, dtype=float32), Array(0.33187315, dtype=float32), Array(-0.00081079, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8875028491020203 0.8898657560348511
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.185053825378418 -1.1876062154769897
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting left arm positions: [Array(-0.91435504, dtype=float32), Array(1.3707153, dtype=float32), Array(0.9219799, dtype=float32), Array(-1.1023821, dtype=float32), Array(-0.00828922, dtype=float32), Array(0.6482128, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(230422273017) read took: 107.2ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(230422273017) read took: 0.3ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 111.2ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-32s DEBUG: pose_idx: 58/64
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read state: 1.1ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.91408277, dtype=float32), 'left.joint_1.pos': Array(1.3724406, dtype=float32), 'left.joint_2.pos': Array(0.9233329, dtype=float32), 'left.joint_3.pos': Array(-1.101984, dtype=float32), 'left.joint_4.pos': Array(-0.00827864, dtype=float32), 'left.joint_5.pos': Array(0.6484854, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108437, dtype=float32), 'right.joint_1.pos': Array(1.2536007, dtype=float32), 'right.joint_2.pos': Array(0.89227724, dtype=float32), 'right.joint_3.pos': Array(-1.1904194, dtype=float32), 'right.joint_4.pos': Array(-0.01590951, dtype=float32), 'right.joint_5.pos': Array(0.3320127, dtype=float32), 'right.gripper.pos': Array(-0.00080996, dtype=float32)}
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9108437, dtype=float32), Array(1.2536007, dtype=float32), Array(0.89227724, dtype=float32), Array(-1.1904194, dtype=float32), Array(-0.01590951, dtype=float32), Array(0.3320127, dtype=float32), Array(-0.00080996, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8901731967926025 0.8922772407531738
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.188105583190918 -1.1904194355010986
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting left arm positions: [Array(-0.91408277, dtype=float32), Array(1.3724406, dtype=float32), Array(0.9233329, dtype=float32), Array(-1.101984, dtype=float32), Array(-0.00827864, dtype=float32), Array(0.6484854, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(230422273017) read took: 109.3ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 109.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-32s DEBUG: pose_idx: 59/64
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read state: 0.6ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.91394687, dtype=float32), 'left.joint_1.pos': Array(1.3733029, dtype=float32), 'left.joint_2.pos': Array(0.9240104, dtype=float32), 'left.joint_3.pos': Array(-1.1017861, dtype=float32), 'left.joint_4.pos': Array(-0.00827347, dtype=float32), 'left.joint_5.pos': Array(0.6486213, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107431, dtype=float32), 'right.joint_1.pos': Array(1.2533072, dtype=float32), 'right.joint_2.pos': Array(0.8947982, dtype=float32), 'right.joint_3.pos': Array(-1.1932392, dtype=float32), 'right.joint_4.pos': Array(-0.01595796, dtype=float32), 'right.joint_5.pos': Array(0.33189785, dtype=float32), 'right.gripper.pos': Array(-0.00081075, dtype=float32)}
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9107431, dtype=float32), Array(1.2533072, dtype=float32), Array(0.8947982, dtype=float32), Array(-1.1932392, dtype=float32), Array(-0.01595796, dtype=float32), Array(0.33189785, dtype=float32), Array(-0.00081075, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.892080545425415 0.894798219203949
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.191157341003418 -1.1932392120361328
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting left arm positions: [Array(-0.91394687, dtype=float32), Array(1.3733029, dtype=float32), Array(0.9240104, dtype=float32), Array(-1.1017861, dtype=float32), Array(-0.00827347, dtype=float32), Array(0.6486213, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 109.8ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-32s DEBUG: pose_idx: 60/64
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read state: 0.8ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(218622278376) read took: 2.8ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-32s DEBUG: RealSenseCamera(230422273017) read took: 116.3ms
+2025y-06m-25d-12h-17m-32s DEBUG: None Tatbot read realsense2: 2.9ms
+2025y-06m-25d-12h-17m-32s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.9136763, dtype=float32), 'left.joint_1.pos': Array(1.3750261, dtype=float32), 'left.joint_2.pos': Array(0.9253665, dtype=float32), 'left.joint_3.pos': Array(-1.1013929, dtype=float32), 'left.joint_4.pos': Array(-0.0082629, dtype=float32), 'left.joint_5.pos': Array(0.6488922, dtype=float32), 'left.gripper.pos': Array(1.4524312e-07, dtype=float32), 'right.joint_0.pos': Array(1.9108686, dtype=float32), 'right.joint_1.pos': Array(1.2528427, dtype=float32), 'right.joint_2.pos': Array(0.8972189, dtype=float32), 'right.joint_3.pos': Array(-1.196045, dtype=float32), 'right.joint_4.pos': Array(-0.01588999, dtype=float32), 'right.joint_5.pos': Array(0.33203924, dtype=float32), 'right.gripper.pos': Array(-0.00080991, dtype=float32)}
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting right arm positions: [Array(1.9108686, dtype=float32), Array(1.2528427, dtype=float32), Array(0.8972189, dtype=float32), Array(-1.196045, dtype=float32), Array(-0.01588999, dtype=float32), Array(0.33203924, dtype=float32), Array(-0.00080991, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8951323628425598 0.8972188830375671
+2025y-06m-25d-12h-17m-32s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1942092180252075 -1.1960450410842896
+2025y-06m-25d-12h-17m-32s DEBUG: 🦾 Setting left arm positions: [Array(-0.9136763, dtype=float32), Array(1.3750261, dtype=float32), Array(0.9253665, dtype=float32), Array(-1.1013929, dtype=float32), Array(-0.0082629, dtype=float32), Array(0.6488922, dtype=float32), Array(1.4524312e-07, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-33s DEBUG: RealSenseCamera(218622278376) read took: 109.7ms
+2025y-06m-25d-12h-17m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 1.4524312064168043e-07
+2025y-06m-25d-12h-17m-33s DEBUG: pose_idx: 61/64
+2025y-06m-25d-12h-17m-33s DEBUG: None Tatbot read state: 1.0ms
+2025y-06m-25d-12h-17m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-33s DEBUG: RealSenseCamera(218622278376) read took: 22.8ms
+2025y-06m-25d-12h-17m-33s DEBUG: RealSenseCamera(230422273017) read took: 133.3ms
+2025y-06m-25d-12h-17m-33s DEBUG: None Tatbot read realsense2: 23.5ms
+2025y-06m-25d-12h-17m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.91340643, dtype=float32), 'left.joint_1.pos': Array(1.3767483, dtype=float32), 'left.joint_2.pos': Array(0.92672455, dtype=float32), 'left.joint_3.pos': Array(-1.1010028, dtype=float32), 'left.joint_4.pos': Array(-0.00825237, dtype=float32), 'left.joint_5.pos': Array(0.6491624, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107662, dtype=float32), 'right.joint_1.pos': Array(1.252567, dtype=float32), 'right.joint_2.pos': Array(0.8997503, dtype=float32), 'right.joint_3.pos': Array(-1.1988578, dtype=float32), 'right.joint_4.pos': Array(-0.0159395, dtype=float32), 'right.joint_5.pos': Array(0.3319219, dtype=float32), 'right.gripper.pos': Array(-0.00081071, dtype=float32)}
+2025y-06m-25d-12h-17m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.9107662, dtype=float32), Array(1.252567, dtype=float32), Array(0.8997503, dtype=float32), Array(-1.1988578, dtype=float32), Array(-0.0159395, dtype=float32), Array(0.3319219, dtype=float32), Array(-0.00081071, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8974212408065796 0.899750292301178
+2025y-06m-25d-12h-17m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.1964980363845825 -1.1988577842712402
+2025y-06m-25d-12h-17m-33s DEBUG: 🦾 Setting left arm positions: [Array(-0.91340643, dtype=float32), Array(1.3767483, dtype=float32), Array(0.92672455, dtype=float32), Array(-1.1010028, dtype=float32), Array(-0.00825237, dtype=float32), Array(0.6491624, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 0.10000000149011612
+2025y-06m-25d-12h-17m-33s DEBUG: RealSenseCamera(230422273017) read took: 103.4ms
+2025y-06m-25d-12h-17m-33s DEBUG: RealSenseCamera(218622278376) read took: 106.9ms
+2025y-06m-25d-12h-17m-33s DEBUG: RealSenseCamera(218622278376) read took: 0.1ms
+2025y-06m-25d-12h-17m-33s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-33s DEBUG: pose_idx: 62/64
+2025y-06m-25d-12h-17m-33s DEBUG: None Tatbot read state: 0.9ms
+2025y-06m-25d-12h-17m-33s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-33s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-33s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.91274285, dtype=float32), 'left.joint_1.pos': Array(1.3779896, dtype=float32), 'left.joint_2.pos': Array(0.92770547, dtype=float32), 'left.joint_3.pos': Array(-1.1007236, dtype=float32), 'left.joint_4.pos': Array(-0.00825516, dtype=float32), 'left.joint_5.pos': Array(0.649816, dtype=float32), 'left.gripper.pos': Array(4.401315e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107778, dtype=float32), 'right.joint_1.pos': Array(1.252209, dtype=float32), 'right.joint_2.pos': Array(0.9022335, dtype=float32), 'right.joint_3.pos': Array(-1.2016621, dtype=float32), 'right.joint_4.pos': Array(-0.01593027, dtype=float32), 'right.joint_5.pos': Array(0.3319341, dtype=float32), 'right.gripper.pos': Array(-0.0008107, dtype=float32)}
+2025y-06m-25d-12h-17m-33s DEBUG: 🦾 Setting right arm positions: [Array(1.9107778, dtype=float32), Array(1.252209, dtype=float32), Array(0.9022335, dtype=float32), Array(-1.2016621, dtype=float32), Array(-0.01593027, dtype=float32), Array(0.3319341, dtype=float32), Array(-0.0008107, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-17m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.8997100591659546 0.9022334814071655
+2025y-06m-25d-12h-17m-33s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.198405385017395 -1.2016620635986328
+2025y-06m-25d-12h-17m-33s DEBUG: 🦾 Setting left arm positions: [Array(-0.91274285, dtype=float32), Array(1.3779896, dtype=float32), Array(0.92770547, dtype=float32), Array(-1.1007236, dtype=float32), Array(-0.00825516, dtype=float32), Array(0.649816, dtype=float32), Array(4.401315e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-17m-35s DEBUG: RealSenseCamera(218622278376) read took: 2009.3ms
+2025y-06m-25d-12h-17m-35s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-35s DEBUG: RealSenseCamera(230422273017) read took: 2010.4ms
+2025y-06m-25d-12h-17m-35s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 4.4013148681187886e-09
+2025y-06m-25d-12h-17m-35s DEBUG: pose_idx: 63/64
+2025y-06m-25d-12h-17m-35s DEBUG: None Tatbot read state: 0.5ms
+2025y-06m-25d-12h-17m-35s DEBUG: None Tatbot read realsense1: 0.0ms
+2025y-06m-25d-12h-17m-35s DEBUG: None Tatbot read realsense2: 0.0ms
+2025y-06m-25d-12h-17m-35s DEBUG: 🤖 Action: {'left.joint_0.pos': Array(-0.912856, dtype=float32), 'left.joint_1.pos': Array(1.3675845, dtype=float32), 'left.joint_2.pos': Array(0.96839654, dtype=float32), 'left.joint_3.pos': Array(-1.150768, dtype=float32), 'left.joint_4.pos': Array(-0.00835444, dtype=float32), 'left.joint_5.pos': Array(0.6497048, dtype=float32), 'left.gripper.pos': Array(2.2345148e-09, dtype=float32), 'right.joint_0.pos': Array(1.9107894, dtype=float32), 'right.joint_1.pos': Array(1.2518599, dtype=float32), 'right.joint_2.pos': Array(0.9047216, dtype=float32), 'right.joint_3.pos': Array(-1.2044623, dtype=float32), 'right.joint_4.pos': Array(-0.01592097, dtype=float32), 'right.joint_5.pos': Array(0.33194605, dtype=float32), 'right.gripper.pos': Array(-0.00081068, dtype=float32)}
+2025y-06m-25d-12h-17m-35s DEBUG: 🦾 Setting right arm positions: [Array(1.9107894, dtype=float32), Array(1.2518599, dtype=float32), Array(0.9047216, dtype=float32), Array(-1.2044623, dtype=float32), Array(-0.01592097, dtype=float32), Array(0.33194605, dtype=float32), Array(-0.00081068, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-17m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_2 0.9027618765830994 0.9047216176986694
+2025y-06m-25d-12h-17m-35s WARNING: 🦾⚠️ Right arm position mismatch: right.joint_3 -1.201838731765747 -1.2044622898101807
+2025y-06m-25d-12h-17m-35s DEBUG: 🦾 Setting left arm positions: [Array(-0.912856, dtype=float32), Array(1.3675845, dtype=float32), Array(0.96839654, dtype=float32), Array(-1.150768, dtype=float32), Array(-0.00835444, dtype=float32), Array(0.6497048, dtype=float32), Array(2.2345148e-09, dtype=float32)], goal_time: 2.0
+2025y-06m-25d-12h-17m-37s WARNING: Error reading frame in background thread for RealSenseCamera(230422273017): RealSenseCamera(230422273017) read failed (status=False).
+2025y-06m-25d-12h-17m-37s DEBUG: RealSenseCamera(218622278376) read took: 2009.2ms
+2025y-06m-25d-12h-17m-37s DEBUG: RealSenseCamera(218622278376) read took: 0.0ms
+2025y-06m-25d-12h-17m-37s WARNING: 🦾⚠️ Left arm position mismatch: left.gripper 0.0032761599868535995 2.234514795418363e-09
+2025y-06m-25d-12h-17m-37s INFO: 🤖🗃️ Writing episode log to /home/trossen-ai/tatbot/output/record/plan-bench-2025y-06m-25d-12h-13m-57s/logs/episode_000011.txt